• 센서학회지
• /
• 제25권2호
• /
• pp.79-85
• /
• 2016

This paper proposes a threshold-based fall recognition algorithm to discriminate between falls and activities of daily living (ADL) using a tri-axial accelerometer and a bi-axial gyroscope sensor mounted on the upper sternum. The experiment was executed ten times according to the proposed experimental protocol. The output signals of the tri-axial accelerometer and the bi-axial gyroscope were measured during eight falls and eleven ADL action sequences. The threshold values of the signal vector magnitude (SVM_Acc), angular velocity (${\omega}_{res}$), and angular variation (${\theta}_{res}$) parameter were calculated using MATLAB. From the preliminary study, three thresholds (TH1, TH2, and TH3) were set so that the falls could be distinguished from ADL. When the parameter SVM_Acc is greater than 2.5 g (TH1), ${\omega}_{res}$ is greater than 1.75 rad/s (TH2), and ${\theta}_{res}$ is greater than 0.385 rad (TH3), these action sequences are recognized as falls. If at least one or more of these conditions is not satisfied, the sequence is classified as ADL.

• 한국자동차공학회논문집
• /
• 제18권4호
• /
• pp.8-17
• /
• 2010

In this paper, a fault tolerant control against sensor faults of electric parking brake (EPB) is proposed. Fault tolerant control method of EPB system is strongly demanded since sensor faults can endanger a driver's safety. In this paper, a clamp force estimation method is presented using motor's armature current and angular velocity. Clamp force estimation method is applied for fault detection method with parity equations. The goal of the detection method is to detect and identify faults in encoder, current sensor, force sensor, and parking cable. And a switching logic for fault tolerant control against the three sensor faults is suggested. Experimental results show that the proposed force estimation method satisfies the specifications of EPB system. The effectiveness of the fault detection method is validated with experimental results. Although a single sensor fault happens, EPB system with the proposed fault detection method does not develop into a failure on subsystem or system level.

• 한국운동역학회지
• /
• 제21권4호
• /
• pp.495-501
• /
• 2011

The purpose of this study was to develop the inertial sensor module system to detect gait event using single angular rate sensor(gyroscope), and evaluate the accuracy of this system. This sensor module is attached at the heel and gait events such as heel strike, foot flat, heel off, toe off are detected by using proposed automatic event detection algorithm. The developed algorithm detect characteristics of pitch data of the gyroscope to find gait event. To evaluate the accuracy of system, 3D motion capture system was used and synchronized with sensor module system for comparison of gait event timings. In experiment, 6 subjects performed 5 trials level walking with 3 different conditions such as slow, preferred and fast. Results showed that gait event timings by sensor module system are similar to that by kinematic data, because maximum absolute errors were under 37.4msec regardless of gait velocity. Therefore, this system can be used to detect gait events. Although this system has advantages of small, light weight, long-term monitoring and high accuracy, it is necessary to improve the system to get other gait information such as gait velocity, stride length, step width and joint angles.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.1365-1370
• /
• 2004

In this paper, a novel anti-sway control system that uses an inclinometer as a sway sensor is investigated. The inclinometer, when compared with a vision system, is very cheap, durable, and its maintenance is easy. However, it gives almost the same performance. Various observers for estimating the angular velocity of the load and the trolley velocity are presented. A state feedback controller with an integrator is designed. After a time-scale analysis, a 1/4-size pilot crane of the rail-mounted quayside crane is constructed. The performance of the proposed control system was verified with a real rubber-tired gantry crane at a container terminal as well as with the pilot crane constructed. Experimental results are provided.

• 한국공작기계학회논문집
• /
• 제17권6호
• /
• pp.8-13
• /
• 2008

At present many research projects on high-speed spindles are being conducted. These projects require a measurement technique which includes heat expansion, vibration and displacement measurement according to angular velocity. This paper presents the development of a measurement system for high-speed spindle displacement. The measurement system is based on $LabView^{(R)}$ and features the following sensors: optical sensor which reacts to the position of a marker on the spindle and enables two Laser Displacement Sensors(LDS). These Laser Displacement Sensors send their data to a DAQ(Data Acquisition Device). It is important that the delay time caused by the response times of the sensors as well as the sampling rate of the DAQ is considered because the spindle revolves at very high speeds.

