• Journal of Institute of Control, Robotics and Systems
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• v.13 no.7
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• pp.656-663
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• 2007

A new dynamic balancing algorithm has been proposed to minimize the number of sensors necessary for the horizontal balancing of the mobile inverted pendulum while maintaining the same level of the commercial performance. The inverted pendulum technique is getting attention and there have been many researches on the Segway since the US inventor Dean Kamen commercialized. One of the major problems of the Segway is that many sensors are required for the control of the Segway, which results in the high price. In this research, a single gyro and a tilt sensor are fused to obtain the absolute tilt information, which is applied for the control of the mobile inverted pendulum. A dynamic balancing technique has been developed and applied for a robust control system against disturbances. The intelligent handling and stable curving of the Segway as a next generation mobile tool are verified with a human loading.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.11
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• pp.1110-1116
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• 2010

This paper present an effective complementary filtering method using encoder and gyro sensors for the self-localization(including heading and velocity) of indoor mobile robot. The main idea of the proposed approach is to find the pros and cons of each sensor through a various maneuvering tests and to design of an adaptive complementary filter that works for the entire maneuvering phases. The proposed method is applied to an indoor mobile robot and the performances are verified through extensive experiments.

• Proceedings of the Korean Society of Computer Information Conference
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• 2017.01a
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• pp.135-136
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• 2017

현재 스마트 기기가 상용화된 우리 사회에서는 대부분의 사람들이 PC를 접하는 시간 보다 스마트 기기를 접하는 시간이 늘어가고 있으며 그것은 게임 산업 측면에서도 같은 추세를 보이고 있다. 이에 따라 본 논문에서는 모바일 환경에서 스마트 기기만의 특성을 살려 게임을 개발하였으며, 그 중에서도 자이로 센서를 활용하여 캐릭터의 움직임을 구현하였다. 본 논문에서는 사용자들이 재미있고 쉽게 플레이 할 수 있는 어드벤처 3D 러닝게임을 기획, 설계 구현한 것에 대하여 다루었다.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.1
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• pp.54-59
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• 2002

In the three-axis control of satellites by using on-board actuators, gyros are usually used to measure the attitude angles and angular rates. The gyros are operated by electronic parts and mechanical actuators. The digital components of the electronic parts consist of largely FPGA (Field Programmable Gate Array) as one of the methods for VLSI(Very Large Scale Integrated) circuit design, while the mechanical parts provide output signal directly by mechanical actuation of a spinning rotor. In this research, a mixed mode of gyro is implemented in FGA. In addition to the hardware implementation, the simulation study was conducted by using the SABER for the mixed mode simulator. Results for the practical implementation of the satellite ACS (Attitude Control System) interfaced with the data processing are also presented to validate the FPGA implementation.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.1
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• pp.28-34
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• 2012

Human generally uses three methods to keep balance. One of them is using reactive momentum such as swing an upper body or arms. In this study, we proposed a balancing controller for the reactive momentum method using an inverted pendulum. We simplified a human or a humanoid robot as a two-link inverted pendulum having two edges. In addition, we proposed a distinctive condition for controller transition. If a human is pushed, he has to change a balancing controller from using an ankle torque to using a reactive momentum or changing foot placement. When the balancing controller is changed from using an ankle torque to using a reactive momentum, it is required a proper timing to keep a stability and make smooth movement. In the experiment, the proposed controller and distinctive condition were verified.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.9
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• pp.881-885
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• 2008

To calculate the attitude in ARS(Attitude Reference System) using 3 gyros and 3 accelerometers, gyro drift must be compensated with accelerometer to avoid divergence of attitude error. Kalman filter is most popular method to integrate those two sensor outputs. In this paper, new Kalman filtering method is proposed for roll and pitch attitude estimation. New states are defined to make linear equation and algorithm for changing Kalman filter parameters is proposed to ignore disturbances of acceleration. This algorithm can be easily applied to low cost ARS.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.4
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• pp.437-442
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• 2014

Due to electrical cross-coupling between modulation voltage and photodetector output in a closed-loop fiber optic gyro, deadzone inevitably occurs. In this paper, deadzone error by cross-coupling effect was analyzed and the overcoming method was suggested. Simulation and measurement results show the main reason for deadzone is mainly related to electrical cross-coupling, and it can be effectively reduced by square-wave dithering method.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2015.07a
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• pp.540-541
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• 2015

본 논문은 카메라 촬영 시 손 떨림 등에 의해 생기는 불균일한 블러 현상에 대해 영상 IMU 센서와 노출시간이 긴 영상과 짧은 영상 쌍을 이용한 디블러 알고리즘을 제안한다. 먼저 IMU 센서로부터 얻어진 gyro 데이터로 초기 커널을 추정한다. 그런 다음 노출시간이 다른 영상 쌍에 Lucas-Kanade 기법을 적용하여 상기 추정된 초기 커널을 개선한다. 이렇게 구해진 커널에 기반하여 residual deconvolution 을 수행 디블러 영상을 생성한다. 실험 결과로부터 제안 알고리즘이 기존 기법에 비해 우수한 성능을 보임을 알 수 있다.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.05a
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• pp.986-987
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• 2013

본 연구에서는 사용자 스스로가 바른 자세를 교정 할 수 있도록 도움을 줄 수 있는 스마트폰 기반의 자이로 센서를 이용한 착용형 자세 교정 시스템을 구현하였다. 이를 위하여 2개의 자이로 센서를 Y자 서스펜더 상, 하에 각각 부착하여 신체의 기울기를 측정하였으며, 블루투스 통신을 이용하여 스마트폰으로 데이터를 전송하였다. 전송된 신체의 기울기 정보는 바른 자세에 대한 평균 기울기 정보와 비교하여 바른 자세와 잘못된 자세를 판단하고자 하였으며, 이를 위한 스마트폰 기반의 어플리케이션을 구현하였다. 구현된 어플리케이션은 자세 판별뿐만 아니라 현재의 자세 정보를 직관적으로 표현하기 위한 모니터링 부와 잘못된 자세 검출 시 진동이나 알림 음 또는 팝업 메시지를 통해 사용자에게 전달하는 알림 기능을 구성하였다. 또한 구현된 시스템으로부터 대표적인 잘못된 자세 4가지에 대한 검출 실험을 수행하였으며, 그 결과 100% 검출이 가능함을 확인하였다.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.9
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• pp.1584-1588
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• 2008

The Ring Laser Gyroscope makes use of the Sagnac effect within a resonant ring cavity of a He-Ne laser and has more accuracy than the other gyros. The Low Earth Orbit satellite for observatory use require the high accuracy Gyro to control and determine the altitude because of the need of payload pointing accuracy. In this paper, The theory of the Path Length Control is explained. The electrical design of Path Length Controller is described. The Design for Path Length Controller is composed of the demodulator, integrator, phase shifter, high voltage amplifier. We apply the circuit to 28cm square ring laser gyro and get the test results.