• 제목/요약/키워드: ARS sensor

검색결과 28건 처리시간 0.026초

기동특성에 따른 ARS 자세 성능향상 기법 (The Improvement Method of ARS Attitude depeding on Dynamic Conditions)

  • 박찬주;이상정
    • 한국군사과학기술학회지
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    • 제11권6호
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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.

Alizarin Red S modified electrochemical sensors for the detection of aluminum ion

  • Chang, Seung-Cheol
    • 센서학회지
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    • 제19권6호
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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 $25\;{\mu}M$.

변형된 오일러각 기반의 칼만필터를 이용한 자세 추정 성능 향상 (Performance Improvement of Attitude Estimation Using Modified Euler Angle Based Kalman Filter)

  • 강철우;유영민;박찬국
    • 제어로봇시스템학회논문지
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    • 제14권9호
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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.

Disposable Nitrate-Selective Optical Sensor Based on Fluorescent Dye

  • Kim, Gi-Young;Sudduth, Kenneth A.;Grant, Sheila A.;Kitchen, Newell R.
    • Journal of Biosystems Engineering
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    • 제37권3호
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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.

Ring Laser Gyro를 이용한 ARS에 관한 연구 (Study of ARS using Ring Laser Gyro)

  • 정상기;최형식;지대형;정동욱;권오순;신창주;서정민
    • 한국해양공학회지
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    • 제31권2호
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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.

곤돌라형 외벽 유지보수 로봇의 수직위치 센서 개발에 관한 연구 (A Study on the Development of Height Estimation Sensor for Gondola-typed Façade Robot)

  • 윤종수;김동엽;박창우
    • 한국정밀공학회지
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    • 제30권4호
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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.

등반능력향상을 위한 이륜 역진자 로봇의 최적 ARS 제어 (Optimal ARS Control of an Inverted Pendulum Robot for Climbing Ability Improvement)

  • 권영국;이장명
    • 로봇학회논문지
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    • 제6권2호
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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.

항법 기반 웨어러블 스마트 디바이스 동작 카운트 알고리즘 (Navigation based Motion Counting Algorithm for a Wearable Smart Device)

  • 박소영;이민수;송진우;박찬국
    • 제어로봇시스템학회논문지
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    • 제21권6호
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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.

자기 균형 기능이 있는 외발 전동 손수레 개발 (Development of a Self Balancing Electric Wheelbarrow)

  • 이명섭;성영휘
    • 융합신호처리학회논문지
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    • 제21권1호
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    • pp.21-28
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    • 2020
  • 본 논문에서는 새로운 형태의 전동 외발 손수레를 제안하였다. 제안된 전동 외발 손수레는 작업 동작을 감지하여 작업자의 의도에 따라 안전하고 균형을 잃지 않도록 하면서 자동으로 외발 손수레를 이동시킬 수 있도록 해 준다. 작업자가 손수레의 손잡이를 잡고 위 아래로 기울이면 외발 손수레에 장착된 방위각 센서를 이용하여 전후 방향의 각도인 피치각을 감지하고 이를 전후진 이동 의도로 간주하여 각도의 크기에 비례하는 속력으로 손수레의 바퀴를 가감속 제어하여 전후진시킨다. 또한 기존 손수레와 달리 적재함에도 추가의 자유도를 부가하여 회전할 수 있도록 하였고, 작업 중 손수레가 좌우 방향으로 기울어질 때 기울기인 롤각을 감지하고 이를 기반으로 하여 적재함이 항상 지면과 수평을 유지할 수 있도록 위치 제어하여 작업자가 손수레의 균형을 잃지 않고 안전하고 쉽게 손수레를 운전할 수 있도록 해 준다. 농업 현장이나 산업 현장에서 실제로 사용할 수 있도록 DC 모터와 인휠모터, 모터 드라이버, 2축 방위각 센서와 저가의 마이크로 컨트롤러를 사용하여 경제적이고 효율적인 제어 시스템을 구성하고 기구부 설계 제작도 수행하였다. 또한 피치각의 변화만 있는 경우, 롤각의 변화만 있는 경우, 그리고 피치각과 롤각이 동시에 변화하는 경우에 대한 실험을 통해 개발된 전동 외발 손수레의 안정성과 유용성을 검증하였다.