• Journal of the Institute of Convergence Signal Processing
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• v.21 no.1
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• pp.21-28
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• 2020

In this paper, a new type of electric wheelbarrow is proposed and developed. The developed electric wheelbarrow is equipped with an attitude reference system(ARS) sensor, which consists of 3-axis acceleration sensor and 2-axis Gyro sensor so that it can estimate pitch angle and roll angle. When an operator tilts the wheelbarrow up and down, the pitch angle is detected. The sign of the pitch angle is interpreted as the operator's intention for moving the wheelbarrow forward or backward and the controller drives the wheel of the wheelbarrow with the velocity according to the magnitude of the detected pitch angle. A cargo box of the wheelbarrow is designed to rotate and is controlled to maintain level always, so an operator can handle the electric wheelbarrow easily and safely. The wheelbarrow consists of an in-wheel motor, a DC motor, motor drives, an ARS sensor considering economical use in industrial field. Three experiments are performed to verify the feasibility and stability of the electric wheelbarrow.

• KIPS Transactions on Computer and Communication Systems
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• v.2 no.6
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• pp.257-264
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• 2013

In this study, we have designed the variable amplitude threshold algorithm that can enhance the accuracy of step count using variable amplitude. This algorithm converts the x, y, z sensor values into a single energy value($E_t$) by using SVM(Signal Vector Magnitude) algorithm and can pick step count out over 99% of accuracy through the peak data detection algorithm and fixed peak threshold. To prove the results, We made the noise filtering with the fixed amplitude threshold from the amplitude of energy value that found out the detection error was increasing, and it's the key idea of the variable amplitude threshold that can be adapted on the continuous data evaluation. The experiment results shows that the variable amplitude threshold algorithm can improve the average step count accuracy up to 98.9% at 10 Hz sampling rate and 99.6% at 20Hz sampling rate.

• Journal of Sensor Science and Technology
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• v.5 no.2
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• pp.29-36
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• 1996

With the three dimensional magnetic field measuring system dealt with in this paper, accurate measurements and analyses of extremely low frequency(ELF) magnetic fields caused by starting and/or operating electric devices and power installations can be conducted. To obtain high performance for lower frequency and spatial components without any distortion, the measuring system is designed as three dimensionally including the multiturn loop-type magnetic field sensors, differential amplifiers and active integrators. As the results of calibration experiments, the frequency response characteristics of the measuring system range from 8[Hz] to about 53[kHz] for each direction of x, y, z axes, and the response sensitivities are 9.54, 9.21, $10.89[mV/{\mu}T]$, respectively. The actual survey experiments by using an oscillating impulse current generator confirm a reliability of the proposed measuring system. Also, through the other experiments by using small-sized induction motors, the magnetic field intensities when starting and steady-state operating mark 15.8, $8.61[{\mu}T]$ as maximum value, respectively. And those intensities decrease steeply according as the measuring distance increases.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.2
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• pp.133-140
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• 2008

In this paper, a small and effective attitude estimation system for a humanoid robot was developed. Four small inertial sensors were packed and used for inertial measurements(3D accelerometer and three 1D gyroscopes.) An effective 3D pose estimation algorithm for low cost DSP using an extended Kalman filter was developed and evaluated. The 3D pose estimation algorithm has a very simple structure composed by 3 modules of a linear acceleration estimator, an external acceleration detector and an pseudo-accelerometer output estimator. The algorithm also has an effective switching structure based on probability and simple feedback loop for the extended Kalman filter. A special test equipment using linear motor for the testing of the 3D pose sensor was developed and the experimental results showed its very fast convergence to real values and effective responses. Popular DSP of TMS320F2812 was used to calculate robot's 3D attitude and translated acceleration, and the whole system were packed in a small size for humanoids robots. The output of the 3D sensors(pitch, roll, 3D linear acceleration, and 3D angular rate) can be transmitted to a humanoid robot at 200Hz frequency.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.11 no.1
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• pp.53-62
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• 2017

