• Journal of Electrical Engineering and Technology
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• v.8 no.6
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• pp.1320-1327
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• 2013

In this paper, two different electromagnetic energy harvesters using bulk micromachined silicon spiral springs and Polydimethylsiloxane (PDMS) packaging technique have been fabricated, characterized, and compared to generate electrical energy from ultra-low ambient vibrations under 0.3g. The proposed energy harvesters were comprised of a highly miniaturized Neodymium Iron Boron (NdFeB) magnet, silicon spiral spring, multi-turned copper coil, and PDMS housing in order to improve the electrical output powers and reduce their sizes/volumes. When an external vibration moves directly the magnet mounted as a seismic mass at the center of the spiral spring, the mechanical energy of the moving mass is transformed to electrical energy through the 183 turns of solenoid copper coils. The silicon spiral springs were applied to generate high electrical output power by maximizing the deflection of the movable mass at the low level vibrations. The fabricated energy harvesters using these two different spiral springs exhibited the resonant frequencies of 36Hz and 63Hz and the optimal load resistances of $99{\Omega}$ and $55{\Omega}$, respectively. In particular, the energy harvester using the spiral spring with two links exhibited much better linearity characteristics than the one with four links. It generated $29.02{\mu}W$ of output power and 107.3mV of load voltage at the vibration acceleration of 0.3g. It also exhibited power density and normalized power density of $48.37{\mu}W{\cdot}cm-3$ and $537.41{\mu}W{\cdot}cm-3{\cdot}g-2$, respectively. The total volume of the fabricated energy harvesters was $1cm{\times}1cm{\times}0.6cm$ (height).

• The Journal of Korean Institute of Communications and Information Sciences
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• v.32 no.4C
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• pp.401-410
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• 2007

In this paper, we propose water quality monitoring system using vision camera and multiple objects tracking method. The proposed system analyzes object individually using vision camera unlike monitoring system using sensor method. The system using vision camera consists of individual object segmentation part and objects tracking part based on interrelation between successive frames. For real-time processing, we make background image using non-parametric estimation and extract objects using background image. If we use non-parametric estimation, objects extraction method can reduce large amount of computation complexity, as well as extract objects more effectively. Multiple objects tracking method predicts next motion using moving direction, velocity and acceleration of individual object then carries out tracking based on the predicted motion. And we apply exception handling algorithms to improve tracking performance. From experiment results under various conditions, it shows that the proposed system can be available for real-time water quality monitoring system since it has very short processing time and correct multiple objects tracking.

• Journal of Internet Computing and Services
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• v.21 no.2
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• pp.27-37
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• 2020

Recently, big data is rapidly emerging as a core technology in the 4th industrial revolution. Further, the utilization and the demand of drones are continuously increasing with the development of the 4th industrial revolution. However, as the drones usage increases, the risk of drones falling increases. Drones always have a risk of being able to fall easily even with small problems due to its simple structure. In this paper, in order to predict the risk of drone fall and to prevent the fall, ESC (Electronic Speed Control) is attached integrally with the drone's driving motor and the acceleration sensor is stored to collect the vibration data in real time. By processing and monitoring the data in real time and analyzing the data through big data obtained in such a situation using a Fast Fourier Transform (FFT) algorithm, we proposed a prediction system that minimizes the risk of drone fall by analyzing big data collected from drones.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.6
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• pp.569-575
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• 2013

This paper proposes a method for PDR (Pedestrian Dead-Reckoning) using a low cost IMU. Generally, GPS has been widely used for localization of pedestrians. However, GPS is disabled in the indoor environment such as in buildings. To solve this problem, this research suggests the PDR scheme with an IMU attached to the pedestrian's waist. However, despite the fact many methods have been proposed to estimate the pedestrian's position, but their results are not sufficient. One of the most important factors to improve performance is, a new calibration method that has been proposed to obtain the reliable sensor data. In addition to this calibration, the PDR method is also proposed to detect steps, where estimation schemes of step length, attitude, and heading angles are developed. Peak and zero crossings are detected to count the steps from 3-axis acceleration values. For the estimation of step length, a nonlinear step model is adopted to take advantage of using one parameter. Complementary filter and zero angular velocity are utilized to estimate the attitude of the IMU module and to minimize the heading angle drift. To verify the effectiveness of this scheme, a real-time system is implemented and demonstrated. Experimental results show an accuracy of below 1% and below 3% in distance and position errors, respectively, which can be achievable using a high cost IMU.

• Smart Structures and Systems
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• v.14 no.1
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• pp.39-54
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• 2014

Node layout optimization of structural wireless systems is investigated as a means to prolong the network lifetime without, if possible, compromising information quality of the measurement data. The trade-off between these antagonistic objectives is studied within a multi-objective layout optimization framework. A Genetic Algorithm is adopted to obtain a set of Pareto-optimal solutions from which the end user can select the final layout. The information quality of the measurement data collected from a heterogeneous WSN is quantified from the placement quality indicators of strain and acceleration sensors. The network lifetime or equivalently the network energy consumption is estimated through WSN simulation that provides realistic results by capturing the dynamics of the wireless communication protocols. A layout optimization study of a monitoring system on the Great Belt Bridge is conducted to evaluate the proposed approach. The placement quality of strain gauges and accelerometers is obtained as a ratio of the Modal Clarity Index and Mode Shape Expansion values that are computed from a Finite Element model of the monitored bridge. To estimate the energy consumption of the WSN platform in a realistic scenario, we use a discrete-event simulator with stochastic communication models. Finally, we compare the optimization results with those obtained in a previous work where the network energy consumption is obtained via deterministic communication models.

