• Journal of the Korea Institute of Military Science and Technology
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• v.11 no.6
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• pp.30-37
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• 2008

The ARS(Attitude Reference System) calculates an attitude of a vehicle using inertial angular rate sensors and acceleration sensors. The attitude error of ARS increases due to the integration of angular rate sensor output. To reduce the attitude error an acceleration of sensor is used similar to leveling method of INS(Inertial Navigation System). When an acceleration of vehicle is increased, it is difficult to calculate the attitude error using acceleration sensor output. In this paper the estimation method of acceleration due to the attitude error only is proposed. Two methods of the attitude calculation depending on vehicle dynamics and the integration method of these two methods are proposed. To verify its performance the monte carlo simulation is performed and shows that it bounds attitude error of ARS to reasonable level.

• Journal of Sensor Science and Technology
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• v.19 no.6
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• pp.421-427
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• 2010

Alizarin Red S modified screen printed carbon electrodes were developed for the electrochemical detection of aluminum ion. The electrodes developed use screen-printed carbon electrodes(SPCEs) coupled with chemical modification with an organic chelator, Alizarin Red S(ARS), for aluminum ion detection in aqueous solution. For sensor fabrication ARS was directly immobilized on the surface of SPCEs using PVA-SbQ(The poly(vinyl alcohol) bearing stryrylpyridinium groups). Aluminum concentrations were indirectly estimated by amperometric determination of the non-complexed ARS immobilized on the electrodes, after its complexation with aluminum. The sensitivity of the sensor developed was $3.8\;nA{\mu}M^{-1}cm^{-2}$ and the detection limit for aluminum was $25\;{\mu}M$.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.9
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• pp.881-885
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• 2008

To calculate the attitude in ARS(Attitude Reference System) using 3 gyros and 3 accelerometers, gyro drift must be compensated with accelerometer to avoid divergence of attitude error. Kalman filter is most popular method to integrate those two sensor outputs. In this paper, new Kalman filtering method is proposed for roll and pitch attitude estimation. New states are defined to make linear equation and algorithm for changing Kalman filter parameters is proposed to ignore disturbances of acceleration. This algorithm can be easily applied to low cost ARS.

• Journal of Biosystems Engineering
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• v.37 no.3
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• pp.209-213
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• 2012

Purpose: This study was performed to develop a simple, disposable thin-film optical nitrate sensor. Methods: The sensor was fabricated by applying a nitrate-selective polymer membrane on the surface of a thin polyester film. The membrane was composed of polyvinylchloride (PVC), plasticizer, fluorescent dye, and nitrate-selective ionophore. Fluorescence intensity of the sensor increased on contact with a nitrate solution. The fluorescence response of the optical nitrate sensor was measured with a commercial fluorospectrometer. Results: The optical sensor exhibited linear response over four concentration decades. Conclusions: Nitrate ion concentrations in plant nutrient solutions can be determined by direct optical measurements without any conditioning before measurements.

• Journal of Ocean Engineering and Technology
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• v.31 no.2
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• pp.164-169
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• 2017

Studies were performed on an ARS using SDINS's RLG and the geomatic sensor. To develop the ARS, experiments were performed to determine the characteristics of the RLG and geomatic sensor. Based on the results, to reduce the angular position errors of the RLG, which accumulate from the angular velocity data, an algorithm was studied that uses the Extended Kalman filter (EKF) to compensate the RLG data and geomatic sensor data. To verify the performance of the developed algorithm for reducing the cumulative angular errors, experiments that included the developed EKF were performed. Through these, it was shown that a drastic reduction in the angular errors of the RLG were achieved.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.4
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• pp.383-389
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• 2013

Demand for high-rising building has arisen. However, its maintenance is usually executed by labour. It could have a severe problem. We proposed a gondola robot to solve it. In this paper, we designed a height estimation sensor for this gondola. It is consist of pan-tilt unit, ARS sensor, and laser sensor. The pan-tilt unit keeps the laser sensor to indicate the gravity direction by referencing the ARS. The laser sensor's range is vertical distance from gondola to ground. However, if there is an obstacle under the gondola, the distance includes its height. To filter it out, we apply a Kalman filter for the height estimation. If the estimated height is changed extremely, the filter decides that there is an obstacle. Then, it remembers the height of obstacle. Other extreme changes of height estimations are reflected. The experimental results using the proposed sensor system show detail flow of the height estimation.

• The Journal of Korea Robotics Society
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• v.6 no.2
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• pp.108-117
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• 2011

This paper proposes an optimal ARS control of a two-wheel mobile inverted pendulum robot. Conventional researches are highly concentrated on the robust control of a mobile inverted pendulum on the flat ground, $i.e.$, mostly focus on the compensation of gyroscope signals. This newly proposed algorithm deals with a climbing control of a slanted surface based on the dynamic modeling using the conventional structure. During the climbing control of the robot, unexpected disturbance forces are essentially caused by the irregular contact force which comes from the irregular contact angle between the wheel and the terrain. The disturbances have effects on the optimal posture of the mobile robot to compensate the slanted angle. Therefore the dynamics equations through physical interpretation are derived for the selection of optimum climbing posture through ARS. Also using the ultrasonic sensor the slope information is obtained to compensate for the force of gravity. The control inputs are dynamically adjusted to climb up the slanted surface effectively. The proposed algorithm is demonstrated through the real experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.547-552
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• 2015

In this paper, an ARS-EKF based motion counting algorithm for repetitive exercises such as calisthenics is proposed using a smartwatch. Raw sensor signals from accelerometers and gyroscopes are widely used for conventional smartwatch counting algorithms based on pattern recognition. However, generated features from raw data are not intuitive to reflect the movement of motions. The proposed motion counter algorithm is composed of navigation based feature generation and counting with error correction. The candidate features for each activity are velocity and attitude calculated through an ARS-EKF algorithm. In order to select those features which reveal the characteristics of each motion, an exercise frame from the initial sensor frame is introduced. Counting processes are basically based on the zero crossing method, and misdetected counts are eliminated via simple classification algorithms considering the frequency of the counted motions. Experimental results show that the proposed algorithm efficiently and accurately counts the number of exercises.

• Journal of the Institute of Convergence Signal Processing
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• v.21 no.1
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• pp.21-28
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• 2020

In this paper, a new type of electric wheelbarrow is proposed and developed. The developed electric wheelbarrow is equipped with an attitude reference system(ARS) sensor, which consists of 3-axis acceleration sensor and 2-axis Gyro sensor so that it can estimate pitch angle and roll angle. When an operator tilts the wheelbarrow up and down, the pitch angle is detected. The sign of the pitch angle is interpreted as the operator's intention for moving the wheelbarrow forward or backward and the controller drives the wheel of the wheelbarrow with the velocity according to the magnitude of the detected pitch angle. A cargo box of the wheelbarrow is designed to rotate and is controlled to maintain level always, so an operator can handle the electric wheelbarrow easily and safely. The wheelbarrow consists of an in-wheel motor, a DC motor, motor drives, an ARS sensor considering economical use in industrial field. Three experiments are performed to verify the feasibility and stability of the electric wheelbarrow.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• v.10 no.1
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• pp.123-126
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• 2005