• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.616-619
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• 2003

In this paper, we develop an input device equipped with accelerometers and gyroscopes. The installed sensors measure the inertial measurements i.e., accelerations and angular rates produced by the movement of the system when a user is writing on the plane surface or in the three dimensional space. The gyroscope measurement are integrated once to give the attitude of the system and consequently used to remove the gravity included in the acceleration measurements. The compensated accelerations bin doubly integrated to yield the position of the system. Due to the integration processes involved in recovering the users'motions, the accuracy of the position estimation significantly deteriorates with time. Among various error sources of the system incorrect estimation of attitude causes the largest portion of the positioning error since the gravity is not fully cancelled. In order to solve this problem, we propose a Kalman filler-based attitude estimation algorithm which fuses measurement data from accelerometers and gyroscopes by fuzzy logic approach. In addition, the online calibration of the gyroscope biases are performed in parallel with the attitude estimation to give more accurate attitude estimation. The effectiveness and the feasibility of the presented system is demonstrated through computer simulations and actual experiments.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2008.11a
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• pp.687-692
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• 2008

In a nuclear power plant, loose part monitoring and its diagnostic technique is one of the major issues for ensuring the structural integrity of the reactor system. Typically, accelerometers are mounted on the surface of a reactor vessel to localize impact location caused by the impact of metallic substances on the reactor system. However, in some cases, the number of the accelerometers is not enough to estimate the impact location precisely. In such a case, one of alternative plan is to utilize another type sensors that can measure the vibration of the reactor structure even though the measuring frequency ranges are different from each others. The AE sensors installed on the reactor structure can be utilized as additional sensors for loose part monitoring. In this paper, we proposed a new method to estimate impact location by using both accelerometer signal and AE signal, simultaneously. The feasibility of the proposed method is verified by an experiment. The experimental results demonstrate that we can enhance the reliability and precision of the loose part monitoring.

• Journal of KSNVE
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• v.7 no.1
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• pp.43-53
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• 1997

This paper investigated the practical use for measuring the structural intensity (power flow per width of cross section) in a uniform semi-infinite beam in flexural vibration. The structural intensity is obtained as a vector at a measurement point, One-dimensional structural intensity can be obtained from 4-point cross spectral measurement, or 2-point measurement on the assumption of far field. The measurement errors due to finite difference approximation and phase mismatch of accelerometers are examined. For precise measurements, it would be better to make the value of k$\delta$(wave number x space between accelerometers) between 0.5 and 1.0. Formulation of the relation between bending waves in structures and structural intensity makes it possible to separate the wave components by which one can get a state of the vibration field. Experimental results are obtained from 2- and 4-point measurement performed at 200mm (near field) and 400mm (far field) apart from excitation point in random excitation. the results are compared with the theoretical values and measured values of input power spectrum in order to verify the accuracy of structural intensity method, 2-point method is suggested as the practical structural intensity method.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.27 no.2
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• pp.195-203
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• 2017

This paper is concerned with the active vibration control of shell structure that is subjected to internal unbalanced excitation by using active mounts and accelerometers. The unbalanced excitation is caused by a rotating unbalanced mass. The control algorithm considered in this study is the negative acceleration feedback (NAF) control. A simplified dynamic model was derived to verify the effectiveness of the NAF control. Four actuators and four accelerometers were mounted on the shell structure, so that the multiple-input and multiple-output (MIMO) NAF controller was designed by both centralized and decentralized ways. Numerical results show that both the decentralized and centralized NAF controllers are effective. Based on the numerical simulation, the proposed decentralized NAF controller was applied to the real shell structure. Experimental results show that the proposed decentralized NAF controller can effectively suppress vibrations of the shell structure.

• Journal of Biomedical Engineering Research
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• v.31 no.5
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• pp.407-411
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• 2010

During the cardiopulmonary resuscitation (CPR), the correct chest compression depth and period are very important to increase the resuscitation possibility. For the feedback of chest compression depth, the depth monitoring device based on the accelerometer is developed and widely used. But this method tends to overestimate the compression depth on the bed. To overcome this limitation, the chest compression depth estimation method using two accelerometers is suggested With the additional accelerometer between the patient and mattress on the bed, the compression of the mattress is also measured and it is used to compensate the overestimation error. The experimental results show that the single accelerometer estimates as 61.4mm for the actual compression depth of 43.6mm on the mattress. The depth estimation with the dual accelerometer was 44.6mm which is close to the actual depth. With the automatic zeroing in every single compression, the integration error for the depth can be reduced. The dual accelerometer method is effective to increase the accuracy of the chest compression depth estimation.

