• Journal of Institute of Control, Robotics and Systems
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• v.20 no.11
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• pp.1136-1141
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• 2014

This paper proposes a new contact type ball tracking sensor to improve the control performance of a low cost ball-and-beam system. It is well-known that the impulsive measurement noise contained in ball position measurement is one of the factors which severely degrades the ball-and-beam control performance. The impulsive ball position measurement noises often appear under the sporadical ball floating on the beam. This fact motivates us to devise a simple analog preprocessing circuit to determine whether the ball loses the contact or not. Once the abnormal ball position measurement is detected, the design problem of the ball tracking sensor can be cast into the typical state estimation problem with missing data. In order to tackle the real-time implementation issue, a steady-state Kalman filter is applied to the problem. Through the experimental results, the usefulness of the proposed scheme is demonstrated.

• Journal of Industrial Convergence
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• v.22 no.7
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• pp.15-21
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• 2024

A hiking stick is generally one of the walking aids that allow hikers to walk while relying on their own bodies when walking. A rechargeable battery must be built into the hiking stick, which is an auxiliary device, in order to perform various functions. A separate power supply is required to charge the rechargeable battery. This study is about a self-generated power supply and develops a power generation device using a screw with higher power generation efficiency than the existing method. It is differentiated from the method suggested in this study by comparing and analyzing it with the existing power generation method, and identifying problems therewith. The screw-type power generation device generates power when the climbing stick comes into contact with the ground and when it is separated from the ground. The built-in power generation device does not require a separate power supply, and it can be used by attaching the role of a mobile phone auxiliary battery and a lighting lamp, and it has the effect of being able to find it through location tracking by embedding a GPS sensor, etc., and using lighting to keep the user safe in emergency situations such as distress. The existing generator with built-in mountain climbing stick is difficult to charge due to very weak current and low practicality, but the generator developed in this research could achieve high efficiency to obtain a sufficient current, so it is possible to charge a battery and practicality.