• Korean Journal of Applied Biomechanics
• /
• v.19 no.2
• /
• pp.337-345
• /
• 2009

The purpose of this study were to find out the differences in kinematic variables of racket movement by performing the tennis serve. Three top male tennis players participated in this study. Three synchronized high-speed cameras were used to record the service action of top players for Three dimensional video analysis. The results of this study showed that (1) the velocity of the tennis racket at impact is important to the generation of racket velocity to Y-axis. This result indicates that forward motion and upward movement of the racket; (2) with respect to racket angular velocity at impact, the fast angular momentum of X-axis is important to generate the velocity of the tennis ball. This result indicate upward movement of the racket with a strong flexor of wrist joint; (3) the velocity of the tennis ball was influenced by the change of angular linking the Z-axis to -X-axis. This result indicates that the high velocity of the tennis ball is obtained from having the racket unitedly moving to the direction of the bill's flight at the acceleration interval and acquiring the distance of acceleration with the racket head vertically to the ground at the back scratching.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.11 no.1
• /
• pp.128-136
• /
• 2003

In today's design trend of vehicle structure, crush zone is fiequently reinforced by adding a box-shaped sub-frame in order to avoid an excessive deformation against a high-speed offset barrier such as EU Directive 96/97 EC, IIHS offset test. That kind of vehicle structure design results in a relatively monotonic crash pulse for airbag ECU(Electronic Control Unit) located at non-crush zone. As for an angular crash event, the measured crash signal using a single-axis accelerometer in a longitudinal direction is usually weaker than that of frontal barrier crash. Therefore, it is not so easy task to achieve a satisfactory crash discrimination performance for offset and angular crash events. In this paper, we introduce a new crash discrimination algorithm using an electronic X-Y 2-axis accelerometer in order to improve crash discrimination performance especially for those crash events. The proposed method uses a crash signal in lateral direction(Y-axis) as well as in longitudinal direction(X-axis). A crash severity measure obtained from Y-axis acceleration is used to improve the discrimination between fire and no-fire events. The result obtained by the proposed measure is logically ORed with an existing algorithm block using X-axis crash signal. Simulation and pulse injection test have been conducted to verify the performance of proposed algorithm by using real crash data of a 2,000cc passenger vehicle.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1958-1961
• /
• 2004

Ring Laser Gyroscopes used as navigational sensors inherently experience a lock-in region, where very low rotational rates are not measurable. Most RLG manufacturers use a mechanical dither motor that applies a small oscillatory rotational motion larger than this region to resolve this problem. Any input acceleration that bends this dithering axis causes flexure error, which is a noncommutative error that can not be compensated by simply using integrated gyro sensor output. This paper introduces noncommutative error equations that define attitude errors caused by flexure errors. In this paper, flexure error is classified as sensor level error if the sensing axis coincides with the dithering axis and as system level error if the two axes do not coincide. The relationship between gyro output and the rotation vector is introduced and is used to define the coordinate transformation matrix and angular motion. Equations are derived for both sensor level and system level flexure error analysis. These equations show that RLG based INS attitude error caused by flexure is directly proportional to time, amount of input acceleration and the dynamic frequency of the vehicle.

• International Journal of Automotive Technology
• /
• v.8 no.6
• /
• pp.753-760
• /
• 2007

In this paper, a roll and pitch estimation algorithm using a set of accelerometers and wireless sensor networks(S/N) is presented for use in a passenger vehicle. While an inertial measurement unit(IMU) is generally used for roll/pitch estimation, performance may be degraded in the presence of longitudinal acceleration and yaw motion. To compensate for this performance degradation, a new roll and pitch estimation algorithm is proposed that uses an accelerometer array, global positioning system(GPS) and in-vehicle networks to get information from yaw rate and roll rate sensors. Angular acceleration and roll and pitch approximation are first calculated based on vehicle kinematics. A discrete Kalman filter is then applied to estimate both roll and pitch more precisely by reducing noise from the running engine and from road disturbance. Finally, the feasibility of the proposed algorithm is shown by comparing its performance experimentally with that of an IMU in the framework of an indoor test platform as well as a test vehicle.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.9
• /
• pp.818-826
• /
• 2015

This paper presents a novel methodology for estimating vehicle ego-motion, i.e. tri-axis linear velocities and angular velocities by using stereo vision sensor and 2G1Y sensor (longitudinal acceleration, lateral acceleration, and yaw rate). The estimated ego-motion information can be utilized to predict future ego-path and improve the accuracy of 3D coordinate of obstacle by compensating for disturbance from vehicle movement representatively for collision avoidance system. For the purpose of incorporating vehicle dynamic characteristics into ego-motion estimation, the state evolution model of Kalman filter has been augmented with lateral vehicle dynamics and the vanishing point estimation has been also taken into account because the optical flow radiates from a vanishing point which might be varied due to vehicle pitch motion. Experimental results based on real-world data have shown the effectiveness of the proposed methodology in view of accuracy.

