• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2013.04a
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• pp.842-848
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• 2013

Developments of Solid-State Gyroscopy during last decades are impressive and were based on thin-walled shell resonators like HRG or CRG made from fused quartz or leuko-sapphire. However, a number of design choices for inertial-grade gyroscopes, which can be used for high-g applications and for mass- or middle-scale production, is still very limited. So, considerations of fundamental physical effects in solids that can be used for development of a miniature, completely solid-state, and lower-cost sensor look urgent. There is a variety of different types of bulk acoustic (elastic) waves (BAW) in anisotropic solids. Shear waves with different variants of their polarization have to be studied especially carefully, because shear sounds in glasses and crystals are sensitive to a turn of the solid as a whole, and, so, they can be used for development of gyroscopic sensors. For an isotropic medium (for a glass or a fine polycrystalline body), classic Lame's theorem (so-called, a general solution of Elasticity Theory or Green-Lame's representation) has been modified for enough general case: an elastic medium rotated about an arbitrary set of axes. Travelling, standing, and mixed shear waves propagating in an infinite isotopic medium (or between a pair of parallel reflecting surfaces) have been considered too. An analogy with classic Foucault's pendulum has been underlined for the effect of a turn of a polarizational plane (i.e., an integration effect for an input angular rate) due to a medium's turn about the axis of the wave propagation. These cases demonstrate a whole-angle regime of gyroscopic operation. Single-crystals are anisotropic media, and, therefore, to reflect influence of the crystal's rotation, classic Christoffel-Green's tensors have been modified. Cases of acoustic axes corresponding to equal velocities for a pair of the pure-transverse (shear) waves have of an evident applied interest. For such a special direction in a crystal, different polarizations of waves are possible, and the gyroscopic effect of "polarizational precession" can be observed like for a glass. Naturally, formation of a wave pattern in a massive elastic body is much more complex due to reflections from its boundaries. Some of these complexities can be eliminated. However, a non-homogeneity has a fundamental nature for any amorphous medium due to its thermodynamically-unstable micro-structure, having fluctuations of the rapidly-frozen liquid. For single-crystalline structures, blockness (walls of dislocations) plays a similar role. Physical nature and kinematic particularities of several typical "drifts" in polarizational BAW gyros (P-BAW) have been considered briefly too. They include irregular precessions ("polarizational beats") due to: non-homogeneity of mass density and elastic moduli, dissymmetry of intrinsic losses, and an angular mismatch between propagation and acoustic axes.

• Journal of Convergence for Information Technology
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• v.10 no.2
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• pp.184-192
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• 2020

This study presents a gait analysis method (including time series analysis) using a smart insole as an objective and quantitative evaluating method after lumbar scoliosis surgery. The participant is a degenerative lumbar scoliosis patient. She took 3-min-gait-test four times(before and 8, 16, and 204-days after surgery) and 6-min-gait-test once(204-days after surgery) with smart-insoles in her shoes. Each insole has 8-pressure sensors, an accelerometer, and a gyroscope. The measured values were used to compare the characteristics of gait before and after surgery. The analysis showed that all of the patient's gait parameters improved after surgery. And after 6 months, the gait was more stable. However, after long walk, the swing duration of one leg was slightly shorter than that of the other again. It was a preclinical problem that could not be found in the visual examination by the practitioner. With this analysis method we could evaluate the improvement of patient quantitatively and objectively. And we could find a preclinical problem. This analysis method will lead to the studies that define and distinguish gait patterns of certain diseases, helping to determine appropriate treatments.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.9 no.2
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• pp.137-144
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• 2015

In this paper, we present an inertial sensor-based gait analysis system to measure and analyze lower-limb movements. We developed an integral AHRS(Attitude Heading Reference System) using a combination of rate gyroscope, accelerometer and magnetometer sensor signals. Several AHRS modules mounted on segments of the patient's body provide the quaternions representing the patient segments's orientation in space. And a method is also proposed for calculating three-dimensional inter-segment joint angle which is an important bio-mechanical measure for a variety of applications related to rehabilitation. To evaluate the performance of our AHRS module, the Vicon motion capture system, which offers millimeter resolution of 3D spatial displacements and orientations, is used as a reference. The evaluation resulted in a RMSE(Root Mean Square Error) of 1.08 and 1.72 degree in yaw and pitch angle. In order to evaluate the performance of our the gait analysis system, we compared the joint angle for the hip, knee and ankle with those provided by Vicon system. The result shows that our system will provide an in-depth insight into the effectiveness, appropriate level of care, and feedback of the rehabilitation process by performing real-time limb or gait analysis during the post-stroke recovery.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.9 no.2
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• pp.161-168
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• 2015

