• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.2
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• pp.179-185
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• 2015

Although an accelerometer is a sensor that measures acceleration, it cannot be used by itself to measure the acceleration when the orientation of the sensor changes. This paper introduces a Kalman filter for the estimation of a sensor acceleration based on a six-axis inertial sensor (i.e., a three-axis accelerometer and three-axis gyroscope). The novelty of the proposed Kalman filter lies in the fact that its state vector includes not only the tilt angle variable but also the sensor acceleration. Thus, the filter can explicitly estimate the latter with a high accuracy. The accuracy of acceleration estimates were validated experimentally under three different dynamic conditions, using an optical motion capture system. It could be concluded that the performance of the proposed Kalman filter was comparable to that of the state-of-the-art estimation algorithm employed by the Xsens MTw. The proposed algorithm may be more suitable than inertial/magnetic sensor-based algorithms for various applications adopting six-axis inertial sensors.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.38 no.4
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• pp.337-346
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• 2014

This study aimed to understand the mode characteristics of a droplet subject to periodic forced vibration and the detachment of a droplet placed on a plate surface. An surface was coated with Teflon to clearly observe the behavior of a droplet. The contact angle between the droplet and surface and the hysteresis were found to be approximately $115^{\circ}C$ and within $25^{\circ}C$, respectively. The coating process was performed in a clean room that had an environment with a low level of contaminants and impurities such as air dust, detergents, and particles. To predict the resonance frequency of a droplet, theoretical and experimental approaches were applied. Two high-speed cameras were configured to acquire side and top views and thus capture different characteristics of a droplet: the mode shape, the detachment, the separated secondary droplet, and the waggling motion. A comparison of the theoretical and experimental results shows no more than 18 discrepancies when predicting the resonance frequency. These differences seem to be caused by contact line friction, nonlinear wall adhesion, and the uncertainty of the experiment. For lower energy inputs, the contact line of the droplet was pinned and the oscillation pattern was axisymmetric. However, the contact line of the droplet was de-pinned as the oscillation became more vigorous with increased energy input. The size of each lobe at the resonance frequency is somewhat larger than that at the neighboring frequency. A droplet in mode 2, one of the primary mode frequencies, exhibits vertical periodic movement as well as detachment and secondary ejection from the main droplet.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1115-1120
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• 2003

The present paper shows the possible development of particle swarm optimization (PSO) based fuzzy-neural networks (FNN) which can be employed as an important building block in real life robot systems, controlled by voice-based commands. The PSO is employed to train the FNNs which can accurately output the crisp control signals for the robot systems, based on fuzzy linguistic spoken language commands, issued by an user. The FNN is also trained to capture the user spoken directive in the context of the present performance of the robot system. Hidden Markov Model (HMM) based automatic speech recognizers are developed, as part of the entire system, so that the system can identify important user directives from the running utterances. The system is successfully employed in a real life situation for motion control of a redundant manipulator.

• Structural Engineering and Mechanics
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• v.52 no.4
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• pp.787-813
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• 2014

Starting with Hamilton's variational principle, the governing field equations for the steady state response of thin-walled beams under harmonic forces are derived. The formulation captures shear deformation effects due to bending and warping, translational and rotary inertia effects and as well as torsional flexural coupling effects due to the cross section mono-symmetry. The equations of motion consist of four coupled differential equations in the unknown displacement field variables. A general closed form solution is then developed for the coupled system of equations. The solution is subsequently used to develop a family of shape functions which exactly satisfy the homogeneous form of the governing field equations. A super-convergent finite element is then formulated based on the exact shape functions. Key features of the element developed include its ability to (a) isolate the steady state response component of the response to make the solution amenable to fatigue design, (b) capture coupling effects arising as a result of section mono-symmetry, (c) eliminate spatial discretization arising in commonly used finite elements, (d) avoiding shear locking phenomena, and (e) eliminate the need for time discretization. The results based on the present solution are found to be in excellent agreement with those based on finite element solutions at a small fraction of the computational and modelling cost involved.

• Journal of Sensor Science and Technology
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• v.25 no.3
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• pp.202-207
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• 2016

Estimation of vertical position is critical in applications of sports science and fall detection and also controls of unmanned aerial vehicles and motor boats. Due to low accuracy of GPS(global positioning system) in the vertical direction, the integration of IMU(inertial measurement unit) with the GPS is not suitable for the vertical position estimation. This paper investigates an IMU-barometer integration for estimation of vertical position (as well as vertical velocity). In particular, a new two-step Kalman/complementary filter is proposed for accurate and efficient estimation using 6-axis IMU and barometer signals. The two-step filter is composed of (i) a Kalman filter that estimates vertical acceleration via tilt orientation of the sensor using the IMU signals and (ii) a complementary filter that estimates vertical position using the barometer signal and the vertical acceleration from the first step. The estimation performance was evaluated against a reference optical motion capture system. In the experimental results, the averaged estimation error of the proposed method was 19.7 cm while that of the raw barometer signal was 43.4 cm.

