• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.7
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• pp.1218-1223
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• 2007

A surface micro machined angular rate sensor utilizing a vibrating MEMS structure on a silicon has been developed. These tuning fork angular rate sensors are extremely rugged, inherently balanced, and easy to fabricate. The device is fabricated using a temperature compensation method based on automatic gain control technique. A linearity of approximately 0.6%, limited by the on-chip electronics has been obtained with this new sensor. Tests of the sensor demonstrate that its performance is equivalent to that required for implementation of a yaw control system. Vehicle handling and safety are substantially improved using the sensor to implement yaw control.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.156-160
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• 1996

A vibrating angular rate sensor with tuning fork type resonator of microstructure (940*820 .mu. m$^{2}$) was designed and will be fabricated by polysilicon surface micromaching. The angular rate sensor is driven in a lateral direction by electrostatic force of comb drive electrodes, and vertical vibrations of the sensor, thich is detected capacitively, are produced by Coriolis forces due to an external angular rate. Mechanical Q factors and a difference between the frequencies of the two resonant modes, the driving mode and detecting mode, play a great role in increasing the sensitivity of the sensor. To be a highly sensitive sensor, it was designed to have as small frequency discrepancy of the two resonant modes as possible. Finite element method was used for the modal analysis. Several design parameters were selected and their contributions to the modal frequencies were investigated. A method was presented for tuning the detecting mode frequency by DC bias on the drive electrodes.

• Proceedings of the Materials Research Society of Korea Conference
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• 2003.03a
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• pp.34-34
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• 2003

Piezoelectric or magnetostrictive materials, known as smart materials, have been researched widely for sensors or actuators in micro system technology. In our research, thick sol-gel lead zirconate titanate(Pb(Zr$\sub$1-x/Ti$\sub$x/)O$_3$) films were fabricated and their characteristics were investigated f3r angular rate sensor applications. The thickness of the PZT films is 1.5${\mu}$m, which is required by a vibration angular rate sensor for a good actuation and sensing. The remnant polarization of the PZT flms is 12.0 ${\mu}$C/$\textrm{cm}^2$. The electromechanical constants of PZT thin film showed the value of susceptance(B) of 4800${\mu}$ s at capacitance of 790pF. The PZT films were applied to the vibration angular rate sensor structure and the vibration of 1.78 ${\mu}$m in amplitude at the resonant frequency of 35.8㎑ was obtained by driving voltage of 5V$\sub$p-p/ of bulk piezoelectric materials with out of phase signal through voltage and inverting amplifier.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.10
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• pp.83-90
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• 2007

The vehicle dynamic control system needs to detect the yaw rate of vehicle and a yaw rate sensor is required as a central component. Therefore, A sensor on the basic of the "tuning fork method" for automotive controls is being developed. The sensor was fabricated by the surface micro machining process to miniaturize its size. The sensor output offset is ${\pm}0.37^{\circ}/sec$ in the room temperature. The resonance frequency of the fabricated yaw rate sensor is measured to 5.29kHz for the drive mode. Tests of the sensor demonstrate that its performance is equivalent to that required for implementation of a yaw control system. Vehicle handling and safety are substantially improved using the sensor to implement yaw control.

• Journal of the Korea Institute of Military Science and Technology
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• v.11 no.6
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• pp.30-37
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• 2008

The ARS(Attitude Reference System) calculates an attitude of a vehicle using inertial angular rate sensors and acceleration sensors. The attitude error of ARS increases due to the integration of angular rate sensor output. To reduce the attitude error an acceleration of sensor is used similar to leveling method of INS(Inertial Navigation System). When an acceleration of vehicle is increased, it is difficult to calculate the attitude error using acceleration sensor output. In this paper the estimation method of acceleration due to the attitude error only is proposed. Two methods of the attitude calculation depending on vehicle dynamics and the integration method of these two methods are proposed. To verify its performance the monte carlo simulation is performed and shows that it bounds attitude error of ARS to reasonable level.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.10
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• pp.992-997
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• 2009

This paper focuses on the calculation of the missile angular velocity under the reduced sensor condition and its verification using the Flight Motion Simulator(FMS). The missile angular velocity is usually measured by the body gyroscopes, but we assume that the inertial sensors on the missile body are in the absence of pitch and yaw gyroscopes. Under this reduced sensor condition, this paper shows the missile angular velocity can be calculated by using the gimbal seeker gyroscope, the roll body gyroscope, the gimbal angle and its rate. The FMS experiment was carried out to verify the proposed algorithm.

• Journal of Sensor Science and Technology
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• v.22 no.1
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• pp.54-64
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• 2013

In this study, we developed a falling recognition system to transmit SMS data through CDMA communication using a three axises acceleration sensor and a two axises gyro sensor. 5 healthy men were selected into a control group, and the fall recognition system using the three axises acceleration sensor and the two axises gyro sensor was devised to conduct an experiment. The system was attached to the upper of their sternum. According to the experiment protocol, the experiment was carried out 3 times repeatedly divided into 3 specific protocols: falling during gait, falling in stopped state, and falling in everyday life. Data obtained in the falling recognition system and LabVIEW 8.5 were used to decide if falling corresponds to that regulated in an analysis program applying an algorithm proposed in this study. In addition, results from falling recognition were transmitted to designated cellular phone in a SMS (Shot Message Service) form. These research results show that an erroneous detection rate of falling reached 19% in applying an acceleration signal only; 6% in applying an angular velocity; and 2% in applying a proposed algorithm. Such finding suggests that an erroneous detection rate of falling is improved when the proposed algorithm is applied incorporated with acceleration and angular velocity. In this study therefore, we proposed that a falling recognition system implemented in this study can make a contribution to the recognition of falling of the aged or the disabled.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.10a
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• pp.175-175
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• 2003

• Journal of Mechanical Science and Technology
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• v.16 no.4
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• pp.485-491
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• 2002

The gyroscopes have been used as a suitable inertial instrument for the navigation guidance and attitude controls. The accuracy as very sensitive sensor is limited by the lock-in region (dead band) by the frequency coupling between two counter-propagating waves at low rotation rates. This frequency coupling gives no phase difference and an angular increment is not detected. This problem can be overcome by the mechanical dithering. The purpose of the mechanical dithering is to suppress the dead band, oscillate the monoblock about the rotation axis and add an external rotation rate. This paper presents the theoretical considerations of the mechanical performances of dither on the basis of the loading condition and angular characteristics due to the piezoelement deformation and the validity of theoretical equations are compared through FEM (Finite Element Method) simulations.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2526-2531
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• 2005

A practical pinch torque estimator based on the Kalman filter is proposed for low-cost anti-pinch window control systems. To obtain the accurate angular velocity from Hall-effect sensor measurements, the angular velocity calculation algorithm is executed with additional procedures for removing the measurement noises. Apart from the previous works using the angular velocity estimates and torque estimates for detecting the pinched condition, the torque rate is augmented to the system model and the proposed pinch estimator is derived by applying the steady-state Kalman filter recursion to the model. The motivation of this approach comes from the idea that the bias errors in torque estimates due to the motor parameter uncertainties can be almost eliminated by introducing the torque rate state. For detecting the pinched condition, a systematic way to determine the threshold level of the torque rate estimates is also suggested via the deterministic estimation error analysis. Simulation results are given to certify the pinch detection performance of the proposed algorithm and its robustness against the motor parameter uncertainties.