• 한국군사과학기술학회지
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• 제9권4호
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• pp.71-80
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• 2006

Strapdown Inertial navigation systems consist of an inertial sensor assembly(ISA), electronic modules to process sensor data, and a navigation computer to calculate attitude, velocity and position. In the ISA, most gryoscopes such as RLGs and FOGs, have digital output, but typical accelerometers use current as an analog output. For a high precision inertial navigation system, sufficient stability and resolution of the accelerometer board converting the analog accelerometer output into digital data needs to be guaranteed. To achieve this precision, the asymmetric error and A/D reset scale error of the accelerometer board must be properly compensated. If the relation between the acceleration error and the errors of boards are exactly known, the compensation and estimation techniques for the errors may be well developed. However, the A/D Reset scale error consists of a pulse-train type term with a period inversely proportional to an input acceleration additional to a proportional term, which makes it difficult to estimate. In this paper, the effects on the acceleration output for auto-pilot situations and the effects of A/D reset scale errors during horizontal alignment are qualitatively analyzed. The result can be applied to the development of the real-time compensation technique for A/D reset scale error and the derivation of the design parameters for accelerometer board.

• 한국인터넷방송통신학회논문지
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• 제17권2호
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• pp.179-190
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• 2017

Hand Accelerometer는 인간신체 운동 패턴을 실시간으로 파악하는데 널리 사용되고 있다. 그러므로 행동 유형을 정확하게 파악하는 것은 아주 중요하다. 이 과정에서 각 행동유형의 형태를 미리 정확하게 파악하는 것이 중요하다. 인간의 신체 행동은 센서를 통해 수집된 시계열 데이터로 표현된다. 이 데이터는 비안정적, 비선형적 성격을 가지고 있다. 그래서 이런 성격의 데이터의 유형을 효율적으로 추출하는 방법을 찾는 것은 매우 중요하다. 힐버트-황 변환은 비안정적 비선형적 요소를 시계열데이터에서 효율적으로 추출하는 방법이다. 이 방법을 위의 시계열 데이터에 적용한 결과 핵심패턴이 성공적으로 추출되었다.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2016년도 춘계학술발표대회
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• pp.162-165
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• 2016

본 논문은 윗몸 일으키기를 측정하는 타이젠 웨어러블 디바이스용 웹 어플리케이션의 정확도 개선에 대한 연구를 수행한다. 본 연구에서 사용하는 어플리케이션은 디바이스의 Accelerometer 센서를 이용하여 사용자의 윗몸 일으키기 자세를 측정한다. 올바른 윗몸 일으키기 자세에 대한 Accelerometer 데이터를 분석한 후 이를 토대로 운동역학적 데이터를 이용한 알고리즘을 구현하여 어플리케이션을 제작하고, 이를 기존에 존재하는 윗몸 일으키기 측정 앱과 비교했을 때 9.25%의 정확도를 개선할 수 있다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.82-86
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• 2004

A fuzzy rule-based hand-motion estimation algorithm is proposed for a 6 dimensional spatial tracker in which low cost accelerometers and gyros are employed. To be specific, beginning and stopping of hand motions needs to be accurately detected to initiate and terminate integration process to get position and pose of the hand from accelerometer and gyro signals, since errors due to noise and/or hand-shaking motions accumulated by integration processes. Fuzzy rules of yes or no of hand-motion-detection are here proposed for rules of accelerometer signals, and sum of derivatives of accelerometer and gyro signals. Several experimental results and shown to validate our proposed algorithms.

• International Journal of Control, Automation, and Systems
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• 제5권1호
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• pp.35-42
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• 2007

This paper presents an INS(Inertial Navigation System) grade, surface micro-machined differential resonant accelerometer(DRXL) manufactured by an epitaxially grown thick poly silicon process. The proposed DRXL system generates a differential digital output upon an applied acceleration, in which frequency transition is measured due to gap dependent electrical stiffness change. To facilitate the resonance dynamics of the electromechanical system, the micromachined DRXL device is packaged by using the wafer level vacuum sealing process. To test the DRXL performance, a nonlinear self-oscillation loop is designed based on the extended describing function technique. The oscillation loop is implemented using discrete electronic elements including precision charge amplifier and hard feedback nonlinearity. The performance test of the DRXL system shows that the sensitivity of the accelerometer is 24 Hz/g and its long term bias stability is about 2 mg($1{\sigma}$) with dynamic range of ${\sigma}70g$.