• Membrane Journal
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• v.33 no.2
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• pp.53-60
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• 2023

Mechanical energy can be harvested by triboelectric nanogenerators (TENG) from biological and environmental systems. In wearable electronics, TENG has a lot of significance as biomechanical energy can be harvested from the motion of humans, which is applied in vibrational sensors. Wearable TENG is prone to moisture and polytetrafluoroethylene (PTFE) is an excellent hydrophobic material used in these applications. The presence of highly electronegative fluorine atoms leads to very low surface energy. At the same time, the performance of the device increases due to the efficient capture of the electrons on the microporous membrane surface. This similar behavior occurs with polyvinylidene fluoride (PVDF) due to the presence of fluoride atoms, which is relatively less as compared to PTFE.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.12
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• pp.1106-1114
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• 2012

To achieve synchronized motion between a wearable robot and a human user, the redundancy must be resolved in the same manner by both systems. According to the seven DOF (Degrees of Freedom) human arm model composed of the shoulder, elbow, and wrist joints, positioning and orientating the wrist in space is a task requiring only six DOFs. Due to this redundancy, a given task can be completed by multiple arm configurations, and thus there exists no unique mathematical solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and their effect on the redundancy resolution of the human arm based on a seven DOF manipulator model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing different cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid for the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each two consecutive points along the task space trajectory. As a first step, the redundancy based on the kinematic criterion will be thoroughly studied based on the motion capture data analysis. Experimental results indicate that by using the proposed redundancy resolution criterion in the kinematic level, error between the predicted and the actual swivel angle acquired from the motor control system is less than five degrees.

• Korean Journal of Applied Biomechanics
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• v.26 no.2
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• pp.161-166
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• 2016

Objective: The purpose of this study was to determine the knee and ankle joint kinematics and kinetics by comparing downhill walking with valley-shape combined slope walking. Method: Eighteen healthy men participated in this study. A three-dimensional motion capture system equipped with eight infrared cameras and a synchronized force plate, which was embedded in the sloped walkway, was used. Obtained kinematic and kinetic parameters were compared using paired two-tailed Student's t-tests at a significance level of 0.05. Results: The knee flexion angle after the mid-stance phase, the mean peak knee flexion angle in the early swing phase, and the ankle mean peak dorsiflexion angle were greater during downhill walking compared with valley-shape combined slope walking (p < 0.001). Both the mean peak vertical ground reaction force (GRF) in the early stance phase and late stance phase during downhill walking were smaller than those values during valley-shape combined slope walking. (p = 0.007 and p < 0.001, respectively). The mean peak anterior GRF, appearing right after toe-off during downhill walking, was also smaller than that of valley-shape combined slope walking (p = 0.002). The mean peak knee extension moment and ankle plantar flexion moment in late stance phase during downhill walking were significantly smaller than those of valley-shape combined slope walking (p = 0.002 and p = 0.015, respectively). Conclusion: These results suggest that gait strategy was modified during valley-shape combined slope walking when compared with continuous downhill walking in order to gain the propulsion for lifting the body up the incline for foot clearance.

• Korean Journal of Applied Biomechanics
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• v.27 no.3
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• pp.189-195
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• 2017

Objective: The aim of this study was to examine the effect of foot landing type (forefoot vs. rearfoot landing) on kinematics, kinetics, and energy absorption of hip, knee, and ankle joints. Method: Twenty-five healthy men performed single-leg landings with two different foot landing types: forefoot and rearfoot landing. A motion-capture system equipped with eight infrared cameras and a synchronized force plate embedded in the floor was used. Three-dimensional kinematic and kinetic parameters were compared using paired two-tailed Student's t-tests at a significance level of .05. Results: On initial contact, a greater knee flexion angle was shown during rearfoot landing (p < .001), but the lower knee flexion angle was found at peak vertical ground reaction force (GRF) (p < .001). On initial contact, ankles showed plantarflexion, inversion, and external rotation during forefoot landing, while dorsiflexion, eversion, and internal rotation were shown during rearfoot landing (p < .001, all). At peak vertical GRF, the knee extension moment and ankle plantarflexion moment were lower in rearfoot landing than in forefoot landing (p = .003 and p < .001, respectively). From initial contact to peak vertical GRF, the negative work of the hip, knee, and ankle joint was significantly reduced during rearfoot landing (p < .001, all). The contribution to the total work of the ankle joint was the greatest during forefoot landing, whereas the contribution to the total work of the hip joint was the greatest during rearfoot landing. Conclusion: These results suggest that the energy absorption strategy was changed during rearfoot landing compared with forefoot landing according to lower-extremity joint kinematics and kinetics.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.4
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• pp.345-354
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• 2014

In this paper, we propose a real-time algorithm for estimating the relative position and velocity of a person with respect to a robot using a Kinect sensor and an extended Kalman filter (EKF). Additionally, we propose an algorithm for controlling the robot in the proximity of a person in a variety of modes. The algorithm detects the head and shoulder regions of the person using a histogram of oriented gradients (HOG) and a support vector machine (SVM). The EKF algorithm estimates the relative positions and velocities of the person with respect to the robot using data acquired by a Kinect sensor. We tested the various modes of proximity movement for a human in indoor situations. The accuracy of the algorithm was verified using a motion capture system.