• 로봇학회논문지
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• 제8권1호
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• pp.29-36
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• 2013

This paper presents a sensitivity optimization of a MEMS (microelectromechanical systems) gyroscope for a magnet-gyro system. The magnet-gyro system, which is a guidance system for a AGV (automatic or automated guided vehicle), uses a magnet positioning system and a yaw gyroscope. The magnet positioning system measures magnetism of a cylindrical magnet embedded on the floor, and AGV is guided by the motion direction angle calculated with the measured magnetism. If the magnet positioning system does not measure the magnetism, the AGV is guided by using angular velocity measured with the gyroscope. The gyroscope used for the magnet-gyro system is usually MEMS type. Because the MEMS gyroscope is made from the process technology in semiconductor device fabrication, it has small size, low-power and low price. However, the MEMS gyroscope has drift phenomenon caused by noise and calculation error. Precision ADC (analog to digital converter) and accurate sensitivity are needed to minimize the drift phenomenon. Therefore, this paper proposes the method of the sensitivity optimization of the MEMS gyroscope using DEAS (dynamic encoding algorithm for searches). For experiment, we used the AGV mounted with a laser navigation system which is able to measure accurate position of the AGV and compared result by the sensitivity value calculated by the proposed method with result by the sensitivity in specification of the MEMS gyroscope. In experimental results, we verified that the sensitivity value through the proposed method can calculate more accurate motion direction angle of the AGV.

• Nuclear Engineering and Technology
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• 제37권6호
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• pp.595-604
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• 2005

A new instrument, an average BDFT (Birectional Flow Tube), was proposed to measure the flow rate in single and two phase flows. Its working principle is similar to that of the Pilot tube, wherein the dynamic pressure is measured. In an average BDFT, the pressure measured at the front of the flow tube is equal to the total pressure, while that measured at the rear tube is slightly less than the static pressure of the flow field due to the suction effect downstream. The proposed instrument was tested in air/water vertical and horizontal test sections with an inner diameter of 0.08m. The tests were performed primarily in single phase water and air flow conditions to obtain the amplification factor(k) of the flow tube in the vertical and horizontal test sections. Tests were also performed in air/water vertical two phase flow conditions in which the flow regimes were bubbly, slug, and churn turbulent flows. In order to calculate the phasic mass flow rates from the measured differential pressure, the Chexal drift-flux correlation and a momentum exchange factor between the two phases were introduced. The test results show that the proposed instrument with a combination of the measured void fraction, Chexal drift-flux correlation, and Bosio & Malnes' momentum exchange model could predict the phasic mass flow rates within a $15\%$ error. A new momentum exchange model was also proposed from the present data and its implementation provides a $5\%$ improvement to the measured mass flow rate when compared to that with the Bosio & Malnes' model.

• 대한조선학회논문집
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• 제57권5호
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• pp.287-296
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• 2020

The present study aims to improve the accuracy of the maneuvering simulations based on captive model test results. To derive the hydrodynamic coefficients in a self-propelled condition, a mathematical maneuvering model using a whole vehicle model was established. Captive model tests were carried out using the Vertical Planar Motion Mechanism (VPMM) equipment. A motor controller was used to control the constant propeller revolution rate during pure motion tests. The resistance tests, self-propulsion tests, static drift tests, and VPMM tests were performed in the towing tank of Seoul National University. When the vertical drift angle changes, the gravity load on the sensors were changed. The hydrodynamic forces were deduced by subtracting the gravity load from the measured forces. The hydrodynamic coefficients were calculated using the least-square method. The simulation of the turning circle test was compared with the free-running model test result, and the error of the turning radius was 8.3 % compared to the free-running model test.

• 제어로봇시스템학회논문지
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• 제16권12호
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• pp.1167-1175
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• 2010

This paper presents the use of the inertial measurement unit information and the infrared sector information for getting the position of an object. Travel distance is usually calculated from the double integration of the accelerometer output with respect to time; however, the accumulated errors due to the drift are inevitable. The orientation change of the accelerometer also causes error because the gravity is added to the measured acceleration. Unless three axis orientations are completely identified, the accelerometer alone does not provide correct acceleration for estimating the travel distance. We propose a way of minimizing the error due to the change of the orientation. In order to reduce the accumulated error, the infrared sector information is fused with the inertial measurement unit information. Infrared sector information has highly deterministic characteristics, different from RFID. By putting several infrared emitters on the ceiling, the floor is divided into many different sectors and each sector is set to have a unique identification. Infrared light based sector information tells the sector the object is in, but the size of the uncertainty is too large if only the sector information is used. This paper presents an algorithm which combines both the inertial measurement unit information and the sector information so that the size of the uncertainty becomes smaller. It also introduces a framework which can be used with other types of the artificial landmarks. The characteristics of the developed infrared light based sector and the proposed algorithm are verified from the experiments.

