• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.72-75
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• 2004

In this paper, a finger-click recognition method is proposed to improve the recognition performance for finger-clicking of a wearable input device, called $SCURRY^{TM}$. The proposed method is composed of three parts including feature extraction part, valid click discrimination part, and cross-talk avoidance part. Two types of MEMS inertial sensors are embedded into the wearable input device to measure the angular velocity of a hand (hand movement) and the acceleration rates at the ends of fingers (finger-click motion). The experiment applied to the $SCURRY^{TM}$ device shows the improved stability and performance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.592-595
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• 2004

This paper presents a study on the development of a multi-sensing inertial sensor with a single mechanical structure, which can be used both as a gyroscope and an accelerometer. The proposed MEMS gyro-accelerometer is designed to detect the angular rate and the acceleration at the same time using two separate detection circuits for one proof mass. In this study, the detection and signal processing circuit for an effective signal processing of different inertial measurements is designed, fabricated, and tested. The experimental results show that the performances of the gyro-accelerometer have resolutions of 1mg and 0.025deg/sec and nonlinearities of less than 0.5% for the accelerometer and the gyroscope, respectively, which are similar results with those of sensors with different structures and different detection circuits. The size of the sensor is reduced almost by 50% comparing with the sensors of separated proof mass.

• 한국컴퓨터정보학회:학술대회논문집
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• 한국컴퓨터정보학회 2016년도 제54차 하계학술대회논문집 24권2호
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• pp.119-120
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• 2016

줄넘기와 같은 반복적인 운동들의 개수 측정은 가속도 센서의 가속도 값과 자이로 센서의 각속도 값의 특징을 추출하고 선택하여 개수를 판단한다. 하지만 잡음과 진동에 취약한 가속도와 드리프트 현상이 발생하는 각속도의 문제점으로 인하여 줄넘기 개수를 세는데 정확도가 떨어지는 문제가 발생한다. 본 논문에서는 6축 가속도 자이로 센서에 상보필터를 적용하여 가속도와 각속도 값의 오류를 최소화하여 보다 정확한 개수를 측정하는 방법을 제안한다. 제안하는 방법은 센서 값의 특징만을 보고 판단하는 방법에 비해 정확하게 개수를 측정하는 것을 실험 결과를 통해 확인할 수 있다.

• 한국컴퓨터정보학회:학술대회논문집
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• 한국컴퓨터정보학회 2016년도 제54차 하계학술대회논문집 24권2호
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• pp.117-118
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• 2016

줄넘기는 줄을 돌리는 손동작과 뛰어오르는 동작이 결합된 운동으로 정확한 카운트를 위해서는 두 동작을 함께 고려해야 한다. 이전의 연구들에서는 단순 반복적인 운동인 윗몸일으키기, 팔굽혀펴기, 아령 운동과 함께 치부하여 하나의 동작만을 체크하여 카운트 하였다. 이것은 실제 줄넘기 동작과는 차이가 있으며 두 동작 중 하나의 동작만을 하고 있다면 확인해내지 못하는 문제가 있다. 본 논문에서는 6축 가속도 자이로 센서를 이용하여 두 동작을 모두 확인하고 카운트하는 방법을 제안한다. 가속도 센서를 이용하여 뛰어오르는 동작을 확인하며 자이로 센서를 이용하여 손동작을 확인한다. 이때 확인되는 값의 파형을 이용하여 줄넘기 횟수를 카운트하게 된다. 제안하는 방법은 실제 실험을 통하여 카운트 방법의 성능을 확인할 수 있다.

• 제어로봇시스템학회논문지
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• 제22권9호
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• pp.723-732
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• 2016

This paper proposes an approach to fused navigation of an unmanned surface vehicle(USV) and to detection of the outlier or interference of global positioning system(GPS). The method fuses available sensor measurements through extended Kalman filter(EKF) to find the location and attitude of the USV. The method uses error covariance of EKF for detection of GPS outlier or interference. When outlier or interference of the GPS is detected, the method excludes GPS data from navigation process. The measurements to be fused for the navigation are GPS, acceleration, angular rate, magnetic field, linear velocity, range and bearing to acoustic beacons. The method is tested through simulated data and measurement data produced through ground navigation. The results show that the method detects GPS outlier or interference as well as the GPS recovery, which frees navigation from the problem of GPS abnormality.

