• Journal of Institute of Control, Robotics and Systems
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• v.19 no.10
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• pp.947-954
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• 2013

This article focuses on a hemispherical resonator gyro driven by the Coriolis effect. The operational principle of resonator gyros and mathematical models are introduced. These models are useful to explain the behavior of a resonator and to design controllers. Several control tests of a resonator have been done. A resonator has been excited by electromagnets controlled by a computer. Its amplitude has been adjusted by a PI control. The transient response is matched with a simulation result based on a mathematical model. A vibrating pattern may drift due to non-uniform factors of a resonator. The drift of the vibrating pattern is controlled and aligned to a reference direction by a PI control. These results are very useful to understand the behavior of resonator gyros and to design advanced control algorithm for better performance.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1211-1215
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• 2003

Accurate mathematical models of spacecraft components are an essential of spacecraft attitude control system design, analysis and simulation. Gyro is one of the most important spacecraft components used for attitude propagation and control. Gyro errors may seriously degrade the accuracy of the calculated spacecraft angular rate and of attitude estimates due to inherent drift and bias errors. In order to validate this model, nominal case simulation has been performed and compared for the low range mode and high range mode, respectively. In this paper, a mathematical model of gyro containing the relationships for predicting spacecraft angular rate and disturbances is proposed.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.167.4-167
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• 2001

Accurate mathematical models of spacecraft components are an essential of spacecraft attitude control system design, analysis and simulation. Gyro is one of the most important spacecraft components used for attitude propagation and control. Gyro errors may seriously degrade the accuracy of the calculated spacecraft angular rate and of attitude estimates due to inherent drift and bias errors. In this paper, a detailed mathematical model of gyro containing the relationships for predicting spacecraft angular rate and disturbances is proposed. Stochastic model describing random drift behavior is discussed in frequency domain and time domain. In order to illustrate this approach, we analyze the behavior for Litton´s Space Inertial Reference Uint(SIRU).

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2270-2273
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• 2001

This paper presents calibration and alignment algorithms for low-cost inertial sensors. The error models for gyro and accelerometer are presented with a study of their effects. A navigational Kalman Filter is derived based on those error models. Test results are presented, which shows the initial calibration and alignment scheme and the proposed filter configuration effectively reduce the drift of the sensors and provide improved accuracy for its practical use for navigation.

• International Journal of Aeronautical and Space Sciences
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• v.12 no.1
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• pp.24-36
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• 2011

A new approach for spacecraft absolute attitude estimation based on the unscented Kalman filter (UKF) is extended to relative attitude estimation and navigation. This approach for nonlinear systems has faster convergence than the approach based on the standard extended Kalman filter (EKF) even with inaccurate initial conditions in attitude estimation and navigation problems. The filter formulation employs measurements obtained from a vision sensor to provide multiple line(-) of(-) sight vectors from the spacecraft to another spacecraft. The line-of-sight measurements are coupled with gyro measurements and dynamic models in an UKF to determine relative attitude, position and gyro biases. A vector of generalized Rodrigues parameters is used to represent the local error-quaternion between two spacecraft. A multiplicative quaternion-error approach is derived from the local error-quaternion, which guarantees the maintenance of quaternion unit constraint in the filter. The scenario for bounded relative motion is selected to verify this extended application of the UKF. Simulation results show that the UKF is more robust than the EKF under realistic initial attitude and navigation error conditions.

• International Journal of Aeronautical and Space Sciences
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• v.9 no.1
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• pp.147-161
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• 2008

In this paper, fine attitude estimation using low-cost sensors for attitude pointing missions of spacecraft is addressed. Attitude kinematics and gyro models including bias models are in general utilized to estimate spacecraft attitude and angular rate. However, a linearized model and a transition matrix are derived in this paper from nonlinear spacecraft dynamics with external disturbances. A Kalman filtering technique is applied and offers relatively high estimation accuracy under dynamic uncertainties. The proposed approach is demonstrated using numerical simulations.