• Smart Structures and Systems
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• v.8 no.1
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• pp.39-52
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• 2011

We are developing a biomimetic robot based on the Sea Lamprey. The robot consists of a cylindrical electronics bay propelled by an undulatory body axis. Shape memory alloy (SMA) actuators generate propagating flexion waves in five undulatory segments of a polyurethane strip. The behavior of the robot is controlled by an electronic nervous system (ENS) composed of networks of discrete-time map-based neurons and synapses that execute on a digital signal processing chip. Motor neuron action potentials gate power transistors that apply current to the SMA actuators. The ENS consists of a set of segmental central pattern generators (CPGs), modulated by layered command and coordinating neuron networks, that integrate input from exteroceptive sensors including a compass, accelerometers, inclinometers and a short baseline sonar array (SBA). The CPGs instantiate the 3-element hemi-segmental network model established from physiological studies. Anterior and posterior propagating pathways between CPGs mediate intersegmental coordination to generate flexion waves for forward and backward swimming. The command network mediates layered exteroceptive reflexes for homing, primary orientation, and impediment compensation. The SBA allows homing on a sonar beacon by indicating deviations in azimuth and inclination. Inclinometers actuate a bending segment between the hull and undulator to allow climb and dive. Accelerometers can distinguish collisions from impediment to allow compensatory reflexes. Modulatory commands mediate speed control and turning. A SBA communications interface is being developed to allow supervised reactive autonomy.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.10
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• pp.1720-1727
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• 2003

The object of this work is to develop the measurement method of the transmission error of the helical gears. For this purpose, experimental set up is designed by 3D CAD software. It consists of the motor, inverter, powdered brake equipment, torque sensor and helical gearbox. In this study, tangential linear accelerometers were used as the methods for the transmission error measurement. the acceleration signals are transmitted to the signal conditioners through the slip rings and the transmission errors are obtained by a specially designed circuit board. The transmission errors are analyzed in the frequency domain. As a result, The periodicity of the transmission error is confirmed in the mesh frequency and its harmonics. The magnitude of harmonic components is very dependent on the natural frequencies of the gear system. It usually increases with the rotational speed. However, it does not always increase with torque.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.11
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• pp.1069-1076
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• 2007

The purpose of this study is to improve the performance of a linear feeder that can transport grains uniformly. In order to analyze the dynamic behaviors of a linear feeder, the displacements of the feeder are measured by several accelerometers when it is in an operating condition. After the signal data from the accelerometers are captured in the time domain, the feeder motion in the space is visualized by using graphic computer software. In addition, a dynamic model of the feeder is established for a multi-body dynamics simulation. For the dynamic simulation, RecurDyn, which is a commercial multi-body dynamic package, is used. From the experimental and the computational approaches, an optimal dynamic motion is obtained for uniform transportation of grains. Furthermore, we also consider the determination of design parameters for optimal dynamic motion such as centroid, stiffness, and damping coefficient of the feeder system.

• Journal of Ocean Engineering and Technology
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• v.11 no.1
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• pp.96-96
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• 1997

This paper presents a Inertial Measuring Unit(IMU) for motion measurement of an AUV. The IMU is composed of three parts: inertial sensors with three servo accelerometers and three rate gyros, an analog/digital interface board, and a signal processing board with TMS320C31 DSP processor. The IMU is a class of strap-down inwetial navigation system does not applicable directly to the navigation system in consequence of the AUV and integrated sensors for an integrated navigation system of the AUV. Fast calculstion of direction cosine matrix for the coordinate transformation body to reference is obtained through the DSP processor. A switching algotrithm is used to lessen the low frequency drift effect of the gyros in the vertical plane with use of low pass filtering of the signal of the accelerometers.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.11a
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• pp.361-364
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• 2003

The safe operation and reliable maintenance of nuclear power plants is one of the most fundamental and important tasks. It is known that a loose part such as a disengaged and drifting metal inside of reactor coolant systems might lead to a serious damage because of their impact on the components of the coolant system. In order to estimate the impact position of a loose par, three accelerometers attached to the wall of the coolant system have been used. These accelerometers measure the vibration of the coolant system induced by loose part impact. In the conventional analysis system, the low pass filtered version of the vibration data was used for the estimation of the position of a loose part. It is often difficult to identify the initial point of the impact signal by using just a low passed time signal because the impact wave is dispersed during propagation into the sensor. In this paper, the impact signal is analysed by use of various time frequency methods including the short time Fourier transform(STFT), the wavelet transform, and the Wigner-Vill distribution for finding a convenient way to identify the starting point of a impact signal and their advantages and limits are discussed.