• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.869-870
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• 2006

In this study, we proposed an algorithm which can detect the walking event in hemiplegic patient using three axis acceleration signal. Twenty hemiplegic patients were participated in an experiment on a level corridor. To evaluate the accuracy, we compared the time difference between the detected event and signal from FSR-Sensor. Consequently, the mean difference of 46.1ms was obtained and it suggests that the proposed method is effective to detect the walking event in hemiplegic patient. In future, these results could be used to evaluate the walking ability in hemiplegic patient in clinical practice.

• 산업기술연구
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• 제27권A호
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• pp.55-60
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• 2007

Possibility of the eavesdropping is investigated on a conference room-glass window coupled system. Speech intelligibility analysis is performed on the eavesdropping sound of the glass window. Using MLS(Maximum Length Sequency) signal as a sound source, acceleration and velocity responses of the glass window are measured by accelerometer and laser doppler vibrometer. MTF(Modulation Transfer Function) is used to identify the speech transmission characteristics of the room and window system. STI(Speech Transmission Index) is calculated by using MTF and speech intelligibility of the vibration sound is estimated. Speech intelligibilities by the acceleration signal and the velocity signal are compared.

• 한국정밀공학회지
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• 제12권10호
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• pp.149-156
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• 1995

This paper presents a method of detecting chatter vibration in end-mill process. The detecting system consists of an adaptive signal processing scheme which uses an autore- gressive time-series model and a neural network is proposed and is verified its effectiveness by using acceleration and cutting force signals recorded during slotting in end-mill operations. Expeerimental results indicate that the proposed system provides excellent detection when chatter is occured within the ranges of cutting conditions considered in this study and an effectiveness of the integration of signals is confirmed.

• International Journal of Railway
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• 제4권4호
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• pp.93-96
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• 2011

The basic element of the EMS suspension is the electromagnet system, which suspends the vehicle without contact by attracting forces to the rails at the guideway. The suspension of a vehicle by attractive magnetic forces is inherently unstable and consequently it is continuously adjusted by the strength of the suspending electromagnet from rail irregularity and bending of the guideway. In order to improve reliable tracking, it needs to get feedback signals without measurement delay time. In this paper the concept of feedback control system with Kalman Filter in EMS is proposed. The input signals in the feedback control system are an air-gap and an acceleration signal. The air-gap signal with noise from the gap sensor is transformed to the filtered air-gap signal y without measurement delay time by using Kalman Filter. The filtered air-gap signal is transformed to a relative velocity and a relative acceleration signal. Then it multiplies these values by gain matrix in order to get the actuator's reference voltage value. The simulation results show that the dynamic responses of the suspension system can be improved by reducing the influence of measurement delay time of air-gap signals.

• 대한임베디드공학회논문지
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• 제12권5호
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• pp.267-275
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• 2017

Time of difference of arrival (TDOA) method using passive sonar sensor array has normally been used to estimate the location of a concealed moving target in underwater environment. Particle filter has been introduced for effective target estimation for non-Gaussian and nonlinear systems. In this paper, we propose a GPU-based acceleration of target position estimation using particle filter and propose efficient embedded system and software architecture. For the TDOA measurement from the passive sonar sensor, we use the generalized cross correlation phase transform (GCC-PHAT) method to obtain the correlation coefficient of the signal using FFT and we try to accelerate the calculation of GCC-PHAT based TDOA measurements using FFT with GPU CUDA. We also propose parallelization method of the target position estimation algorithm using the GPU CUDA to update the state of each particle for the target position estimation using the measured values. The target estimation algorithm was verified using Matlab and implemented using GPU CUDA. Then, we realized the proposed signal processing acceleration system using NVIDIA Jetson TX1 as the target board to analyze in terms of the execution time. The execution time of the algorithm is reduced by 55% to the CPU standalone-operation on the target board. Experiment results show that the proposed architecture is a feasible solution in terms of high-performance and area-efficient architecture.

