• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.135-140
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• 1992

This paper presents the configuration, HILS procedure and performance simulation results of the RPV autopilot including a strapdown AHRS. Real time hardware-in-the-loop simulation was performed by using a 3 axis flight motion simulator alonged assumed flight trajectory of the RPV. Being compared with the result of the 6 DOF simulation, the HILS results showed that the performance of the autopilot was satisfactory.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.7 no.2
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• pp.47-54
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• 2013

In this paper, we present an inertial sensor-based motion capturing system to measure and analyze whole body movements. This system implements a wireless AHRS(attitude heading reference system) we developed using a combination of rate gyroscope, accelerometer and magnetometer sensor signals. Several AHRS modules mounted on segments of the patient's body provide the quaternions representing the patient segments's orientation in space. We performed 3D motion capture using the quaternion data calculated. And a method is also proposed for calculating three-dimensional inter-segment joint angle which is an important bio-mechanical measure for a variety of applications related to rehabilitation. To evaluate the performance of our AHRS module, the Vicon motion capture system, which offers millimeter resolution of 3D spatial displacements and orientations, is used as a reference. The evaluation resulted in a RMSE of 2.56 degree. The results suggest that our system will provide an in-depth insight into the effectiveness, appropriate level of care, and feedback of the rehabilitation process by performing real-time limbs or gait analysis during the post-stroke recovery process.

• Journal of Sensor Science and Technology
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• v.27 no.2
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• pp.86-92
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• 2018

In recent times, motion capture technology using inertial measurement unit (IMU) sensors has been actively used in sports. In this study, we developed a canoe paddle, installed with an IMU and a water level sensor, as a system tool for training and calibration purposes in water sports. The hardware was fabricated to control an attitude heading reference system (AHRS) module, a water level sensor, a communication module, and a wireless charging circuit. We also developed an application program for the mobile device that processes paddling motion data from the paddling operation and also visualizes it. An AHRS module with acceleration, gyro, and geomagnetic sensors each having three axes, and a resistive water level sensor that senses the immersion depth in the water of the paddle represented the paddle motion. The motion data transmitted from the paddle device is internally decoded and classified by the application program in the mobile device to perform visualization and to operate functions of the mobile training/correction system. To conclude, we tried to provide mobile knowledge service through paddle sport data using this technique. The developed system works reasonably well to be used as a basic training and posture correction tool for paddle sports; the transmission delay time of the sensor system is measured within 90 ms, and it shows that there is no complication in its practical usage.

• Journal of Platform Technology
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• v.6 no.4
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• pp.41-48
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• 2018

Accidents involving infants and toddlers are occurring frequently, and if elementary measures are not smooth, they can lead to even greater accidents. Rapid elementary measures require an appropriate monitoring system, and it is necessary to build a system that can accurately monitor the child's living condition and notify the emergency situation immediately. Recently, with the development of IoT technology, various types of sensors are being developed in a very small size, and development of wearable devices connected with smart phones is accelerating with the development of smart phones. By using these wearable devices, it is possible to reduce the risk of infant accidents and to respond promptly in case of an accident. In this paper, we propose a wearable system that can monitor the infant condition and present a service to prevent infant accidents.

• Journal of the Korean Society of Food Science and Nutrition
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• v.45 no.12
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• pp.1725-1731
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• 2016

This study was carried out to investigate the effects of steam-drying on antioxidant compounds and antioxidant activity of Alliun hookeri root (AHR). The yield of methanolic extracts, total phenolic content (TPC), browning intensity (280 nm and 420 nm), and organosulfur compound contents (alliin and cycloalliin) in raw and steam-dried AHRs were 10.71~37.40%, $15.53{\sim}36.36{\mu}g/mg$, 0.48~2.09, 0.01~0.25, $1.46{\sim}700.61{\mu}g/mg$, and $1,173.95{\sim}2,182.60{\mu}g/mg$, respectively. Yield, TPC, and browning intensity of AHRs increased by steam-drying, whereas organosulfur compound contents decreased. Of all methanolic extracts from raw and steam-dried AHRs, four-time steam-drying showed the lowest $EC_{50}$ values (0.43, 7.53, 0.34, and 0.48 mg/mL, respectively) for DPPH radical scavenging activity, ABTS radical scavenging activity, SOD-like activity, and reducing power, whereas four-time steam-drying resulted in the highest TPC ($36.36{\mu}g/mg$) and browning intensity (2.09 and 0.25 at 280 and 420 nm, respectively). The antioxidant activities of methanolic extracts from raw and steam-dried AHRs were closely correlated with their TPC, browning intensity, and organosulfur compound content, showing correlation determination coefficient ($R^2$) values higher than 0.82. As a result, four-time steam-drying of AHRs could be useful as potential antioxidant sources.

• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.5
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• pp.277-283
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• 2014

In this paper, we propose a control system for synchronizing attitude between an Android smartphone and a mobile robot. The control system is comprised of a smartphone and a mobile robot. The smartphone transports its attitude to the mobile robot and receives the attitude of mobile robot through bluetooth communication. Further, the smartphone displays the mobile robot on the screen by using embedded camera, which can be used as a pseudo augmented reality. Comparing the received attitude data from smartphone, the mobile robot measures its attitude by an AHRS(attitude heading reference system) and controls its attitude. Experiments show that the synchronization performance of the proposed system is maintained in the error range of $1^{\circ}$.

• Journal of Korea Multimedia Society
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• v.19 no.3
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• pp.642-649
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• 2016

This paper presents a method for conversion of muscular sense into both visual and auditory senses based on synesthetic perception. Muscular sense can be defined by rotation angles, direction changes and motion degrees of human body. Synesthetic interconversion can be made by learning, so that it can be possible to create intentional synesthetic phenomena. In this paper, the muscular sense was converted into both color and sound signals which comprise the great majority of synesthetic phenomena. The measurement of muscular sense was performed by using the AHRS(attitude heading reference system). Roll, yaw and pitch signals of the AHRS were converted into three basic elements of color as well as sound, respectively. The proposed method was finally applied to a wearable device, Samsung gear S, successfully.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.9
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• pp.863-868
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• 2015

In this paper, the vibration of a single-wheel mobile robot is minimized by designing a filter. An AHRS (Attitude and heading reference system) sensor is used for measuring the state of the robot. The measured signals are analyzed using the FFT method to investigate the fundamental vibrational frequency with respect to the flywheel's speed of the gimbal system. The IIR notch filter is then designed to suppress the vibration at the identified frequency. After simulating the performance of the designated filter using the measured sensor data through extensive experiments, the filter is actually implemented in a single-wheel mobile robot, GYROBO. Finally, the performance of the designed filter is confirmed by performing the balancing control task of the GYROBO system.

• International Journal of Aeronautical and Space Sciences
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• v.18 no.3
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• pp.555-564
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• 2017

In this paper, a new technique for attitude and heading reference system (AHRS) using low-cost MEMS sensors of the gyroscope, accelerometer, and magnetometer is addressed particularly in vibration environments. The motion of MEMS sensors interact with the scale factor and cross-coupling errors to produce random errors by the harsh environment. A new adaptive attitude estimation algorithm based on the Kalman filter is developed to overcome these undesirable side effects by analyzing windowed measurement error covariance. The key idea is that performance degradation of accelerometers, for example, due to linear vibrations can be reduced by the proposed measurement error covariance analysis. The computed error covariance is utilized to the measurement covariance of Kalman filters adaptively. Finally, the proposed approach is verified by using numerical simulations and experiments in an acceleration phase and/or vibrating environments.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2011.06a
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• pp.218-218
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• 2011