• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.12 no.6
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• pp.666-671
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• 2019

The flight controller(FC) used in small-sized drone was developed as simple structure does not perform complex operations because it uses different MCU with large-sized drone. Also, the balance control of small-sized drone should be simpler than Kalman filter using complex filter and the method using Complementary filter has relatively more operations. So, the method to realize the balance control on small-sized drone effectively using two-track control operating as proper method for above is suggested in this research. This method is a system maintaining effective balance with simple structure and less operations by operating adaptively for the unbalance of the drone with the acceleration sensor with the advantage which performing accurate correction by data processing for long term change and gyroscope sensor maintaining the balance of the drone by data processing for short term change. It is confirmed that stable operation was performed mostly based on the test result for repeatable test more than 100 times using two-track control and it maintained normal state operation more than 98% excluding the difficulty of maintaining normal operation when meets sudden and rapid wind yet.

• The Journal of the Korea institute of electronic communication sciences
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• v.12 no.6
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• pp.1159-1166
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• 2017

Cattle behavior detection system based on Internet of Things is designed and implemented by using gyroscope and acceleration sensor, Arduino pro-mini and bluetooth module. The implemented system measures cattle's moving and the measured data are transmitted to smart phone by bluetooth module. They are displayed by 2-dimensional graph on the smart phone and the number of cattle's step are calculated from the graph. The detected and gathered data from the system are analyzed by the proposed algorithm to decide which cows are in the estrus or not, and the proposed system can be used to increase the success rate of artificial insemination in normal estrus by detecting cow's behaviors such as the number of steps and jumping. In this paper, the implemented cattle behavior detecting system are strapped on cattle's leg and it measures cattle behaviors for determining that a cattle is estrus or not by the proposed algorithm. In the future research, the system which lengthens communication distance and increases the number of cattle under the test will be considered and also the measured data will be database for cattle research.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.9
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• pp.1725-1730
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• 2017

The acceleration sensor and the gyroscopic sensor are used as representative sensors to detect repetitive motion and have been used to analyze various sporting components. However, both sensors have problems with noise sensitivity and accumulation of errors. There have been attempts to use two sensors together to overcome hardware problems. The complementary filter has shown successful results in mitigating the problems of both sensors by minimizing the disadvantages of accelerometer and gyroscope sensors and maximizing their advantages. In this paper, we proposed a modified method using neural network to reduce variable. The neural network is an algorithm that can precisely measure even in unexpected environments or situations by pre-learning the number of various cases. The proposed method applies a Neural Network by dividing the repetitive motion into three sections, the first, the middle and the end. As a result, the recognition rate is 96.35%, 98.77%, 96.92% and the accuracy is 97.18%.

• The Journal of the Acoustical Society of Korea
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• v.39 no.4
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• pp.286-291
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• 2020

In this paper, we propose a system that recommends music through tempo-oriented music classification and sensor-based human activity recognition. The proposed method indexes music files using tempo-oriented music classification and recommends suitable music according to the recognized user's activity. For accurate music classification, a dynamic classification based on a modulation spectrum and a sequence classification based on a Mel-spectrogram are used in combination. In addition, simple accelerometer and gyroscope sensor data of the smartphone are applied to deep spiking neural networks to improve activity recognition performance. Finally, music recommendation is performed through a mapping table considering the relationship between the recognized activity and the indexed music file. The experimental results show that the proposed system is suitable for use in any practical mobile device with a music player.

• Journal of Biosystems Engineering
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• v.33 no.6
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• pp.423-429
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• 2008

This study was performed to investigate the effects of inertial navigation system (INS) / global positioning system (GPS) sensor fusion for agricultural vehicle navigation. An extended Kalman filter algorithm was adopted for INS/GPS sensor fusion in an integrated mode, and the vehicle dynamic model was used instead of the navigation state error model. The INS/GPS system was consisted of a low-cost gyroscope, an odometer and a GPS receiver, and its performance was tested through computer simulations. When measurement noises of GPS receiver were 10, 1.0, 0.5, and 0.2 m ($1{\sigma}$), RMS position and heading errors of INS/GPS system at 5 m/s straight path were remarkably reduced with 10%, 35%, 40%, and 60% of those obtained from the GPS receiver, respectively. The decrease of position and heading errors by using INS/GPS rather than stand-alone GPS can provide more stable steering of agricultural equipments. Therefore, the low-cost INS/GPS system using the extended Kalman filter algorithm may enable the self-autonomous navigation to meet required performance like stable steering or more less position errors even in slow-speed operation.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.8
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• pp.713-718
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• 2012

Lumber spine range of motion has been used to measure of physical and functional impairment by various tools from a ruler to 3D kinematic devices. However, pre-existing tools have problems in either movement or accuracy and reliability limitations. Accurate devices are limited by fixed space whereas simple devices are limited in measuring complex movements with less accuracy. In order to solve the location, movement and accuracy limitations at once, we have developed a novice measurement device equipped with accelerometer sensor and gyroscope sensor for getting three-dimensional information of motion. Furthermore, Kalman filter was applied to the algorithm to improve accuracy. In addition, RF wireless communication was added for the user to conveniently check measured data in real time. Finally, the measurement method was improved by considering the movement by a reference point. An experiment was conducted to test the accuracy and reliability of the device by conducting a test-retest reliability test. Further modification will be conducted to used the device in various joints range of motion in clinical settings in the future.

• Journal of Korea Multimedia Society
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• v.18 no.4
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• pp.565-574
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• 2015

Falls are the main cause of serious injuries and accidental deaths in people over the age of 65. Due to widespread adoption of smartphones, there has been a growing interest in the use of smartphones for detecting human behavior and activities. Modern smartphones are equipped with a wide variety of sensors such as an accelerometer, a gyroscope, camera, GPS, digital compass and microphone. In this paper, we introduce a new method that determines the fall direction of human subjects by analyzing the three axis components of acceleration vector.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.12
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• pp.1120-1125
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• 2000

This paper presents a technique for estimating the attitude of a model helicopter at near hovering using a combination of inertial and non-inertial sensors such as gyroscope and potentiometer. To estimate the attitude of helicopter a simplified indirect Kalman filter based on sensor modeling is derived and the characteristics of sensors are studied, which are used in determining the optimal Kalman gain. To verify the effectiveness of the proposed algorithm simulation results are presented with real flight data. Our approach avoids a complex dynamic modeling of helicopter and allows for an elegant combination of various sensor data with different measurement frequencies. We also describe the method of implementation of the algorithm in the model helicopter.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1807-1808
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• 2008

When it is used for autonomous mobile robots by using dead-reckoning system, odometry system with encorder is the simplest method as well as well-known in the industry. However, odometry system is reflected slide, friction and mechanical errors of wheels when operating the position estimation. And also in order to minimize errors of direction angle which is the most important factor that it is designed the controller in controlling kinematics and quadratic curve, PID that came into the values of sensor fusion with encorder and gyroscope sensor. After designing, the autonomous mobile robot is producted practically and inspected how it works.

• International Journal of Aeronautical and Space Sciences
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• v.6 no.1
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• pp.27-43
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• 2005

An INS(Inertial Navigation System) is composed of a navigation computer and an IMU(Inertial Measurement Unit), and can be applied to estimate a vehicle's state. But the inertial sensors assembled in the IMU are too complicated and expensive to use for the general application purpose. In this study, a new concept of inertial sensor system using magnetic levitation is proposed. The proposed system is expected to replace one single-axis rate or position gyroscope, and one single-axis accelerometer concurrently with a relatively simple structure. A simulation of the proposed system is given to describe the capability of this new concept.