• 한국전산유체공학회:학술대회논문집
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• 2010.05a
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• pp.147-154
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• 2010

The world is gradually running short of fossil fuel. Currently, the role of wind turbine is attracting great attention from all over the world. The objective of this study is to investigate blades of Vertical-axial wind turbine (VAWT) for optimum design using the CFD from the aerodynamics point of view. Because one of the performance of wind turbine depends on shape of blades, the study of comparing one gyro mill type blade and a modified one was carried out. Using the results of computation, we calculated and compared RPM for both models at same wind velocity. And we calculated angular acceleration and moment of inertia to find torque in every time-step. And the pressure contour and velocity profile around the blade were analyzed Also, this study is performed to calculate the wake effect.

• Journal of the Institute of Convergence Signal Processing
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• v.24 no.4
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• pp.213-220
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• 2023

Falling occurs unexpectedly during daily activities, causing many difficulties in life. The purpose of this study was to establish a system for fall detection of high-risk occupations and to verify their effectiveness by collecting data and applying it to predictive models. To this end, a wearable device was configured to detect fall by calculating acceleration signals and azimuths through acceleration sensors and gyro sensors. In addition, the study participants wore the device on their abdomen and measured necessary data from falls-related movements in the process of performing predetermined activities and transmitted it to the computer through a Bluetooth device present in the device. The collected data was processed through filtering, applied to fall detection prediction models based on deep learning algorithms which are 1D CNN, LSTM and CNN-LSTM, and evaluate the results.

• Bulletin of the Korean Space Science Society
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• 2003.10a
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• pp.63-63
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• 2003

There are many actuators and sensors used for attitude control system for KOMPSAT such as Reaction Wheel Assembly, Magnetic Torque Assembly, Dual Thruster Module, Solar array Drive, Three Axis Magnetometer, Conical Earth Sensor, Fine Sun Sensor Assembly, Coarse Sun Sensor Assembly, Gyro Reference Assembly and so on. For KOMPSA T satellite it has been considered using the Magnetic Torquer (MTQ) generating the magnetic dipole moment. In general, the magnetic dipole moment for satellite attitude control system is used for dumping out the excessive reaction wheel momentum so that the reaction wheel speed is not saturated. The objective of this study is to analyze the magnetic field characteristics generated by the Magnetic Torquer using the Maxwell 2D Field Simulator software. Currently, the developing model (DM) of the MTQ is being developed and manufactured at a company under the supervision of KARL MTQ is an electromagnet consisting of a ferromagnetic cylindrical core on which an excitation coil is wound. A current is passed through the coil to produce a dipole momentum in the ferromagnetic core. The configuration of the MTQ will be introduced in the presentation. The 2 dimensional model of the MTQ is drawn as axisymmetric models in RZ plane, and each corresponding material is assigned to the each MTQ object, the core, coil, and background. After the boundary conditions, current sources, and solution parameters are set up, the magnetic field intensities, directions, and other values specified by users can be calculated by using the finite element analysis. The theoretical magnetic field quantities obtained by the Maxwell 2D Simulator can be used for the basis of the development of the MTQ.

• Journal of the Institute of Convergence Signal Processing
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• v.23 no.4
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• pp.234-240
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• 2022

This paper proposes a customized AI exercise recommendation service for balancing the relative amount of exercise according to the working environment by each occupation. WISDM database is collected by using acceleration and gyro sensors, and is a dataset that classifies physical activities into 18 categories. Our system recommends a adaptive exercise using the analyzed activity type after classifying 18 physical activities into 3 physical activities types such as whole body, upper body and lower body. 1 Dimensional convolutional neural network is used for classifying a physical activity in this paper. Proposed model is composed of a convolution blocks in which 1D convolution layers with a various sized kernel are connected in parallel. Convolution blocks can extract a detailed local features of input pattern effectively that can be extracted from deep neural network models, as applying multi 1D convolution layers to input pattern. To evaluate performance of the proposed neural network model, as a result of comparing the previous recurrent neural network, our method showed a remarkable 98.4% accuracy.