In this paper, we present the score classification accuracy of BBS(Berg Balance Scale) which is the most commonly used balance evaluation tool using machine learning. Data acquisition was performed using the Noraxon system and an inertial sensor of Noraxon system was attached to the body in 8 locations (left and right ankle, left and right upper buttocks, left and right wrists, back, forehead). Based on the 3-axis accelerometer of the inertial sensor, the feature vector STFT(Short Time Fourier Transform) and SAM(Signal Area Magnitude) were extracted. Then, the items of the BBS were divided into static movement and dynamic movement depending on the operation characteristics, and the feature vectors were selected according to the sensor attachment positions which affect the score for each item of the BBS. Feature vectors selected for each item of BBS were classified using GMM(Gaussian Mixture Model). As a result of the accuracy calculation for 40 subjects, 55.5%, 72.2%, 87.5%, 50%, 35.1%, 62.5%, 43.3%, 58.6%, 60.7%, 33.3%, 44.8%, 89.2%, 51.8%, 85.1%, respectively.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.48 no.6
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• pp.63-70
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• 2011

A bicycle is different from vehicles in the structure that a rider is fully exposed to the surrounding environment. Therefore, it needs to make use of prior information about local weather, air quality, trail road condition. Moreover, since it depends on human power for moving, it should acquire route property such as hill slope, winding, and road surface to improve its efficiency in everyday use. Recent mobile applications which are to be used during bicycle riding let us aware of the necessity of development of intelligent bicycles. This study aims to develop a riding state (up-hill, down-hill, accelerating, braking) recognition algorithm using a low-power wrist watch type embedded system which has 3-axis accelerometer and wireless communication capability. The developed algorithm was applied to 19 experimental riding data and showed more than 95% of correct recognition over 83.3% of the total dataset. The altitude and temperature sensor also in the embedded system mounted on the bicycle is being used to improve the accuracy of the algorithm. The developed riding state recognition algorithm is expected to be a platform technology for intelligent bicycle interface system.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.954-960
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• 2009

In this paper, we propose "SenseMessenger" as a novel interaction method to capture and play tactile sense to let users feel enhanced sense experience. To improve this, we reconstructed the process of making cocktail to be digitalized for reinforcing the quality of user's experience, and designed cup-shaped devices, Sense Messenger, which is consist of Sense-recorder, Sense-player, and Sense-table. And, using these devices with common users, we discussed future applications.

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.125-126
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• 2008

A differential capacitance deviation-to-time converter for interfacing position sensor is presented. It consists of triaxial position sensor, six comparators, six current mirrors, and control logic. The prototype differential capacitance deviation-to-time interval converter has been simulated using Chartered $0.35-{\mu}m$ CMOS parameters. The simulation results show that the maximum conversion time of the converter is $350{\mu}s$ and the linearity error is less than ${\pm}0.00l5%$.

• The Transactions of the Korean Institute of Electrical Engineers C
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• v.55 no.9
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• pp.456-460
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• 2006

This paper deals with a novel autocalibration method of three-axis micromachined accelerometers applied to a new digital intelligent putter for golfers. This putter can help golfers monitor and analyze their putting posture and therefore modify their putting action to get better score and enjoy their lives through golf. The micromachined accelerometers to get information of the motion are the essential part of the putter to measure the three-axis acceleration as accurately as possible. This paper presents an efficient autocalibration algorithm to find the offset and sensitivity of accelerometers by only using the static measurement data at six different positions. The experimental results on the developed putters show the validity of the proposed algorithm for the new smart putter.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2011.10a
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• pp.77-78
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• 2011

한국해양연구원에서 개발 중인 Crabster 로봇팔을 기구학적으로 분석하고, 속도기구학을 매트랩을 이용하여 작업공간에 대해서도 분석 및 해석을 완료하였다. 운용자와 Crabster 로봇팔의 움직임을 고려해 개념 설계한 인간팔 크기의 7축 마스터 암 및 그립퍼의 기구부에 대해 2D 및 3D의 도면을 완성하였고, 마스터 암에 적용할 모터의 사양과 각 관절에 피드백 된 힘을 반영하기 위한 구동 모터의 엔코더를 이용한 위치 센서, DSP2812를 이용한 제어 명령 입력 장치와 구동 모터 드라이버를 포함한 마스터 - 슬레이브 시스템의 개념 설계를 완성하였다.