• The Journal of The Korea Institute of Intelligent Transport Systems
• /
• v.9 no.5
• /
• pp.87-95
• /
• 2010

Lots of bridge structure generated the change of outward formation according to durability capability and decrepitude by long use. Especially, in case of the typhoon, snowing and earthquake is going to make rapidly more worse formation about the old structural facilitys. Also, outward formation by irregular and micro-distortion in bridge structure could not easily checked by normal diagnostics method. As a result, performance-capability of structure facility is getting to make a decline in standard of structure performance. Recently, real-time monitoring technology by wireless environment go into the study of irregular movement for structure facility. This paper presents the development of sensor to displacement checking about bridge structure. Sensing method of developed sensor put bring into the gyroscope technology using the acceleration speed and angular acceleration speed. This paper also will simulated to verified the monitoring capability of developed sensor against random vibration, frequency and distortion in simulated equipment.

• Journal of Ocean Engineering and Technology
• /
• v.31 no.2
• /
• pp.177-182
• /
• 2017

This paper describes an unscented Kalman filter approach to estimate the bias in magnetic field measurements. A microelectromechanical systems attitude heading reference system (MEMS AHRS) was used to measure the magnetic field, together with the acceleration and angular rate. A magnetic field is usually used for yaw detection, while the acceleration serves to detect the roll and pitch. Magnetic field measurements are vulnerable to distortion due to hard-iron effect and soft-iron effect. The bias in the measurement accounts for the hard-iron effect, and this paper focuses on an approach to estimate this bias. The proposed method is compared with other methods through experiments that implement the navigation of an underwater robot using an AHRS and Doppler velocity log. The results verify that the compensation of the bias by the proposed method improves the navigation performance more than or comparable to the compensation by other methods.

• Korean Journal of Applied Biomechanics
• /
• v.15 no.4
• /
• pp.117-129
• /
• 2005

The purpose of this study was to characterize the impact shock wave and its attenuation, and the kinematic response of the lower extremity's joints to the impact shock during downhill running in which the lower extremity's extensor acts dominantly. For this study, fifteen subjects(mean age:$27.08{\pm}4.39$; mass:$76.30{\pm}6.60$; height:$177.25{\pm}4.11$) were required to run on the 0% grade treadmill and downhill grades of 7%, and 15% in random at speed of their preference. When the participant run, acceleration at the tibia and the sacrum and kinematic data of the lower extremity were collected for 20s so as to provide at least 5 strides for analysis at each grade. Peak impact accelerations were used to calculate shock attenuation between the tibia and sacrum in time domain at each grade. Fast Fourier transformation(FFT) and power spectral density(PSD) techniques were used to analyze impact shock factors and its attenuation in the frequency domain. Joint coordinate system technique was used to compute angular displacement of the ankle and knee joint in three dimension. The conclusions were drawn as fellows: 1. Peak impact accelerations of the tibia and sacrum in downhill run were greater than that of 0% grade run, but no significant between conditions. Peak shock of PSD resembled also in pattern of peak impact acceleration. The wave of impact shock attenuation between the tibia and sacrum decreased with increasing grade, but didn't find a significant difference between grade conditions. 2. Adduction/abduction, flexion/extention, and internal/external rotation of the ankle and knee joints at support phase between grade conditions didn't make much difference. 3. At grade of 7% and 15%, there were relationship between the knee of the flexion/extension movement and peak impact acceleration during heel strike and found also it in the ankle of plantar/dorsiflexion at grade of 15%.

• Journal of the Korea Society of Computer and Information
• /
• v.26 no.7
• /
• pp.45-55
• /
• 2021

Information obtained through various sensors embedded in a smartphone can be used to identify and analyze user's movements and situations. In this paper, we propose two rule-based motion detection systems that can detect three alphabet motions, 'I', 'S', and 'Z' by analyzing data obtained by the acceleration and gyroscope sensors in a smartphone. First of all, the characteristics of acceleration and angular velocity for each motion are analyzed. Based on the analysis, two rule-based systems are proposed and implemented as an android application and it is used to verify the detection performance for each motion. Two rule-based systems show high recognition rate over 90% for each motion and the rule-based system using ensemble shows better performance than another one.

• Ocean Systems Engineering
• /
• v.2 no.2
• /
• pp.83-97
• /
• 2012

In the present work, design procedure and computer simulation of an AUV are documented briefly. The design procedure containing the design of propulsion system and CFD simulation of hydrodynamics behavior of the hull leads to achieve an optimum mechanical performance of AUV system. After designing, a comprehensive one dimensional model including motor, propeller, and AUV hull behavior simulates the whole dynamics of AUV system. In this design, to select the optimum AUV hull, several noses and tails are examined by CFD tools and the brushless motor is selected based on the first order model of DC electrical motor. By calculating thrust and velocity in functional point, OpenProp as a tool to select the optimum propeller is applied and the characteristics of appropriate propeller are determined. Finally, a computer program is developed to simulate the interaction between different components of AUV. The simulation leads to determine the initial acceleration, final velocity, and angular velocity of electrical motor and propeller. Results show the final AUV performance point is in the maximum efficiency regions of DC electrical motor and propeller.