Improvement of Altitude Measurement Algorithm Based on Accelerometer for Holding Drone's Altitude (드론의 고도 유지를 위한 가속도센서 기반 고도 측정 알고리즘 개선)
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- KIPS Transactions on Software and Data Engineering
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- v.6 no.10
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- pp.473-478
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- 2017
Drones require altitude holding in order to achieve flight objectives. The altitude holding of the drone is to repeat the operation of raising or lowering the drone according to the altitude information being measured in real-time. When the drones are maintained altitude, the drone's altitude will continue to change due to external factors such as imbalance in thrust due to difference in motor speed or wind. Therefore, in order to maintain the altitude of drone, we have to exactly measure the continuously changing altitude of the drone. Generally, the acceleration sensor is used for measuring the height of the drones. In this method, there is a problem that the measured value due to the integration error accumulates, and the drone's vibration is recognized by the altitude change. To solve the difficulty of the altitude measurement, commercial drones and existing studies are used for altitude measurement together with acceleration sensors by adding other sensors. However, most of the additional sensors have a limitation on the measurement distance and when the sensors are used together, the calculation processing of the sensor values increases and the altitude measurement speed is delayed. Therefore, it is necessary to accurately measure the altitude of the drone without considering additional sensors or devices. In this paper, we propose a measurement algorithm that improves general altitude measurement method using acceleration sensor and show that accuracy of altitude holding and altitude measurement is improved as a result of applying this algorithm.
To overcome the limitation of conventional rock excavation methods, the excavation with abrasive waterjet has been actively developed. The abrasive waterjet excavation method has the effect of reducing blasting vibration and enhancing the excavation efficiency by forming a continuous free surface on the rock. However, the waterjet cutting performance varies with rock fracturing characteristics. Thus, it is necessary to analyze the cutting performance for various rocks in order to effectively utilize the waterjet excavation. In this study, cutting experiments with the high pressure waterjet system were performed for basalt and granite specimens. Water pressure, standoff distance, and traverse speed were determined as effective parameters for the abrasive waterjet cutting. The cutting depth and width of basalt specimens were analyzed to compare with granite results. The averaged cutting depth of basalt was shown in 41% deeper than granite; in addition, the averaged cutting width of basalt was formed by 18.5% narrower than granite. The results of this study are expected to be useful basic data for applying rock excavation site with low strength and high porosity such as basalt.
Sleep apnea causes various secondary disease such as hypertension, stroke, myocardial infarction, depression and cognitive impairment. Early detection and continuous management of sleep apnea are urgently needed since it causes cardio-cerebrovascular diseases. In this study, wearable device for monitoring respiration during sleep using PVDF film was developed to detect vibration through trachea caused by breathing, which determines normal breathing and sleep apnea. Variables such as respiration rate and apnea were extracted based on the detected breathing sound data, and a noise reduction algorithm was established to minimize the effect even when there is a noise signal. In addition, it was confirmed that irregular breathing patterns can be analyzed by establishing a moving threshold algorithm. The results show that the accuracy of the respiratory rate from the developed device was 98.7% comparing with the polysomnogrphy result. Accuracy of detection for sleep apnea event was 92.6% and that of the sleep apnea duration was 94.0%. The results of this study will be of great help to the management of sleep disorders and confirmation of treatment by commercialization of wearable devices that can monitor sleep information easily and accurately at home during daily life and confirm the progress of treatment.
Virtual reality simulations are used for education and training in various fields, and are especially widely used in the medical field recently. The education/training simulator consists of tactile/force feedback generation and image/sound output hardware that provides a sense similar to a doctor's treatment of a real patient using real surgical tools, and software that produces realistic images and tactile feedback. Existing simulators are complicated and expensive because they have to use various types of hardware to simulate various surgical instruments used during surgery. In this paper, we propose a dental surgical simulation system using a force feedback device and a morphable haptic controller. Haptic hardware determines whether the surgical tool collides with the surgical site and provides a sense of resistance and vibration. In particular, haptic controllers that can be deformed, such as length changes and bending, can express various senses felt depending on the shape of various surgical tools. When the user manipulates the haptic feedback device, events such as movement of the haptic feedback device or button clicks are delivered to the simulation system, resulting in interaction between dental surgical tools and oral internal models, and thus haptic feedback is delivered to the haptic feedback device. Using these basic techniques, we provide a realistic training experience of impacted wisdom tooth extraction surgery, a representative dental surgery technique, in a virtual environment represented by sophisticated three-dimensional models.
In cable tunnel construction using TBM, the vertical shaft is an essential structure for entrance and exit of TBM equipment and power lines. Since a shaft penetrates the ground vertically, it often encounters rock mass. Blasting or rock splitting methods, which are mainly used to the rock excavation, cause public complaints due to the noise, vibration and road occupation. Therefore, mechanical excavation using vertical shaft excavation machine are considered as an alternative to the conventional methods. However, at the current level of technology, the vertical excavation machine has limitation in its performance when applied for high strength rock with a compressive strength of more than 120 MPa. In this study, the potential utilization of waterjet technology as an excavation assistance method was investigated to improve mechanical excavation performance in the hard rock formations. Rock cutting experiments were conducted to verify the cutting performance of the abrasive waterjet. Based on the experimental result, it was found that ensuring excavation performance with respect to changing in ground conditions can be achieved by adjusting waterjet parameters such as standoff distance, traverse speed and water pressure. In addition, based on the relationship between excavation performance, uniaxial compressive strength and RQD, it was suggested that excavation performance could be improved by artificially creating joints using the abrasive waterjet. It is expected that these research results can be utilized as fundamental data for the introduction of vertical shaft excavation machines in the future.