• Journal of The Korean Association of Information Education
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• v.17 no.1
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• pp.23-31
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• 2013

Elementary students can easy access to the smartphones and also can have been interested with them. Elementary learning tools to use smartphones are effective at the learning. So, Smartphones learning tools used in scientific experiments, the learning effect would be nice. Elementary school students to learn speed learning areas is a difficult concept. Therefore, the speed of learning application for smartphones is required. In this study, we develop a module for learning speed. This module that use the acceleration sensors of smart phones extract data from a given point in time, calculated by integrating speed. In addition, the distance is calculated. Students experiment at speed so that you can immediately see the changes in the module proposed in this study has the advantage. Measure the speed of the existing tools students again need to calculate the speed of a hassle to experiment and measured data values are separated. That the module proposed in this study is expected to be able to overcome the disadvantage.

• Journal of Advanced Navigation Technology
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• v.15 no.2
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• pp.181-188
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• 2011

A small UAVs(Unmaned Aerial Vehicles) have limited by the payload capacity which requires miniaturization of a navigation system. In this paper, the performance of the lightweight and small sized AHRS(Attitude Heading Reference System), which is self-developed, is evaluated at low acceleration environment. The designed AHRS adopts the commercial low-cost MEMS sensors. A quaternion-based attitude calculation method, which eliminates singularity with relatively simple algebra, is used. In an attitude correction algorithm, the Kalman filter is used with accelerometers and magnetometers combined. The fabricated AHRS is also evaluated with reference to a COTS(Commercial Off-The-Shelf) AHRS which reports a number of successful applications to a small UAVs. The test results show that the measurements from the fabricated AHRS provide proper attitude output data with acceptable amount of differences(horizontal axis 0.5$^{\circ}$, vertical axis 1.5$^{\circ}$) in test environment.

• Journal of Advanced Marine Engineering and Technology
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• v.17 no.5
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• pp.44-53
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• 1993

In this paper, we discuss on the control algorithm to make the wheeled inverse pendulum type mobile robot move in two dimensional plane. The robot considered in this paper has two independently driven wheels in same axel which suport and move it-self, and is assumed to have the fyro type sensor to know the inclination algle of the body and rotary encoders to know wheel's rotation angular velocity. The control algorithm is divided into three parts. The first part is for the posture and velocity control for forward-backward direction, the second is the steering control, and the last part is for the control of total system to track the given trajectory. We handle the running velocity control of the robot as part of the posture control to keep the balance because the posture relates deeply with the velocity and can be controlled by the velocities of the wheels. The control problem is analyzed as the tracking control, and the controller is realized with the state feedback and feed-forward of the reference velocity. Constructing the control system which contained one intergrator in forward path, we also realized the control system without observer for the estimation of the accumulated errors in the inclination angle of the body. To prevent the robot from being unstable state by sudden variation of the reference velocity when it starts and stops, or changes velocity, the reference velocity of which acceleration is slowly changing, is ordered to the robot. To control its steering, we give the different reference velocities for both wheels which are calculated from the desired angular velocity of the body. Finally, we presents the experimental results of the experimental robot Yamabico Kurara in which the proposed control algorithm had been implemented.

• Journal of Sensor Science and Technology
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• v.1 no.2
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• pp.155-163
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• 1992

The phased array antenna has the ability to perform adaptive sampling by directing the radar beam without inertia in any direction. The adaptive sampling capability of the phased array antenna allows each sampling time interval to be varied for each target, depending on the acceleration of each target at any time. In this paper we design a three-dimensional adaptive tracking algorithm for the phased array radar system with a given set of measurement parameters. The tracking algorithm avoids taking unnecessarily frequent samples, while keeping the angular prediction error within a fraction of antenna beamwidth so that the probability of detection will not be degraded during a track update illuminations. In our algorithm, the target model and the sampling rate are selected depending on the target range and the target maneuver status which is determined by a maneuver detector. A detailed simulation is conducted to test the validity of our tracking algorithm for encounter geometries under various conditions of maneuver.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.6
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• pp.599-607
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• 2011

In this paper, a reaction-force compensation system for an XY linear motion stage, without an additional external isolation structure or extra motors, is developed. This system consists of a movable magnet track, a spring, a dummy weight, and a dedicated sensor module that measures the relative positions of the movable magnet track with respect to the motor coil. The reaction force compensation system is modeled, and simulations are carried out to optimize design parameters such as the moving distance of the magnet track, the transmission force, the dummy weight, and the allowed size of the mechanism. An XY linear motion stage is built, incorporating the reaction force compensation system, and the performance of the system is verified experimentally. For acceleration and deceleration values of 10 m/$s^2$, 85% of the reaction force is absorbed by the reaction force compensation system.