• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.5
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• pp.190-196
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• 2015

In this paper, we propose multiple location error compensation algorithm for GPS/INS fusion using kalman filter and introduce the way to reduce location error in 9-axis navigation devices for implementing inertial navigation technique. When evaluating location, there is an increase of location error. So navigation systems need robust algorithms to compensate location error in GPS/INS fusion. In order to improve robustness of 9-axis inertial sensor(mpu-9150) over its disturbance, we used tilt compensation method using compensation algorithm of acceleration sensor and Yaw angle compensation to have exact azimuth information of the object. And it shows improved location result using these methods combined with kalman filter.

• The Journal of the Korea institute of electronic communication sciences
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• v.13 no.6
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• pp.1269-1274
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• 2018

In this paper, it covers technical aspect of drone by introducing the drone hovering. Arduino Uno and 3-axis attitude and azimuth sensor are the two main components of the drone. Arduino Uno is used as a main controller and 3-axis attitude and azimuth sensor are used to collect axial (X,Y,Z) data, which is massaged to determine the pitch (fore and aft tilt) and the bank (side to side tilt). Furthermore, drone stabilizes horizontal attitude by correcting these tilted angle through PID control.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.335-338
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• 2004

In this study has developed analysis system for automatic inspection of FPD(Flat Panel Display) characteristic, such as brightness, view angle, color ratio in the manufacturing process. Developed system consists of inspection-sensor part, acquiring a data by 3-CCD Color CCD camera and Inspection-stage part, driving a FPD holder to rotation and tilt direction. In experiment results, we could have ensured easily brightness distribution, available view angle, color reproduce and could expect to improve the quality, productivity, and yield.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.9
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• pp.895-899
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• 2014

This paper presents the balancing control of a unicycle robot using air power. Since the robot has one wheel to move forward and backward, the balancing control is quite challenging. To control the balancing angle, the accurate angle estimation by a tilt and a gyro sensor is required a priori. A complementary filter is implemented to eliminate the defects of two sensors and to fuse together to estimate an accurate balancing angle. The optimal design of air ducts is found empirically. Experimental studies of the balancing control of a unicycle robot confirm that the robot is well regulated without falling down.

• The Journal of Korea Robotics Society
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• v.4 no.4
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• pp.289-297
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• 2009

This paper presents the development and control of a two wheeled car-like mobile robot using balancing mechanism whose heading control is done by turning the handle. The mobile inverted pendulum is a combined system of a mobile robot and an inverted pendulum system. A sensor fusion technique of low cost sensors such as a gyro sensor and a tilt sensor to measure the balancing angle of the inverted pendulum robot system accurately is implemented. Experimental studies of the trajectory following control task has been conducted by command of steering wheel while balancing.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.45 no.1
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• pp.50-56
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• 2008

In this paper, a digital inclinometer to measure the angle and acceleration signals of subject laid on Roll was designed. The designed system consists of a tilt sensor, biaxial accelerometer, single chip microprocessor and Bluetooth module. The designed digital inclinometer was easy to handle and to wear. To evaluate the performance of the system, we measured simultaneously the angle and acceleration signals from the 3 subjects on the Roll using two instruments which are ZEBRIS and designed system. The measured signals were processed by statistical method and then the correlation coefficient of 0.93 was shown. From the results, the designed digital inclinometer is shown to be useful in assessment of body movement.

• 한국정보통신설비학회:학술대회논문집
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• 2007.08a
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• pp.191-195
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• 2007

Recently, landslides frequently happen at a natural slope during period of intensive rainfall. With rapidly increasing population of steep terrain in Korea, landslides have become one of the most significant natural hazards. Thus, it is necessary to protect people from landslides and to minimize the damage of houses, roads and other facilities. To accomplish this goal, many landslide prediction methods have been developed in the world. In this study, a simple landslide prediction system that enables people to escape the endangered area is developed. The system is focused to debris flows which happen frequently during periods of intensive rainfall at steep slopes in Kangwondo. This system is based on the wireless sensor network that is composed of sensor nodes, gateway, and server system. Sensor nodes that are composed of sensing part and communication part are newly developed to detect sensitive ground movement. Sensing part is designed to measure tilt angle and acceleration accurately, and communication part is deployed with Bluetooth (IEEE 802.15. I) module to transmit the data to the gateway. To verify the feasibility of this landslide prediction system, a series of laboratory tests is performed at a small-scale earth slope supplying rainfall by artificial rainfall dropping device. It is found that sensing nodes installed at slope can detect the ground motion when the slope failure starts. It is expected that the landslide prediction system by wireless senor network can provide early warnings when landslides such as debris flow occurs, and can be applied to ubiquitous computing city (U-City) that is characterized by disaster free.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.238-240
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• 2006

In this study, we designed a digital inclinometer to measure the angle and acceleration signals. Digital inclinometer consists of a tilt sensor, accelerometer, one-chip micro controller and BlueTooth module. Using the developed system, we made an experiment with Roll. The subject is laid on the Roll and rises each foot $90^{\circ}$ and $45^{\circ}$ up, and measures angle and acceleration signals with 100Hz sampling frequency. Through several tests, we could find the possibilities and usefulness which can evaluate normality / abnormality of body posture objectively.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.64-66
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• 2007

In this paper, a digital inclinometer to measure the angle and acceleration signals of subject laid on Roll was designed. The designed system consists of a tilt sensor, biaxial accelerometer, microcontroller and BlueTooth module. The designed digital inclinometer was easy to handle and easy to wear. To evaluate the performance of the system, we measured simultaneously the angle and acceleration signals from the 3 subjects on the Roll with two instruments which are ZEBRIS and our system. The measured signals were processed by statistical method and then the correlation coefficient of 0.93 was shown. From the results, the designed digital inclinometer is shown to be useful in assessment of body movement.

• The Journal of Natural Sciences
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• v.5 no.1
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• pp.87-93
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• 1992

A robotically assisted field material handling system designed for loading and unloading of a planar pallet with a forklift in unstructured field environment is presented. The system uses combined acoustic/visual sensing data to define the position/orientation of the pallet and to determine the specific locations of the two slots of the pallet, so that the forklift can move close to the slot and engage it for transport. In order to reduce the complexity of the material handling operation, we have developed a method based on the integration of 2-D range data of Poraloid ultrasonic sensor along with 2-D visual data of an optical camera. Data obtained from the two separate sources complements each other and is used in an efficient algorithm to control this robotically assisted field material handling system . Range data obtained from two linear scannings is used to determine the pan and tilt angles of a pallet using least mean square method. Then 2-D visual data is used to determine the swing angle and engagement location of a pallet by using edge detection and Hough transform techniques. The limitations of the pan and tilt orientation to be determined arc discussed. The system developed is evaluated through the hardware and software implementation. The experimental results are presented.