• 재활복지공학회논문지
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• 제9권2호
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• pp.161-168
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• 2015

본 논문은 자체 개발한 관성측정장치의 가속도, 각속도, 지자기계 데이터를 이용하여 보행거리를 측정하는 시스템 개발에 관한 것이다. 관성센서들의 오프셋 및 이득 오차를 최소화하기 위하여 9축의 자유도를 갖는 지그를 제작하였으며, 이를 이용하여 캘리브레이션을 수행하였다. 보행거리의 정확한 측정을 위하여, 기울기 하강법을 이용하여 가속도계의 중력성분 제거 및 보행패턴 분석을 통한 드리프트 성분을 제거하였다. 최종적으로 보정된 가속도 데이터의 이중적분을 통하여 보행거리를 측정하였다. 시스템의 성능 평가를 위하여, 실내 직선 10m 직선 보행에 대하여 캘리브레이션 전, 후 오차 개선 비율를 비교하였으며, 간단한 보행에 대해 Vicon과의 비교 실험을 수행하였다. 직선 보행에 대해서는 x, y, z축 각각에 대하여 $31.4{\pm}14.38%$(mean${\pm}$S.D.), $78.64{\pm}10.84%$ 및 $69.71{\pm}26.25%$ 개선이 되었음을 확인하였으며, Vicon과의 비교 실험 결과 x, y, z축 각각에 대하여 0.1m, 0.16m, 0.12m의 오차를 얻을 수 있었다.

• 센서학회지
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• 제7권6호
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• pp.401-408
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• 1998

교류전압표준기인 열전형 전압변환기의 교류-직류 변환오차를 비교평가하기 위하여 이중채널방식 자동측정시스템을 개발하였다. 비교측정되는 2대의 변환기출력을 동시에 측정하여 드리프트의 영향을 감소시켰고, 또 저열기전력 이중채널 스캐너를 사용하여 변환기 출력을 순방향-역방향으로 측정하여 그 평균값을 취함으로서 전압측정기의 ���V전압이 제거되도록 하였다. 정격전압이 동일한 4 V인 변환기끼리 비교 측정한 결과, 주파수 $40\;Hz{\sim}100\;kHz$에서는 외국표준기관에서의 측정값과 약 ${\pm}2\;ppm$ 이내에서 일치하였으며, $200\;kHz{\sim}1\;MHz$ 범위에서는 약 ${\pm}4\;ppm$ 이내에서 일치하였다. 본 시스템의 개발로 변환기의 교류-직류 변환오차의 측정능력을 기존수동방식의 약 ${\pm}15\;ppm$에서 ${\pm}\;3ppm$(100 kHz 이하)로 크게 향상시켰으며, 표준유지 및 산업체 지원의 효율을 크게 높일 수 있게 되었다.

• Nuclear Engineering and Technology
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• 제42권2호
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• pp.219-230
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• 2010

In nuclear power plants (NPPs), periodic sensor calibrations are required to assure that sensors are operating correctly. By checking the sensor's operating status at every fuel outage, faulty sensors may remain undetected for periods of up to 24 months. Moreover, typically, only a few faulty sensors are found to be calibrated. For the safe operation of NPP and the reduction of unnecessary calibration, on-line instrument calibration monitoring is needed. In this study, principal component-based auto-associative support vector regression (PCSVR) using response surface methodology (RSM) is proposed for the sensor signal validation of NPPs. This paper describes the design of a PCSVR-based sensor validation system for a power generation system. RSM is employed to determine the optimal values of SVR hyperparameters and is compared to the genetic algorithm (GA). The proposed PCSVR model is confirmed with the actual plant data of Kori Nuclear Power Plant Unit 3 and is compared with the Auto-Associative support vector regression (AASVR) and the auto-associative neural network (AANN) model. The auto-sensitivity of AASVR is improved by around six times by using a PCA, resulting in good detection of sensor drift. Compared to AANN, accuracy and cross-sensitivity are better while the auto-sensitivity is almost the same. Meanwhile, the proposed RSM for the optimization of the PCSVR algorithm performs even better in terms of accuracy, auto-sensitivity, and averaged maximum error, except in averaged RMS error, and this method is much more time efficient compared to the conventional GA method.