In this paper, we present an inertial sensor-based gait distance measurement system using accelerometer, gyroscope, and magnetometer. To minimize offset and gain error of inertial sensors, we performed the calibration using the self-made calibration jig with 9 degrees of freedom. For measuring accurate gait distance, we used gradient descent algorithm to remove gravity error and used analysis of gait pattern to remove drift error. Finally, we measured a gait distance by double-integration of the error-removed acceleration data. To evaluate the performance of our system, we walked 10m in a straight line indoors to observe the improvement of removing error which compared un-calibrated to calibrated data. Also, the gait distance measured by the system was compared to the measurement of the Vicon motion capture system. The evaluation resulted in the improvement of $31.4{\pm}14.38%$(mean${\pm}$S.D.), $78.64{\pm}10.84%$ and $69.71{\pm}26.25%$ for x, y and z axis, respectively when walked in a straight line, and a root mean square error of 0.10m, 0.16m, and 0.12m for x, y and z axis, respectively when compared to the Vicon motion capture system.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.12
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• pp.1067-1076
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• 2016

This paper describes the development of a hybrid-powered wheelchair (HPW) for the elderly. The proposed HPW has novel mechanical and control features compared with conventional powered wheelchairs. An ergonomic back-braking mechanism was designed in order to stop the wheels easily. In terms of control features, the HPW remarkably reduces the muscle power required by combining various assistive functions, such as wheel torque assistance, friction/inertia compensation, gravity compensation, and the one-hand driving algorithm. For wheel torque assistance, strain gauges were attached to the hand-rim in order to measure the wheel torque applied by a human. Gyroscopes and an accelerometer were attached to the wheel and chair respectively for friction and inertia compensation. An inclinometer was attached for gravity compensation and the one-hand driving algorithm was included for patients who can only use one hand. The one-hand driving algorithm controls the angular velocity of the uncontrolled wheel by using a gyroscope and pressure sensors attached to the bottom of the seat. Finally, the performance of the proposed motion assisted algorithm was verified through various experiments.

• Journal of Information Technology Applications and Management
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• v.28 no.3
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• pp.59-75
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• 2021

This study aims to establish a foundation for autonomous driving on campus and communication of abundant university information in the HCI environment in a VR environment where college freshmen can freely travel around campus facilities. The purpose of this study is to develop a three-dimensional VR-style campus tour system to establish a media environment to provide abundant university information guidance services to freshmen in non-face-to-face situations. This study designed a three-dimensional virtual reality campus tour system to solve the problem of discontinuity in which VR360 filming space does not lead to space like reality, and to solve many problems of expertise in VR technology by constructing an integrated production environment of tour system. We aim to solve the problem of inefficiency, which requires a large amount of momentum in virtual space, by constructing a GUI that utilizes the motion of the field of view focus. The campus environment was designed as a three-dimensional virtual reality using a three-dimensional graphic design. In non-face-to-face situations, college freshmen freely transformed the HMD VR device, smartphone, FPS operation mode of the gyroscope sensor. The design elements of the three-dimensional virtual reality campus tour system were classified as ①Visualization of factual experiences, ②Continuity of space movement, ③Operation, automatic operation mode, ④Natural landscape animation, ⑤Animation according to wind direction, ⑥Actual space movement mode, ⑦Informatization of spatial understanding, ⑧GUI by experience environment, ⑨Text GUI by building, ⑩VR360, 3D360 Studio Environment, ⑪Three-dimensional virtual space coupling block module, ⑫3D360-3D Virtual Space Transmedia Zone, ⑬Transformable GUI(VR Device Dual Viewer-Gyro Sensor Full Viewer-FPS Operation Viewer) and an integrated production environment was established with each element. It is launched online (http://vautu.com/u1) by constructing a GUI for free driving mode and college information screens to adapt to college life for freshmen, and designing an environment that can be used simultaneously by current media such as PCs, Android, and iPads. Therefore, it conducted user research, held a development presentation, a forum on excellence in university innovation support projects, and applied it as a system on the website of a particular university. College freshmen will be able to experience university information directly from the web and app to the virtual reality campus environment.