In the seismic design of structures, seismic forces are calculated based on structural models and analysis. In order to accurately address the dynamic characteristics of the actual structure in the structural model, calibration based on actual measurements is required. In this study, a 4-story frame test specimen was manufactured to simulate frame building, accelerometers were attached at each floor, and 1-axis shaking table test was performed. The natural period of the specimen was similar to that of the actual 4 story frame building, and the columns were designed to behave with double-curvature having the infinite stiffness of the horizontal members. To investigate the effects seismic waves characteristics, historical and artificial excitations with various frequencies and acceleration magnitudes were applied. The natural frequencies, damping ratios, and mode shapes were obtained using frequency response functions obtained from dynamic response signals, and the mode vector deviations according to the input seismic waves were verified using the Mode assurance criterion (MAC). In addition, the damping ratios obtained from the vibration tests were applied to the structural model, and the method with refined dynamic characteristics was validated by comparing the analysis results with the experimental data.
Speech emotion recognition (SER) is a technique that is used to analyze the speaker's voice patterns, including vibration, intensity, and tone, to determine their emotional state. There has been an increase in interest in artificial intelligence (AI) techniques, which are now widely used in medicine, education, industry, and the military. Nevertheless, existing researchers have attained impressive results by utilizing acted-out speech from skilled actors in a controlled environment for various scenarios. In particular, there is a mismatch between acted and spontaneous speech since acted speech includes more explicit emotional expressions than spontaneous speech. For this reason, spontaneous speech-emotion recognition remains a challenging task. This paper aims to conduct emotion recognition and improve performance using spontaneous speech data. To this end, we implement deep learning-based speech emotion recognition using the VGG (Visual Geometry Group) after converting 1-dimensional audio signals into a 2-dimensional spectrogram image. The experimental evaluations are performed on the Korean spontaneous emotional speech database from AI-Hub, consisting of 7 emotions, i.e., joy, love, anger, fear, sadness, surprise, and neutral. As a result, we achieved an average accuracy of 83.5% and 73.0% for adults and young people using a time-frequency 2-dimension spectrogram, respectively. In conclusion, our findings demonstrated that the suggested framework outperformed current state-of-the-art techniques for spontaneous speech and showed a promising performance despite the difficulty in quantifying spontaneous speech emotional expression.
Exercises using a Balance Board (BB) are effective in developing balance, strengthening core muscles, and improving physical fitness and concentration. In particular, the Smart Balance Board (SBB), which integrates with various digital content, provides appropriate feedback compared to traditional balance boards, maximizing the effectiveness of the exercise. However, most systems only offer visual and auditory feedback, failing to evaluate the impact on user engagement, interest, and the accuracy of exercise postures. This study proposes an Immersive Smart Balance Board (I-SBB) that utilizes multiple sensors to enable training with various feedback mechanisms and precise postures. The proposed system, based on Arduino, consists of a gyro sensor for measuring the board's posture, a communication module for wired/wireless communication, an infrared sensor to guide the user's foot placement, and a vibration motor for tactile feedback. The board's posture measurements are smoothly corrected using a Kalman Filter, and the multi-sensor data is processed in real-time using FreeRTOS. The proposed I-SBB is shown to be effective in enhancing user concentration and engagement, as well as generating interest, by integrating with diverse content.
The wall shear stress in the vicinity of end-to end anastomoses under steady flow conditions was measured using a flush-mounted hot-film anemometer(FMHFA) probe. The experimental measurements were in good agreement with numerical results except in flow with low Reynolds numbers. The wall shear stress increased proximal to the anastomosis in flow from the Penrose tubing (simulating an artery) to the PTFE: graft. In flow from the PTFE graft to the Penrose tubing, low wall shear stress was observed distal to the anastomosis. Abnormal distributions of wall shear stress in the vicinity of the anastomosis, resulting from the compliance mismatch between the graft and the host artery, might be an important factor of ANFH formation and the graft failure. The present study suggests a correlation between regions of the low wall shear stress and the development of anastomotic neointimal fibrous hyperplasia(ANPH) in end-to-end anastomoses. 30523 T00401030523 ^x Air pressure decay(APD) rate and ultrafiltration rate(UFR) tests were performed on new and saline rinsed dialyzers as well as those roused in patients several times. C-DAK 4000 (Cordis Dow) and CF IS-11 (Baxter Travenol) reused dialyzers obtained from the dialysis clinic were used in the present study. The new dialyzers exhibited a relatively flat APD, whereas saline rinsed and reused dialyzers showed considerable amount of decay. C-DAH dialyzers had a larger APD(11.70
The wall shear stress in the vicinity of end-to end anastomoses under steady flow conditions was measured using a flush-mounted hot-film anemometer(FMHFA) probe. The experimental measurements were in good agreement with numerical results except in flow with low Reynolds numbers. The wall shear stress increased proximal to the anastomosis in flow from the Penrose tubing (simulating an artery) to the PTFE: graft. In flow from the PTFE graft to the Penrose tubing, low wall shear stress was observed distal to the anastomosis. Abnormal distributions of wall shear stress in the vicinity of the anastomosis, resulting from the compliance mismatch between the graft and the host artery, might be an important factor of ANFH formation and the graft failure. The present study suggests a correlation between regions of the low wall shear stress and the development of anastomotic neointimal fibrous hyperplasia(ANPH) in end-to-end anastomoses. 30523 T00401030523 ^x Air pressure decay(APD) rate and ultrafiltration rate(UFR) tests were performed on new and saline rinsed dialyzers as well as those roused in patients several times. C-DAK 4000 (Cordis Dow) and CF IS-11 (Baxter Travenol) reused dialyzers obtained from the dialysis clinic were used in the present study. The new dialyzers exhibited a relatively flat APD, whereas saline rinsed and reused dialyzers showed considerable amount of decay. C-DAH dialyzers had a larger APD(11.70