• Journal of Korean Society of Transportation
• /
• v.30 no.3
• /
• pp.43-55
• /
• 2012

Bicycle is an environment-friendly transport mode contributing to a more sustainable transportation systems. To innovatively increase the use of bicycle as a significant transport mode, bicycle-friendly roadway environment should be provided. This study proposes a method to evaluate cycling environment based on the analysis of data collected from an specially equipped probe bicycle. The inertial measurement unit(IMU) consisting of a gyro sensor, accelerometer, and a global positioning systems(GPS) receiver was installed on the probe bicycle. Cycling stability index(CSI) and bicycle speed data were used as inputs of the proposed evaluation framework adopting the Fault Tree Analysis, which is a well-known technique for the risk analysis. The outcomes of this study will serve as an intelligent assesment tool for cycling environment.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
• /
• v.22 no.1
• /
• pp.16-23
• /
• 2011

This paper suggests a motion compensation technique using GPS/IMU data in order to compensate for phase error caused by undesired motion of radar platform. An actual flight trajectory would be deviate from an ideal straight-constant trajectory with a constant velocity for SAR imaging, due to pitch, roll and yaw motion of aircraft caused by turbulence. This leads to blurred SAR images due to inter-pulse phase errors as well as along-track velocity errors. If the motion compensation is carried out to reduce those errors, SAR image quality can be significantly improved. Simulation results show that the motion compensation technique introduced in this paper is an effective tool to improve SAR image quality against severe motion of radar platform.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.64 no.9
• /
• pp.1330-1336
• /
• 2015

It is necessary to study on acoustic and vibratory response of a MEMS resonant accelerometer before applying to military applications. In this paper, we analyze why the resonant accelerometer reacts to an acoustic wave and a high frequency vibration. And we describe experimental results on acoustic and vibratory response of the accelerometer. The accelerometer consists of a proof mass and a dual ended tuning fork. It is a differential resonant accelerometer with arranging a pair of accelerometers. The mode shape was analyzed to find out the input mode frequency by using a FEM simulation. Some experiments regarding the acoustic noise was carried out by using a tweeter and a microphone in the anechoic room. Results showed that the accelerometer reacted to the acoustic wave and vibration which had the input mode frequency as we had expected. We showed experimentally not only that the susceptibility of the accelerometer to an acoustic wave was 70 dB but also that the effectiveness of applying an acoustic absorber and a metal case was 20 dB, respectively. Also, we could minimize the vibratory response property of the accelerometer by installing a IMU with a silicone rubber mount pad.

• Journal of Biosystems Engineering
• /
• v.40 no.1
• /
• pp.28-34
• /
• 2015

Purpose: This study aimed to install an RTK-GPS (Real Time Kinematic-Global Positioning System) and IMU (Inertial Measurement Unit) on a tractor used in a farm to measure positions, pasture topography, posture angles, and vibration accelerations, translate the information into maps using the GIS, analyze the characteristics of grass harvesting work, and establish new technologies and construction standards for pasture infrastructure improvement based on the analyzed data. Method: Tractor's roll, pitch, and yaw angles and vibration accelerations along the three axes during grass harvesting were measured and a GIS map prepared from the data. A VRS/RTK-GPS (MS750, Trimble, USA) tractor position measuring system and an IMU (JCS-7401A, JAE, JAPAN) tractor vibration acceleration measuring systems were mounted on top of a tractor and below the operator's seat to obtain acceleration in the direction of progression, transverse acceleration, and vertical acceleration at 10Hz. In addition, information on regions with bad workability was obtained from an operator performing grass harvesting and compared with information on changes in tractor posture angles and vibration acceleration. Results: Roll and pitch angles based on the y-axis, the direction of forward movements of tractor coordinate systems, changed by at least $9-13^{\circ}$ and $8-11^{\circ}$ respectively, leading to changes in working postures in the central and northern parts of the pasture that were designated as regions with bad workability during grass harvesting. These changes were larger than those in other regions. The synthesized vectors of the vibration accelerations along the y-axis, the x-axis (transverse direction), and the z-axis (vertical direction) were higher in the central and northwestern parts of the pasture at 3.0-4.5 m/s2 compared with other regions. Conclusions: The GIS map developed using information on posture angles and vibration accelerations by position in the pasture is considered sufficiently utilizable as data for selection of construction locations for pasture infrastructure improvement.

• Journal of Korean Society of Water and Wastewater
• /
• v.30 no.3
• /
• pp.253-261
• /
• 2016

A variety of methods for detecting the location of an underground water pipeline are being used across the world; the current main methods used in South Korea, however, have the problems of low precision and efficiency and the limitations in actual application. On this, this study developed locator capable of detecting the location of a water pipe by the use of an IMU sensor, and technology for using the extended karman filter to correct error in location detection and to plot the location on the coordinate system. This study carried out a tract test and a road test as basic experiments to measure the performance of the developed technology and equipment. As a result of the straight line, circular and ellipse track tests, the 1750 IMU sensor showed the average error of 0.08-0.11%; and thus it was found that the developed locator can detect a location precisely. As a result of the 859.6-m road test, it was found that the error was 0.31 m in case the moving rate of the sensor was 0.3-0.6 m/s; and thus it was judged that the equipment developed by this study can be applied to long-distance water pipes of over 1 km sufficiently. It is planned to evaluate its field applicability in the future through an actual pipe network pilot test, and it is expected that locator capable of detecting the location of a water pipe more precisely will be developed through research for the enhancement of accuracy in the algorithm of location detection.

