• The Journal of the Korea institute of electronic communication sciences
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• v.14 no.1
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• pp.265-274
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• 2019

The paper describes an application of unscented Kalman filter(UKF) for attitude estimation of an unmanned vehicle(UV), which is equipped with a low-cost attitude heading reference system (AHRS). The roll, pitch and yaw required at the correction stage of the UKF are calculated from the measurements of acceleration and geomagnetic field. The roll and pitch are attributed to the measurement of acceleration, while yaw is calculated from the geomagnetic field measurement. Since the measurement of geomagnetic field is vulnerable to distortion by hard-iron and soft-iron effects, the calculated yaw has more uncertainty than the calculated roll and pitch. To reduce the uncertainty of geomagnetic field measurement, the proposed method estimates bias in the geomagnetic field measurement and compensates for the bias for more accurate calculation of yaw. The proposed method is verified through navigation experiments of a UV in a test pool. The results show that the proposed method yields more accurate attitude estimation; thus, it results more accurate location estimation.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.11 no.2
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• pp.133-141
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• 2017

The hybrid acoustic sensor for implantable hearing aid has the structure in which a sound pressure based acoustic sensor (ECM) and a vibration based acceleration sensor are combined. This sensor combines the low frequency sensitivity of an acoustic sensor with the high frequency sensitivity of an acceleration sensor, allowing the acquisition of a wide range of sound from low to high frequency. In this paper, an acceleration sensor for use in a hybrid acoustic sensor has been proposed. The acceleration sensor captures the vibration of the tympanic membrane generated by the acoustic signal. The size of the proposed acceleration sensor was determined to diameter of 3.2 mm considering the anatomical structure of the tympanic membrane and the standard of ECM. In order to make the hybrid acoustic sensor have high sensitivity and wide bandwidth characteristics, the aim of the resonance frequency of the acceleration sensor is to be generated at about 3.5 kHz. The membrane of the acceleration sensor derives geometric structure through mathematical model and finite element analysis. Based on the analysis results, the membrane was implemented through a chemical etching process. In order to verify the frequency characteristics of the implemented membrane, vibration measurement experiment using external force was performed. The experiment results showed mechanical resonance of the membrane occurred at 3.4 kHz. Therefore, it is considered that the proposed acceleration sensor can be utilized for a hybrid acoustic sensor.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.892-895
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• 1996

An unknown input observer is proposed that can be used in wheelbase preview control of commercial vehicles. The preview and state information, required to calculate actuator force, are reconstructed from the measurement variables such as heave and pitch acceleration. Gain matrix of observer is optimally selected so that influence of system and measurement noises on the estimation error can be minimized. Estimated preview information requires low pass filtering to eliminate high frequency components resulting from differentiation of noisy output signals. Effectiveness of the proposed method is demonstrated by numerical simulation of half car model.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.86.1-86
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• 2001

Combined with a counter, wheel or strip encoders which have equally divided markers are one of frequent measuring choices towards various applications in terms of cost, simplicity, and diversity of measurements, e.g., measuring displacement, velocity, acceleration, and so on. Often, velocity is measured by counting the series of reference clocks for a period of time which sensor-carrying device took for traveling two adjacent encoding markers. Quantizaion error of such that the disturbance caused by quantization error is under control. This paper identifies design issues, developes theory, and proposes a paradigm to design a velocity measurement system such ...

• Transactions of the Korean Society of Automotive Engineers
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• v.19 no.2
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• pp.133-141
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• 2011

The effect of payload on fuel consumption and emission of light duty freight truck during acceleration driving has been analyzed. Running tests were carried out with various payload conditions on chassis dynamometer. A typical driving pattern for urban cities was used. Real time emission measurement systems for gaseous and soot emission were utilized to investigate the real time dynamic of fuel use and exhaust emissions. It was observed that fuel use and pollutant emissions were increased as payload was increased. Under the same payload condition, the increased amount of acceleration driving is much higher than that of steady state driving. The results demonstrated the advantages of eco-driving, which is an environmentally friendly driving manner, could be emphasized in heavier payload condition. Inertial tractive power was introduced for considering the parameters affecting emission during acceleration driving, which are speed, acceleration and payload. Fuel use and emission in various driving conditions were expressed as functions of inertial tractive power. The estimated result by these functions well predicted measured result within 10 % deviation.