• 대한기계학회논문집A
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• 제41권9호
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• pp.799-807
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• 2017

본 논문은 하지부의 각 분절에 부착된 착용형 관성센서의 자세 및 각속도 정보와 하지부 기구학을 기반으로 착용자의 보행속도를 추정하는 방법에 관한 연구를 다룬다. 보행 주기 중 발바닥과 지면이 완전히 접촉되지 않는 구간에서는 골반부에 장착된 관성센서의 가속도 출력을 적분하여 보행속도를 추정할 수 있다. 이 때, 보행 시 골반부의 기울어짐으로 인하여 발생되는 가속도의 측정오차의 누적 영향을 최소화하기 위하여, 하지부 기구학을 기반으로 추정된 보행속도를 매 보행 주기마다 골반 관성센서의 가속도 출력신호 적분 초기값으로 갱신한다. 그 결과 6분 가량의 야외 보행 실험을 수행한 결과, 오차 누적에 의한 영향은 관찰되지 않았으며, 보행속도 추정 오차의 RMS는 0.08m/s 이하인 것으로 확인되었다.

• Smart Structures and Systems
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• 제31권2호
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• pp.101-111
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• 2023

Structural health monitoring (SHM) covers a range of damage detection strategies for buildings. In real-time, SHM provides a basis for rapid decision making to optimise the speed and economic efficiency of post-event response. Previous work introduced an SHM method based on identifying structural nonlinear hysteretic parameters and their evolution from structural force-deformation hysteresis loops in real-time. This research extends and generalises this method to investigate the impact of a wide range of flag-shaped or pinching shape nonlinear hysteretic response and its impact on the SHM accuracy. A particular focus is plastic stiffness (K_p), where accurate identification of this parameter enables accurate identification of net and total plastic deformation and plastic energy dissipated, all of which are directly related to damage and infrequently assessed in SHM. A sensitivity study using a realistic seismic case study with known ground truth values investigates the impact of hysteresis loop shape, as well as added noise, on SHM accuracy using a suite of 20 ground motions from the PEER database. Monte Carlo analysis over 22,000 simulations with different hysteresis loops and added noise resulted in absolute percentage identification error (median, (IQR)) in K_p of 1.88% (0.79, 4.94)%. Errors were larger where five events (Earthquakes #1, 6, 9, 14) have very large errors over 100% for resulted K_p as an almost entirely linear response yielded only negligible plastic response, increasing identification error. The sensitivity analysis shows accuracy is reduces to within 3% when plastic drift is induced. This method shows clear potential to provide accurate, real-time metrics of non-linear stiffness and deformation to assist rapid damage assessment and decision making, utilising algorithms significantly simpler than previous non-linear structural model-based parameter identification SHM methods.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1074-1078
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• 2005

In precision positioning applications, such as scanning tunneling microscopy and diamond turning machines [1], it is often required that actuators have nanometer resolution in displacement, high stiffness, and fast frequency response. These requirements are met by the use of piezoceramic actuators. A major limitation of piezoceramic actuators, however, is their lack of accuracy due to hysteresis nonlinearity and drift. The maximum error due to hysteresis can be as much as 10-15% of the path covered if the actuators are run in an open-loop fashion. Hence, the accurate control of piezoceramic actuators requires a control strategy that incorporates some form of compensation for the hysteresis. One approach is to develop an accurate model of the hysteresis and the use the inverse as a compensator. The Preisach model has frequently been employed as a nonlinear model for representing the hysteresis, because it encompasses the basic features of the hysteresis phenomena in a conceptually simple and mathematically elegant way. In this paper, a new numerical inversion scheme of the Preisach model is developed with an aim of compensating hysteresis in piezoceramic actuators. The inversion scheme is implemented using the first-order reversal functions and is presented in a recursive form. The inverted model is then incorporated in an open-loop control strategy that regulates the piezoceramic actuator and compensates for hysteretic effects. Experimental results demonstrate satisfactory regulation of the position of the piezoceramic actuator to the desired trajectories.