• The Journal of Korea Robotics Society
• /
• v.8 no.1
• /
• pp.51-57
• /
• 2013

Recently, the number of jellyfish has been rapidly grown because of the global warming, the increase of marine structures, pollution, and etc. The increased jellyfish is a threat to the marine ecosystem and induces a huge damage to fishery industries, seaside power plants, and beach industries. To overcome this problem, a manual jellyfish dissecting device and pump system for jellyfish removal have been developed by researchers. However, the systems need too many human operators and their benefit to cost is not so good. Thus, in this paper, the design, implementation, and experiments of autonomous jellyfish removal robot system, named JEROS, have been presented. The JEROS consists of an unmanned surface vehicle (USV), a device for jellyfish removal, an electrical control system, an autonomous navigation system, and a vision-based jellyfish detection system. The USV was designed as a twin hull-type ship, and a jellyfish removal device consists of a net for gathering jellyfish and a blades-equipped propeller for dissecting jellyfish. The autonomous navigation system starts by generating an efficient path for jellyfish removal when the location of jellyfish is received from a remote server or recognized by a vision system. The location of JEROS is estimated by IMU (Inertial Measurement Unit) and GPS, and jellyfish is eliminated while tracking the path. The performance of the vision-based jellyfish recognition, navigation, and jellyfish removal was demonstrated through field tests in the Masan and Jindong harbors in the southern coast of Korea.

• KEPCO Journal on Electric Power and Energy
• /
• v.6 no.2
• /
• pp.163-171
• /
• 2020

A model test for assessment of towing stability and seakeeping of a multi-purpose mobile base (MMB) was performed in calm water and wave conditions. Scale ratio of the MMB was 1/48. Tension of the towing line was measured during tests to estimate effective power to tow the full scale MMB. The tests were repeated with towing speed. In addition, an inertial measurement unit was used to measure six DOF motion of the model. Seakeeping performance was assessed through the captive model test.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.40 no.9
• /
• pp.783-790
• /
• 2016

One of the main factors related to the deterioration of estimation accuracy in inertial measurement unit (IMU)-based orientation determination is the object's acceleration. This is because accelerometer signals under accelerated motion conditions cannot be longer reference vectors along the vertical axis. In order to deal with this issue, some orientation estimation algorithms adopt acceleration-compensating mechanisms. Such mechanisms include the simple switching techniques, mechanisms with adaptive estimation of acceleration, and acceleration model-based mechanisms. This paper compares these three mechanisms in terms of estimation accuracy. From experimental results under accelerated dynamic conditions, the following can be concluded. (1) A compensating mechanism is essential for an estimation algorithm to maintain accuracy under accelerated conditions. (2) Although the simple switching mechanism is effective to some extent, the other two mechanisms showed much higher accuracies, particularly when test conditions were severe.

• Journal of the Institute of Convergence Signal Processing
• /
• v.16 no.1
• /
• pp.15-21
• /
• 2015

In this paper, a behavior notification system of the harness of a guide dog is implemented for a blind person to get helps for environmental and situational awareness while walking with the guide dog. IMU modules is attached on the guide dog's harness saddle and the acceleration sensor belt is mounted on its thigh. Gait estimation and behavior judgement are performed by recording and analyzing the outputs of the sensors. Performance analysis for seven different kinds of behaviors has been done. The seven different behaviors, which the guide dog recognizes, are descending stairs, climbing stairs, uphill, downhill, stop, flat road, and selective disobedience. Results for the performance analysis show that the average success rate of the behavior rule estimation of harness of the guide dog is 92.78% and the behavior notification system can be effectively used in real situations.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.20 no.11
• /
• pp.2107-2112
• /
• 2016

This paper is designed to develop a Gimbal control stabilizer for drones Gimbal system control for drone for 3D image to make sure clean image in the shaking and wavering environments of drone system. The stabilizer is made of tools which support camera modules and IMU(Inertial Measurement Unit) sensor modules follow exact angles, which can brock vibrations outside of the camera modules. It is difficult for the camera modules to get clean image, because of irregular movements and various vibrations produced by flying drones. Moreover, a general PID controller used for the movements of rolling, pitching and yawing in order to control the various vibrations of various frequencies needs often to readjust PID control parameters. Therefore, this paper aims to conduct the Intelligent-PID controller as well as design the Gimbal control stabilizer to get clean images and to improve irregular movements and various vibrations problems referenced above.