• Journal of Biosystems Engineering
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• v.38 no.2
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• pp.163-170
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• 2013

Purpose: The purpose of this study is to provide analysis of physiological, biomechanical responses occurring from the operation to lifting or twist lifting task appears frequently in agricultural work. Methods: This study investigated the changes of physiological factors such as heart rate, heart rate variability (HRV) and biomechanical factors such as physical activity and kinetic analysis in the task of twisting at the waist while lifting. Results: Heart rates changed significantly with the workload. The result indicated that the workload of 2 kg was light intensity work, and the workload of 12 kg was hard intensity work. Physical activity increased as the workload increased both on wrist and waist. Besides, stress index of the worker increased with the workload. Dynamic load to herniated discs was analyzed using inertial sensor, and the angular acceleration and torque increased with the workload. The proposed measurement system can measure the recipient's physiological and physical signals in real-time and analyzed 3-dimensionally according to the variety of work load. Conclusions: The system we propose will be a new method to measure agricultural workers' multi-dimensional signals and analyze various farming tasks.

• 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 Institute of Control, Robotics and Systems
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• v.22 no.6
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• pp.411-416
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• 2016

This paper presents the design methodology of an unknown input observer for Lipschitz nonlinear systems with unknown inputs in the framework of convex optimization. We use an unknown input observer (UIO) to consider both nonlinearity and disturbance. By deriving a sufficient condition for exponential stability in the linear matrix inequality (LMI) form, existence of a stabilizing observer gain matrix of UIO will be assured by checking whether the quadratic stability margin of the error dynamics is greater than the Lipschitz constant or not. If quadratic stability margin is less than a Lipschitz constant, the coordinate transformation may be used to reduce the Lipschitz constant in the new coordinates. Furthermore, to reduce the maximum singular value of the observer gain matrix elements, an object function to minimize it will be optimally designed by modifying its magnitude so that amplification of sensor measurement noise is minimized via multi-objective optimization algorithm. The performance of UIO is compared to a nonlinear observer (Luenberger-like) with an application to a flexible joint robot system considering a change of load and disturbance. Finally, it is validated via simulations that the estimated angular position and velocity provide true values even in the presence of unknown inputs.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.1
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• pp.106-113
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• 2009

This paper presents a surface acoustic wave(SAW) micro-electro-mechanical-systems(MEMS) interdigital transducer (IDT) gyroscope with 80MHz central frequency on a $128^{\circ}\;YX\;LiNbO_3$, which is consisted of a two-port SAW resonator, metallic dots and dual delay lines for the sensor and reference oscillators. Reason for using two delay line oscillators is to extract the gyroscope effect by comparing the resonant frequencies between two oscillators and to compensate the temperature effect. Based on the coupling of modes(COM) simulation, an 80MHz two ports SAW resonator and dual delay line were fabricated and characterized by the network analyzer. Obtained sensitivity was $109Hz/deg{\cdot}s^{-1}$ in the angular rate range of $0{\sim}1000deg/s$. Good Linearity and superior directivity were observed.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.12
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• pp.2291-2299
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• 2008

Hall effect force sensors have been used to measure clamping force in conventional Electric Parking Brake(EPB) systems. Estimation of clamping force without the sensors has drawn attentions due to mounting space limitations and cost issues. Removing the sensor requires the estimation of the initial contact point where the clamping force is effectively applied to the brake pads. In this paper, we propose how to estimate the initial contact point finding the relation between the angular velocity of an actuator and the initial contact point. For force estimation a look-up table is used as a function of the displacement of parking cable from the initial contact point. The proposed method is validated by experiments. From the experimental results we observe that the proposed method satisfies the specifications. The designed method is also able to estimate clamping force although parking cables are loosened and brake pads are worn out. Applying the proposed method enables manufacturing of low cost EPB systems.

• International Journal of Advanced Culture Technology
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• v.7 no.4
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• pp.236-241
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• 2019

This paper will read about a multichannel frequency-modulated continuous wave (FMCW) radar sensor with switching transmit (TX) antennas is developed at W-band. To achieve a high angular resolution, a uniform linear array consisting of 5 switching-TX and 12 receive (RX) antennas is employed with the digital beamforming technique. The overall radar front-end module comprises a W-band transceiver and TX/RX antennas. A multichannel transceiver module consists of 5 up-conversion and 12 down-conversion channels, where one of the TX channels is sequentially switched ON. For developing transmitter, we developed an HPA (high power amplified) MMIC chip for W-band radar system and fabricated a transmitter module using this chip. In order to develop the W-band transmitter, we analyzed the important antenna transition structure from HPA MMIC line to W/G (Waveguide)antenna via M/S(microstrip) and fabricated it with 5 transmission channels. As a result, the output power of the transmitter was within 1 dB of the error range after analysis and measurement under normal temperature and environmental conditions.

• Journal of Advanced Navigation Technology
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• v.27 no.1
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• pp.50-56
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• 2023

INS(Inertial Navigation System) calculates navigation information using a vehicle's acceleration and angular velocity without the outside information. However, when navigation is performed for a long time, navigation error gradually diverges and the performance decreases. To enhance INS's performance, the rotation of inertial measurement unit is developed to compensate error sources of inertial sensors, which is called RINS(Rotational Inertial Navigation System). This paper analyzes the influence of several errors for dual-axis RINS and the shows the results using simulation.