• Journal of Biosystems Engineering
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• v.40 no.1
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• pp.28-34
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• 2015

Purpose: This study aimed to install an RTK-GPS (Real Time Kinematic-Global Positioning System) and IMU (Inertial Measurement Unit) on a tractor used in a farm to measure positions, pasture topography, posture angles, and vibration accelerations, translate the information into maps using the GIS, analyze the characteristics of grass harvesting work, and establish new technologies and construction standards for pasture infrastructure improvement based on the analyzed data. Method: Tractor's roll, pitch, and yaw angles and vibration accelerations along the three axes during grass harvesting were measured and a GIS map prepared from the data. A VRS/RTK-GPS (MS750, Trimble, USA) tractor position measuring system and an IMU (JCS-7401A, JAE, JAPAN) tractor vibration acceleration measuring systems were mounted on top of a tractor and below the operator's seat to obtain acceleration in the direction of progression, transverse acceleration, and vertical acceleration at 10Hz. In addition, information on regions with bad workability was obtained from an operator performing grass harvesting and compared with information on changes in tractor posture angles and vibration acceleration. Results: Roll and pitch angles based on the y-axis, the direction of forward movements of tractor coordinate systems, changed by at least $9-13^{\circ}$ and $8-11^{\circ}$ respectively, leading to changes in working postures in the central and northern parts of the pasture that were designated as regions with bad workability during grass harvesting. These changes were larger than those in other regions. The synthesized vectors of the vibration accelerations along the y-axis, the x-axis (transverse direction), and the z-axis (vertical direction) were higher in the central and northwestern parts of the pasture at 3.0-4.5 m/s2 compared with other regions. Conclusions: The GIS map developed using information on posture angles and vibration accelerations by position in the pasture is considered sufficiently utilizable as data for selection of construction locations for pasture infrastructure improvement.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.9
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• pp.783-790
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• 2016

One of the main factors related to the deterioration of estimation accuracy in inertial measurement unit (IMU)-based orientation determination is the object's acceleration. This is because accelerometer signals under accelerated motion conditions cannot be longer reference vectors along the vertical axis. In order to deal with this issue, some orientation estimation algorithms adopt acceleration-compensating mechanisms. Such mechanisms include the simple switching techniques, mechanisms with adaptive estimation of acceleration, and acceleration model-based mechanisms. This paper compares these three mechanisms in terms of estimation accuracy. From experimental results under accelerated dynamic conditions, the following can be concluded. (1) A compensating mechanism is essential for an estimation algorithm to maintain accuracy under accelerated conditions. (2) Although the simple switching mechanism is effective to some extent, the other two mechanisms showed much higher accuracies, particularly when test conditions were severe.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2004.03a
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• pp.262-270
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• 2004

Basic experiments were carried out using the THT-IV low-power Hall thruster to examine the influences of magnetic field shape and strength, and acceleration channel length on thruster performance and to establish guidelines for design of high-performance Hall thrusters. Thrusts were measured with varying magnetic field and channel structure. Exhaust plasma diagnostic measurement was also made to evaluate plume divergent angles and voltage utilization efficiencies. Ion current spatial profiles were measured with a Faraday cup, and ion energy distribution functions were estimated from data with a retarding potential analyzer. The thruster was stably operated with a highest performance under an optimum acceleration channel length of 20 mm and an optimum magnetic field with a maximum strength of about 150 Gauss near the channel exit and with some shape considering ion acceleration directions. Accordingly, an optimum magnetic field and channel structure is considered to exist under an operational condition, related to inner physical phenomena of plasma production, ion acceleration and exhaust plasma feature. A new Hall thruster was designed with basic research data of the THT-IV thruster. With the thruster with many considerations, long stable operations were achieved. In all experiments at 200-400 V with 1.5-3 mg/s, the thrust and the specific impulse ranged from 15 to 70 mN and from 1100 to 2300 see, respectively, in a low electric power range of 300~1300 W. The thrust efficiency reached 55 %. Hence, a large map of the thruster performance was successfully made. The thermal characteristics were also examined with data of both measured and calculated temperatures in the thruster body. Thermally safe conditions were achieved with all input powers.

• Journal of Biosystems Engineering
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• v.22 no.3
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• pp.269-278
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• 1997

An automatic level measurement system was developed to level the land fer direct seeding of rice. A laser transmitter/receiver set was used to measure land-level. The inclination error occurred in level measurement on irregular land surface could be compensated by attaching rotating mass. The level measuring experiments were performed on three kinds of different shapes(step, random, sine). This system could accurately measure step level of which amplitude was 40mm in 0.5s, random level change within $\pm$ 5mm maximum measurement error, and sine level change of which spatial frequency was 0.5m-1. To verify performance of the inclination error compensation system, frequency transfer function(acceleration input vs. inclination error) was computed by spectral analysis. The inclination error was decreased about 20㏈ by error compensation system.

• Transactions on Control, Automation and Systems Engineering
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• v.2 no.3
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• pp.214-219
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• 2000

This paper presents a recoil and counter recoil motion measurement system using linear variable differential transformers (LVDT). The output of the LVDT is obtained from the differential voltage of the secondary transformers. Since a transducer core is attached to the motion body, the output is directly proportional to the movement length of the core. Displacement, velocity and acceleration are measured from the LVDT. With a comparison between the measurement result and the reference value obtained by the highly accurate Vernier calipers, it is proved that the measurement system with the LVDT is applicable to the test of the moving part of the mechanism with better accuracy.