• 대한기계학회논문집A
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• 제24권2호
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• pp.319-328
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• 2000

This paper presents a new design method of the 1 generation wheel bearing unit using a numerical optimization technique in order to increase bearing fatigue life. For calculating the fatigue life, a method of load analysis is studied on the automotive wheel bearing system. The design variables selected are ball size, initial contact angle, number of balls, pitch diameter, pre-load, and distance between ball centers. The method of feasible directions in ADS (Automated Design Synthesis) is utilized to automatically find the optimum design variables. To validate the design method, a computer program is developed and applied to a practical passenger car model. The optimum design results demonstrated the effectiveness of the proposed design method showing that the system life of the optimally designed wheel bearing unit is enhanced in comparison with that of the initial ones within the given available design space.

• 한국정밀공학회지
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• 제26권8호
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• pp.104-111
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• 2009

In this paper, the gear design program is presented. The profile of gears is created using classical mathematic formulations. In each gear, a kinematic joint is applied and one can define the 20 contact condition between gear pairs. Initial and boundary conditions such as force, torque, velocity, acceleration, etc. can be set. Thus, it is possible to analyze dynamic characteristics of gear pairs such as reaction moment and the variation of angular velocity. In order to find the optimal profile of gear pairs, two optimization methods based on design of experiments are inserted in the program; One is the Taguchi method and the other is the response surface analysis method. To verify the program, the rack & pinion gear is created and analyzed. Simulation results show that the developed program is useful and result data is reliable.

• 한국정밀공학회지
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• 제18권6호
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• pp.102-108
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• 2001

This paper addresses an analytical approach to the mechanical error analysis of gear train and tolerance design and manufacture of gear train in restricted space considering motor driving torque, driving system inertia, motor acceleration, motor rotor inertia and friction torque. The gear train is designed to have optimum gear ratio in restricted space and each gear is manufactured to have the lowest weight and each gear tooth is heat-treated to have robustness. Based on the small difference between the mechanical error analysis and measurement, gear train design with optimum gear ratio and restricted space and robustness is proposed.

• Journal of electromagnetic engineering and science
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• 제18권4호
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• pp.231-241
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• 2018

In this paper, we consider the anti-attack procedure of a ballistic missile defense system (BMDS) at different operating frequencies at its phased-array radar station. The interception performance is measured in terms of lateral divert (LD), which denotes the minimum acceleration amount available in an interceptor to compensate for prediction error for a successful intercept. Dependence of the frequency on estimation accuracy that leads directly to prediction error is taken into account, in terms of angular measurement noises. The estimation extraction is performed by means of an extended Kalman filter (EKF), considering two typical re-entry trajectories of a non-maneuvering ballistic missile (BM). The simulation results show better performance at higher frequency for both tracking and intercepting aspects.

• 대한산업공학회지
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• 제28권1호
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• pp.25-35
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• 2002

This paper presents a heuristic algorithm that a mobile robot avoids obstacles using optical flow. Using optical flow, the mobile robot can easily avoid static obstacles without a prior position information as well as moving obstacles with unknown trajectories. The mobile robot in this paper is able to recognize the locations or routes of obstacles, which can be detected by obtaining 2-dimensional optical flow information from a CCD camera. It predicts the possibilities of crash with obstacles based on the comparison between planned routes and the obstacle routes. Then it modifies its driving route if necessary. Driving acceleration and angular velocity of mobile robot are applied as controlling variables of avoidance. The corresponding simulation test is performed to verify the effectiveness of these factors. The results of simulation show that the mobile robot can reach the goal with avoiding obstacles which have variable routes and speed.