• International Journal of Advanced Culture Technology
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• v.11 no.1
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• pp.296-305
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• 2023

The purpose of this study is to measure and compare the balance of motion between the left and right using a wearable sensor during upper limb exercise using an exercise equipment. Eight participants were asked to perform upper limb exercise using exercise equipment, and exercise data were measured through IMU sensors attached to both wrists. As a result of the PCA test, Euler Yaw(Left: 0.65, Right: 0.75), Roll(Left: 0.72, Right: 0.58), and Gyro X(Left: 0.64, Right: 0.63) were identified as the main components in the Butterfly exercise, and Euler Pitch(Left: 0.70, Right 0.70) and Gyro Z(Left: 0.70, Right: 0.71) were identified as the main components in the Lat pull down exercise. As a result of the Paired-T test of the Euler value, Yaw's Peak to Peak at Butterfly exercise and Roll's Mean, Yaw's Mean and Period at Lat pull down exercise were smaller than the significance level of 0.05, proving meaningful difference was found. In the Symmetry Index and Symmetry Ratio analysis, 89% of the subjects showed a tendency of dominant limb maintaining relatively higher angular movement performance then non-dominant limb as the Butterfly exercise proceeds. 62.5% of the subjects showed the same tendency during the Lat pull down exercise. These experimental results indicate that meaningful difference at balance of motion was found according to an increase in number of exercise trials.

• Journal of Korea Artificial Intelligence Association
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• v.2 no.1
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• pp.25-30
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• 2024

Kodály hand signs are symbols that intuitively represent pitch and note names based on the shape and height of the hand. They are an excellent tool that can be easily expressed using the human body, making them highly engaging for children who are new to music. Traditional hand signs help beginners easily understand pitch and significantly aid in music learning and performance. However, Kodály hand signs have distinctive features, such as the ability to indicate key changes or chords using both hands and to clearly represent accidentals. These features enable the effective use of Kodály hand signs. In this paper, we aim to investigate the changes in recognition rates according to the complexity of scales by creating a device for learning Kodály hand signs, teaching simple Do-Re-Mi scales, and then gradually increasing the complexity of the scales and teaching complex scales and children's songs (such as "May Had A Little Lamb"). The learning device utilizes accelerometer and bending sensors. The accelerometer detects the tilt of the hand, while the bending sensor detects the degree of bending in the fingers. The utilized accelerometer is a 6-axis accelerometer that can also measure angular velocity, ensuring accurate data collection. The learning and performance evaluation of the Kodály learning device were conducted using Python.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2013.04a
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• pp.842-848
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• 2013

Developments of Solid-State Gyroscopy during last decades are impressive and were based on thin-walled shell resonators like HRG or CRG made from fused quartz or leuko-sapphire. However, a number of design choices for inertial-grade gyroscopes, which can be used for high-g applications and for mass- or middle-scale production, is still very limited. So, considerations of fundamental physical effects in solids that can be used for development of a miniature, completely solid-state, and lower-cost sensor look urgent. There is a variety of different types of bulk acoustic (elastic) waves (BAW) in anisotropic solids. Shear waves with different variants of their polarization have to be studied especially carefully, because shear sounds in glasses and crystals are sensitive to a turn of the solid as a whole, and, so, they can be used for development of gyroscopic sensors. For an isotropic medium (for a glass or a fine polycrystalline body), classic Lame's theorem (so-called, a general solution of Elasticity Theory or Green-Lame's representation) has been modified for enough general case: an elastic medium rotated about an arbitrary set of axes. Travelling, standing, and mixed shear waves propagating in an infinite isotopic medium (or between a pair of parallel reflecting surfaces) have been considered too. An analogy with classic Foucault's pendulum has been underlined for the effect of a turn of a polarizational plane (i.e., an integration effect for an input angular rate) due to a medium's turn about the axis of the wave propagation. These cases demonstrate a whole-angle regime of gyroscopic operation. Single-crystals are anisotropic media, and, therefore, to reflect influence of the crystal's rotation, classic Christoffel-Green's tensors have been modified. Cases of acoustic axes corresponding to equal velocities for a pair of the pure-transverse (shear) waves have of an evident applied interest. For such a special direction in a crystal, different polarizations of waves are possible, and the gyroscopic effect of "polarizational precession" can be observed like for a glass. Naturally, formation of a wave pattern in a massive elastic body is much more complex due to reflections from its boundaries. Some of these complexities can be eliminated. However, a non-homogeneity has a fundamental nature for any amorphous medium due to its thermodynamically-unstable micro-structure, having fluctuations of the rapidly-frozen liquid. For single-crystalline structures, blockness (walls of dislocations) plays a similar role. Physical nature and kinematic particularities of several typical "drifts" in polarizational BAW gyros (P-BAW) have been considered briefly too. They include irregular precessions ("polarizational beats") due to: non-homogeneity of mass density and elastic moduli, dissymmetry of intrinsic losses, and an angular mismatch between propagation and acoustic axes.