• Journal of Advanced Navigation Technology
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• v.25 no.1
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• pp.68-77
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• 2021

In this paper, a GPS/MEMS IMU integrated navigation receiver module capable of operating in a high dynamic environment is designed and fabricated, and the results is confirmed. The designed module is composed of RF receiver unit, inertial measurement unit, signal processing unit, correlator, and navigation S/W. The RF receiver performs the functions of low noise amplification, frequency conversion, filtering, and automatic gain control. The inertial measurement unit collects measurement data from a MEMS class IMU applied with a 3-axis gyroscope, accelerometer, and geomagnetic sensor. In addition, it provides an interface to transmit to the navigation S/W. The signal processing unit and the correlator is implemented with FPGA logic to perform filtering and corrrelation value calculation. Navigation S/W is implemented using the internal CPU of the FPGA. The size of the manufactured module is 95.0×85.0×.12.5mm, the weight is 110g, and the navigation accuracy performance within the specification is confirmed in an environment of 1200m/s and acceleration of 10g.

• Journal of Internet of Things and Convergence
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• v.10 no.4
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• pp.101-108
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• 2024

Indoor localization is a critical component for numerous applications, ranging from navigation in large buildings to emergency response. This paper presents an enhanced Pedestrian Dead Reckoning (PDR) scheme using smartphone sensors, integrating neural network-aided motion recognition, Kalman filter-based error correction, and multi-sensor data fusion. The proposed system leverages data from the accelerometer, magnetometer, gyroscope, and barometer to accurately estimate a user's position and orientation. A neural network processes sensor data to classify motion modes and provide real-time adjustments to stride length and heading calculations. The Kalman filter further refines these estimates, reducing cumulative errors and drift. Experimental results, collected using a smartphone across various floors of University, demonstrate the scheme's ability to accurately track vertical movements and changes in heading direction. Comparative analyses show that the proposed CNN-LSTM model outperforms conventional CNN and Deep CNN models in angle prediction. Additionally, the integration of barometric pressure data enables precise floor level detection, enhancing the system's robustness in multi-story environments. Proposed comprehensive approach significantly improves the accuracy and reliability of indoor localization, making it viable for real-world applications.

• KIPS Transactions on Computer and Communication Systems
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• v.12 no.5
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• pp.171-180
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• 2023

The three major sleep disorders in Korea are snoring, sleep apnea, and insomnia. Lack of sleep is the root of all diseases. Some of the most serious potential problems associated with sleep deprivation are cardiovascular problems, cognitive impairment, obesity, diabetes, colitis, prostate cancer, etc. To solve these problems, the Korean government provided low-cost national health insurance benefits for polysomnography tests in July 2018. However, insomnia patients still have problems getting treated in terms of time, space, and economic perspectives. Therefore, it would be better for insomnia patients to be allowed to test at home. The measuring device can measure six biosignals (eye movement, tossing and turning, body temperature, oxygen saturation, heart rate, and audio). A gyroscope sensor (MPU9250, InvenSense, USA) was used for eye movement, tossing, and turning. The input range of the sensor was in 258°/sec to 460°/sec, and the data range was in the input range. Body temperature, oxygen saturation range, and heart rate were measured by a sensor (MAX30102, Analog Devices, USA). The body temperature was measured in 30 ℃ to 45 ℃, and the oxygen saturation range was 0% for the unused state and 20 % to 90 % for the used state. The heart rate measurement range was in 40 bpm to 180 bpm. The measurement of audio signal was performed by an audio sensor (AMM2742-T-R, PUIaudio, USA). The was -42 dB ±1 dB frequency range was 20 Hz to 20 kHz. The measured data was successfully received in wireless network conditions. The system configuration was consisted of a PC and a mobile app for bio-signal measurement and data collection. The measured data was collected by mobile phones and desktops. The data collected can be used as preliminary data to determine the stage of sleep and perform the screening function for sleep induction and sleep disturbances. In the future, this convenient sleep measurement device could be beneficial for treating insomnia.