• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.221-225
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• 1998

This paper is to present a method for recognizing an image of a tracking object by processing the image from a camera, whose attitude is controlled in inertial space with inertial co-ordinate system. In order to recognize an object, a pseudo-random M-array is attached on the object and it is observed by the camera which is controlled on inertial coordinate basis by inertial stabilization unit. When the attitude of the camera is changed, the observed image of M-array is transformed by use of affine transformation to the image in inertial coordinate system. Taking the cross-correlation function between the affine-transformed image and the original image, we can recognize the object. As parameters of the attitude of the camera, we used the azimuth angle of camera, which is de-fected by gyroscope of an inertial sensor, and elevation an91e of camera which is calculated from the gravitational acceleration detected by servo accelerometer.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.32.3-32
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• 2002

We analyze the effect of main inertial sensor errors such as, misalignment, scale factor error and bias on the performance of modified sequential probability ratio test (SPRT) for sequential fault detection and isolation (FDI). The inertial sensor errors cause the modified SPRT method to give false alarm. We use a two-stage KF to obtain a modified parity vector with which the inertial sensor errors can be removed and thus modified SPRT method can be used regardless of inertial sensor errors.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2594-2599
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• 2003

We consider some problems of the Modified SPRT(Sequential Probability Ratio Test) method for fault detection and isolation of inertial redundant sensor systems and propose an Advanced SPRT method to solve the problems of the Modified SPRT method. One problem of the Modified SPRT method to apply to inertial sensor system comes from the effect of inertial sensor errors such as misalignment, scale factor error and sensor bias in the parity vector, which make the Modified SPRT method hard to be applicable. The other problem is due to the correlation of parity vector components which may induce false alarm. We use a two-stage Kalman filter to remove effects of the inertial sensor errors and propose the modified parity vector and the controlled parity vector which removes the effect of correlation of parity vector components. The Advanced SPRT method is derived form the modified parity vector and the controlled parity vector. Some simulation results are presented to show the usefulness of the Advanced SPRT method to redundant inertial sensor systems.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.4
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• pp.377-386
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• 2015

Joint force/torque estimation by inverse dynamics is a traditional tool in biomechanical studies. Conventionally for this, kinematic data of human body is obtained by motion capture cameras, of which the bulkiness and occlusion problem make it hard to capture a broad range of movement. As an alternative, inertial motion sensing using cheap and small inertial sensors has been studied recently. In this research, the performance of inertial motion sensing especially to calculate inverse dynamics is studied. Kinematic data from inertial motion sensors is used to calculate ground reaction force (GRF), which is compared to the force plate readings (ground truth) and additionally to the estimation result from optical method. The GRF estimation result showed high correlation and low normalized RMSE(R=0.93, normalized RMSE<0.02 of body weight), which performed even better than conventional optical method. This result guarantees enough accuracy of inertial motion sensing to be used in inverse dynamics analysis.

• International Journal of Internet, Broadcasting and Communication
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• v.12 no.3
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• pp.95-101
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• 2020

We studied the Implementation and design of inertial sensor that enables to improve performance by reduce the noise of rotor which Angle of inclination. Analyze model equation including motion equation and error, signal processing filter algorithm on high frequency bandwidth with eliminates error using estimation of error coefficient method is was designed and the prototype inertial sensor showed the pick off noise up to 0.2 mV and bias error performance of about 0.06 deg/hr by the experiments. Accordingly, we confirmed that the design of inertial sensor was valid for high rotation.

• Nonlinear Functional Analysis and Applications
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• v.26 no.4
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• pp.839-853
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• 2021

Let 𝕽ⁿ be an Euclidean space and g : 𝕽ⁿ → 𝕽ⁿ be a monotone and continuous mapping. Suppose the convex constrained nonlinear monotone equation problem x ∈ 𝕮 s.t g(x) = 0 has a solution. In this paper, we construct an inertial-type algorithm based on the three-term derivative-free projection method (TTMDY) for convex constrained monotone nonlinear equations. Under some standard assumptions, we establish its global convergence to a solution of the convex constrained nonlinear monotone equation. Furthermore, the proposed algorithm converges much faster than the existing non-inertial algorithm (TTMDY) for convex constrained monotone equations.

• Journal of the Optical Society of Korea
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• v.19 no.4
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• pp.415-420
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• 2015

A novel method to measure the scale factor for the all-optical atomic spin inertial measurement device (ASIMD) is demonstrated in this paper. The method can realize the calibration of the scale factor by a self-consistent method with small errors in the quiescent state. At first, the matured IMU (inertial measurement unit) device was fixed on an optical platform together with the ASIMD, and it has been used to calibrate the scale factor for the ASIMD. The results show that there were some errors causing the inaccuracy of the experiment. By the comparative analysis of theory and experiment, the ASIMD was unable to keep pace with the IMU. Considering the characteristics of the ASIMD, the mismatch between the driven frequency of the optical platform and the bandwidth of the ASIMD was the major reason. An all-optical atomic spin magnetometer was set up at first. The sensitivity of the magnetometer is ultra-high, and it can be used to detect the magnetization of spin-polarized noble gas. The gyromagnetic ratio of the noble gas is a physical constant, and it has already been measured accurately. So a novel calibration method for scale factor based on the gyromagnetic ratio has been presented. The relevant theoretical analysis and experiments have been implemented. The results showed that the scale factor of the device was $7.272V/^{\circ}/s$ by multi-group experiments with the maximum error value 0.49%.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2540-2542
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• 2005

This paper proposed the new HILS technique called Injection Method for Inertial Sensor Verification of high maneuvering missiles. The performance of Inertial Sensor is verified by Injection Method and traditional FMS Method. After all, Injection Method for Inertial Sensor has capability for various scenario and critical condition test.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.47 no.1
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• pp.41-48
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• 2019

This paper deals with a method of aligning an aircraft fuselage and an inertial navigation sensor using three-dimensional coordinates obtained by an optical method. In order to verify the feasibility, we introduce the method to accurately align the coordinate system of the inertial navigation sensor and the aircraft reference coordinate system. It is verified through simulation that reflects the error level of the measuring device. In addition, optimization method based alignment algorithm is proposed for connection between optical sensor and inertial navigation sensor.

• International Journal of Precision Engineering and Manufacturing
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• v.9 no.3
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• pp.46-50
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• 2008

The present status and future prospects of the levitation mass method (LMM), a technique for precision mass and force measurement, are reviewed. In the LMM, the inertial force of a mass levitated using a pneumatic linear bearing is used as the reference force applied to the objects being tested, such as force transducers, materials, or structures. The inertial force of the levitated mass is measured using an optical interferometer. We have modified this technique for dynamic force calibration of impact, oscillation, and step loads. We have also applied the LMM to material testing, providing methods for evaluating material viscoelasticity under an oscillating or impact load, evaluating material friction, evaluating the biomechanics of a human hand, and generating and measuring micro-Newton-level forces.