• 센서학회지
• /
• 제5권4호
• /
• pp.47-56
• /
• 1996

속도제어루프내에서 외란의 각속도를 감지하여 짐발을 안정화시키기 위해 사용하는 동조자이로스코프에 대한 기본원리 및 특성을 분석하였다. 또한 비례모드 자이로스코프의 모델을 정확하게 제시하였으며, 제시된 모델은 공진 특성을 가지고 있기 때문에 기존에 사용하고 있는 2차 시스템 모델보다 실제 시스템의 특성과 유사하므로 일반적인 비례모드 자이로스코프에서도 적용 가능하다. 실제 시스템인 전자광학추적기에 사용할 경우 발생되는 문제점을 알아보고 그 해결 방안을 제시하였다.

• Steel and Composite Structures
• /
• 제32권2호
• /
• pp.225-237
• /
• 2019

In this research, the dynamic stability and nonlinear vibration behavior of a smart rotating sandwich cylindrical shell is studied. The core of the structure is a functionally graded material (FGM) which is integrated by functionally graded piezoelectric material (FGPM) layers subjected to electric field. The piezoelectric layers at the inner and outer surfaces used as actuator and sensor, respectively. By applying the energy method and Hamilton's principle, the governing equations of sandwich cylindrical shell derived based on first-order shear deformation theory (FSDT). The Galerkin method is used to discriminate the motion equations and the equations are converted to the form of the ordinary differential equations in terms of time. The perturbation method is employed to find the relation between nonlinear frequency and the amplitude of vibration. The main objective of this research is to determine the nonlinear frequencies and nonlinear vibration control by using sensor and actuator layers. The effects of geometrical parameters, power law index of core, sensor and actuator layers, angular velocity and scale transformation parameter on nonlinear frequency-amplitude response diagram and dynamic stability of sandwich cylindrical shell are investigated. The results of this research can be used to design and vibration control of rotating systems in various industries such as aircraft, biomechanics and automobile manufacturing.

• 한국군사과학기술학회지
• /
• 제20권3호
• /
• pp.315-327
• /
• 2017

In this paper, we present a method for estimating of position and velocity of a moving target by using the range and the bearing measurements from multiple sensors of aiming unit. In many cases, conventional low cost gyro sensor and a portable laser range finder(LRF) degrade the accuracy of estimation. To enhance these problems, we propose two methods. The first is background image tracking and the other is principal component analysis (PCA). The background tracking is used to assist the low cost gyro censor. And the PCA is used to cope with the problems of a portable LRF. In this paper, we prove that our method is robust with respect to low-frequency, biased and noisy inputs. We also present a comparison between our method and the extended Kalman filter(EKF).

• 대한전기학회논문지:시스템및제어부문D
• /
• 제49권8호
• /
• pp.459-466
• /
• 2000

In this paper, we propose an attitude controller for an unstructured object using CMG(Control Moment of Gyro) subsystem, which has a stabilizer function. The CMG subsystem consists of one motor for spinning the wheel and the other motor for turning the outer gimbal. While the wheel of CMG subsystem is spinning at high speed, applying force to the spin axis of the wheel leads the torque about the vertical axis. We utilize the torque to control the attitude of object in this study. For the stabilizer function, in additiion, holding the load at the current position, the power applied to the gimbal motor of CMG will be cut, which result in the braking force to stop the load by gyro effect. However, due to the gear reduction connected to outer gimbal, slow load motion cannot generate the braking force. Thus, in this study, we are willing to make a holding force by applying control power to the gimbal motor from the signal of piezoelectric gyroscopic sensor that detected the angular velocity of the load. These two features are demonstrated in experiment, carrying a beam with crane. As a result, load was started to rotate by controlling gimbal positiion and was stopped by turning off the gimbal power. Moreover, slow movement of the load was also rejected by additional control with gyroscopic sensor.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2001년도 춘계학술대회논문집B
• /
• pp.319-324
• /
• 2001

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or corner. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The experiment has been done to verify the effectiveness of the proposed controllers. These results are shown to fit well by the simulation results.