• Journal of Positioning, Navigation, and Timing
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• 제8권3호
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• pp.107-117
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• 2019

When a vehicle moves with a high rotation rate, it is not easy to measure the angular velocity using an off-the-shelf gyroscope. If the angular velocity is estimated using the extended Kalman filter in the gyro-free inertial navigation system, the effect of the accelerometer error and initial angular velocity error can be reduced. In this paper, in order to improve the navigation performance of the gyro-free inertial navigation system, an angular velocity estimation method is proposed based on an extended Kalman filter with an accelerometer random bias error model. In order to show the validity of the proposed estimation method, angular velocities and navigation outputs of a vehicle with 3 rev/s rotation rate are estimated. The results are compared with estimates by other methods such as the integration and an extended Kalman filter without an accelerometer random bias error model. The proposed method gives better estimation results than other methods.

• PNF and Movement
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• 제11권2호
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• pp.31-40
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• 2013

Purpose : The purpose of this study was to measure the center of mass in body with stroke patients using a tri-axial accelerometer during walking. Methods : Twenty-eight patients were recruited and divided into two groups for this study. To measure their walking ability, Timed Up & Go (TUG) test and Fucntioanl Gait Assessment (FGA) were conducted and acceleration at rotation of center of mass (COM) in body were measure for each group. Results : In the comparisons between the two groups, the TUG and FGA were not significant differences and acceleration at rotation of COM was not significant differences also. Conclusion : Our research results suggesting that the accelerometer may be used as a testing tool and ongoing assessment tool for stroke patients during effects of intervention in walking.

• 한국항공우주학회지
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• 제36권7호
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• pp.674-679
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• 2008

본 논문에서는 안정된 진동을 얻기 위한 자동 이득 제어(AGC) 루프를 이용하여 자가 유지 특성을 갖는 공진형 가속도계를 설계하였다. 제안된 가속도계의 기본 원리는 가속도 입력시, 가변 진동의 진폭을 일정하게 유지시키는 방법을 이용한다. 시스템 모델링과 진동의 포락선을 고려한 루프 설계 및 변환를 통하여 다양한 가속도 입력 하에서 진동 신호의 진폭을 일정하게 유지하도록 제어기를 설계하였고, 시뮬레이션 결과를 통해 실현가능성을 확인하였다. 따라서 고안된 공진 가속도계는 산업과 민간 응용 분야에 있어서 제어용 등급의 관성 측정 시스템에 적용될 수 있을 것으로 기대한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.162-165
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• 1995

For an accurate on-line measurement of the ship's attitude the paper develops an intelligent sensing system which uses one servo-type accelerometer and two servo-type inclinometers appropriately located on the ship. By considering the dynamics of the servo-controlled rigid pendulums of the inclinometers, linear equations for the rolling and pitching of the ship are derived separately from each other. Moreover, one accelerometer is used for extracting the heaving signal. Through the introduction of linear dynamic models and the linear observation equations for the heaving, rolling and pitching, the on-line measurement of the three signals can be reduced to the state estimation of the linear dynamic systems. A bank of Kalman filters is adaptively used to achieve the on-line accurate state estimation and to overcome changes in parameters in the linear dynamic models.

• 센서학회지
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• 제13권2호
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• pp.101-109
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• 2004

This paper presents a novel z-axis accelerometer with perfectly aligned vertical combs fabricated using the extended sacrificial bulk micromachining (extended SBM) process. The z-axis accelerometer is fabricated using only one (111) SOI wafer and two photo masks without wafer bonding or CMP processes as used by other research efforts that involve vertical combs. In our process, there is no misalignment in lateral gap between the upper and lower comb electrodes, because all critical dimensions including lateral gaps are defined using only one mask. The fabricated accelerometer has the structure thickness of $30{\mu}m$, the vertical offset of $12{\mu}m$, and lateral gap between electrodes of $4{\mu}m$. Torsional springs and asymmetric proof mass produce a vertical displacement when an external z-axis acceleration is applied, and capacitance change due to the vertical displacement of the comb is detected by charge-to-voltage converter. The signal-to-noise ratio of the modulated and demodulated output signal is 80 dB and 76.5 dB, respectively. The noise equivalent input acceleration resolution of the modulated and demodulated output signal is calculated to be $500{\mu}g$ and $748{\mu}g$. The scale factor and linearity of the accelerometer are measured to be 1.1 mV/g and 1.18% FSO, respectively.