• 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.

• Current Optics and Photonics
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• v.4 no.4
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• pp.293-301
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• 2020

In this paper we propose and theoretically analyze a monolithic multiparametric sensor consisting of a superstructure of surface-relief waveguide Bragg gratings (WBGs), a micro-machined diaphragm, and a cantilever beam. Diaphragms of two different configurations, namely circular and square, are designed and analyzed separately for pressure measurement. The square diaphragm is then selected for further study, since it shows relatively higher sensitivity compared to the circular one, as it incurs more induced stress when any pressure is applied. The cantilever beam with a proof mass is designed to enhance the sensitivity for acceleration measurement. A unique mathematical method using coupled-mode theory and the transfer-matrix method is developed to design and analyze the shift in the Bragg wavelength of the superstructure configuration of the gratings, due to simultaneously applied pressure and acceleration. The effect of temperature on the wavelength shift is compensated by introducing another Bragg grating in the superstructure configuration. The measured sensitivities for pressure and acceleration are found to be 0.21 pm/Pa and 6.49 nm/g respectively.

• KIPS Transactions on Software and Data Engineering
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• v.6 no.10
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• pp.473-478
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• 2017

Drones require altitude holding in order to achieve flight objectives. The altitude holding of the drone is to repeat the operation of raising or lowering the drone according to the altitude information being measured in real-time. When the drones are maintained altitude, the drone's altitude will continue to change due to external factors such as imbalance in thrust due to difference in motor speed or wind. Therefore, in order to maintain the altitude of drone, we have to exactly measure the continuously changing altitude of the drone. Generally, the acceleration sensor is used for measuring the height of the drones. In this method, there is a problem that the measured value due to the integration error accumulates, and the drone's vibration is recognized by the altitude change. To solve the difficulty of the altitude measurement, commercial drones and existing studies are used for altitude measurement together with acceleration sensors by adding other sensors. However, most of the additional sensors have a limitation on the measurement distance and when the sensors are used together, the calculation processing of the sensor values increases and the altitude measurement speed is delayed. Therefore, it is necessary to accurately measure the altitude of the drone without considering additional sensors or devices. In this paper, we propose a measurement algorithm that improves general altitude measurement method using acceleration sensor and show that accuracy of altitude holding and altitude measurement is improved as a result of applying this algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.187-192
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• 1992

There are several potential error sources that can affect the estimation of the position of an object using combined vision and acceleration measurements. Two of the major sources, accelerometer dynamics and random noise in both sensor outputs, are considered. Using a second-order model, the errors introduced by the accelerometer dynamics are reduced by the smaller value of damping ratio and larger value of natural frequency. A Kalman filter approach was developed to minimize the influence of random errors on the position estimate. Experimental results for the end-point movement of a flexible beam confirmed the efficacy of the Kalman filter algorithm.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.11a
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• pp.433-438
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• 2001

This study is performed to evaluate hand-arm vibration syndrome(HA VS) of the workers in swaging process. Vibration measurement and assessment of human exposure are based on the international standard(ISO 5349). Triaxial acceleration of each operation and exposure time are measured to predict the periods before finger blanching, As results, it is found that acceleration is concerned with the diameter of pipes in swaging process, and also found that combined work is more harmful than a single operation.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.7
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• pp.871-877
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• 2018

In this paper, we propose a triple nested PID control scheme for stable hovering of a quadrotor and propose a complementary filter based sensor fusion technique to improve the performance of attitude, altitude and velocity measurement. The triple nested controller has a structure in which a double nested attitude controller that has the angular velocity PD controller in inner loop and the angular PI controller in outer loop, is nested in a velocity control loop to enable stable hovering even in the case of disturbance. We also propose a sensor fusion technique by applying a complementary filter in order to reduce the noise and drift error included in the acceleration and gyro sensor and to measure the velocity by fusing image, gyro, and acceleration sensor. In order to verity the performance, we applied the proposed control and measurement scheme to hovering control of quadrotor.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.127.6-127
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• 2001

In this paper, we deal with two bias compensation algorithms of acceleration sensor for measuring the galloping on power transmission line. Firstly, the block diagram of galloping measurement system is given and a galloping model is presented. Secondly, two compensation algorithms, a simple compensation and a period compensation, are proposed. A simple compensation algorithm use the drafts of velocity and distance at fixed periods, so it is useful for constant bias case. Next, a period compensation algorithm can compensate a periodic bias. This algorithm use the previous measured data and compensated data for constant period, where the period is obtained by FFT method. Lastly, the effectiveness of proposed algorithms is verified by comparing between two algorithms in simulation, and its characteristics and the bias error bound are shown, respectively.

• Journal of Advanced Marine Engineering and Technology
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• v.27 no.7
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• pp.914-920
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• 2003

In this paper, we deal with two drift compensation algorithms of acceleration sensor for measuring the galloping on power transmission line. Firstly, the block diagram of galloping measurement system is given and a galloping model is presented. Secondly, two compensation algorithms, a simple compensation and a period compensation, are proposed. A simple compensation algorithm uses the drifts of velocity and distance at fixed periods, so it is useful for constant drift case. Next, a period compensation algorithm can compensate a periodic drift. This algorithm uses the previous measured data and compensated data for constant period, where the period is obtained by FFT method. Lastly, the effectiveness of proposed algorithms is verified by comparing between two algorithms in simulation, and its characteristics and the drift error bound are shown, respectively.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2003.03a
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• pp.238-246
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• 2003

By using simulated ground motions, which is sum of earthquake signals and noise, we measured the distortion of response spectra due to noise. We found that the distortion is more closely related to the signal-to-noise (S/N) ratio of root-mean-square (RMS) measurement than that of conventional peak measurement. Given a S/M ratio, the distortion of absolute acceleration response spectra is independent on the earthquake magnitude, while that of relative displacement response spectra has a strong dependence on the earthquake magnitude. This means that, when we calculate response spectra from time histories, we can efficiently predict the distortion of acceleration response spectra simply by measuring the RMS SJN ratios, or the distortion of displacement response spectra by combining the RMS S/N ratios and the earthquake magnitudes.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.1073-1077
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• 1996

This paper presents a recoil and counter recoil(R&CR) motion measurement method using linear variable differential transformers(LVDT). The output of a LVDT is obtained from the differential voltage of the 2nd transformers. As a sensor core is attached at the motion body, the output is directly proportional to the core motion. Displacement, velocity and acceleration are measure from the core length. With a comparison between the measurement result and the known value which is obtained by the precision steel tape, the accuracy and the usefulness of the proposed scheme is validated.