• 한국소음진동공학회논문집
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• 제25권11호
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• pp.739-746
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• 2015

Several damage counting methods can be applied for the fatigue issues of a ground vehicle system using strain data and acceleration data is partially used for a high cyclic loading case. For a vibration test, acceleration data is, however, more useful than strain one owing to the good nature of signal-to-random ratio at acceleration response. The test severity can be judged by the fatigue damage and the pseudo-damage from the acceleration response stated in ISO-16750-3 is one of sound solutions for the vibration test. The comparison of fatigue damages, derived from both acceleration and strain, are analyzed in this study to determine the best choice of fatigue damage over multi-spectral input pattern. Uniaxial excitation test was conducted for a notched simple specimen and response data, both acceleration and strain, are used for the comparison of fatigue damages.

• 한국정보전자통신기술학회논문지
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• 제12권4호
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• pp.349-358
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• 2019

본 논문에서는 회전체의 특징 파라미터들을 추출하기 위한 센서의 신호들을 수집하는 방법을 연구하고자 한다. 이를 위해, 모형 시험을 수행하기 위한 진동 테스트 리그를 개발하여 정상적으로 운전하에서의 신호특성을 분석하였다. 다른 진동 요소들로부터 주기적인 충격에 의해 발생되는 진동 성분을 추출하기 위하여 포락 신호처리(Envelope FFT Analysis) 기법을 사용하였다. 회전속도에 따른 신호분석과 더불어 회전체의 저주파수 특성을 잘 나타내는 속도센서 및 진동 테스트 리그의 부하변화에 따른 신호를 분석하였다. 그 결과, 베어링 하우징에서 측정되는 가속도 신호는 진폭이 작으며 조화 성분과 모터의 회전주파수 성분만이 발생함을 확인하였다. 즉, 회전수가 높아짐에 따라 가속도의 진폭이 높아짐을 확인할 수 있었다. 회전속도가 증가하면 원 데이터의 형상의 차이가 있는 것을 확인할 수 있었고, 가속도 FFT 그래프와 비교하였을 경우 저 주파수에서 노이즈에 강하며 해당 회전 주파수 성분을 뚜렷하게 나타내었다. 또한 부하를 변화시켜도 주요 회전 주파수 성분이 증가하지 않음을 알 수 있었다.

• 로봇학회논문지
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• 제12권3호
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• pp.258-262
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• 2017

In this paper, we propose a new collision detection algorithm for human-robot collaboration. We use an IMU sensor located at the tip of the manipulator and the kinematic behavior of the manipulator to detect the unexpected collision between the robotic manipulator and environment. Unlike other method, the developed algorithm uses only the kinematic relationship between the manipulator joint and the end effector. Therefore, the collision estimation signal is not affected by the error of the dynamics model. The proposed collision detection algorithm detects the collision by comparing the estimated acceleration of the end effector derived from the position, velocity and acceleration trajectories of the robot joints with the actual acceleration measured by the sensor. In simulation, we compare the performance of our method with the conventional Residual Observer (ROB). Our method is less sensitive to the load variation because of the independency on the dynamic modeling of the manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.306-311
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• 1992

We propose software algorithms which provide the characteristics of acceleration/deceleration essential to high dynamic performance at the transient state where industrial robots or CNC machine tools start and stop. The path error, which is one of the most significant factors in performance evaluation of industrial robots and CNC machine tools, is analyzed for linear, exponential, and parabolic acceleration/deceleration algorithms in case of circular interpolation. The analysis shows that the path error depends on the acceleration/deceleration routine and the servo control system. In experiments, the entire control algorithm including the proposed acceleration/deceleration algorithms is executed on the motion control system with a floating point digital signal processor(DSP) TMS320C30 as a CPU. The experimental results demonstrate that the proposed algorithms are very effective in controlling axes of motion of industrial robots or CNC machine tools with the desired characteristics.

• 대한임베디드공학회논문지
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• 제9권5호
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• pp.299-305
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• 2014

In this paper, a simple version of the hybrid navigation system using Kalman filter is proposed. The implemented hybrid navigation system is composed of a GPS to measure the position and the velocity, and a IMU(inertial measurement unit) to measure the acceleration and the posture of a mobile robot. A discrete Kalman filter is applied to provide the position of the robot by fusing both of the sensor data. When GPS signal is available, the navigation system estimates the position of the robot from the Kalman filter using position and velocity from GPS, and acceleration from IMU. During the interval until next GPS signal arrives, the system calculates the position of the robot using acceleration from IMU and velocity obtained at the previous step. Performance of the navigation system is verified by comparing the real path and the estimated path of the mobile robot. From experiments, we conclude that the navigation system is acceptable for the mobile robot.