• 한국자동차공학회논문집
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• 제11권3호
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• pp.192-197
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• 2003

The ‘AEIPR’(Accelerometer Established Inertial Profiling Reference) method has been applied to measure the road profile. The dynamic road profiling method using AEIPR has the advantages of cost effectiveness, measuring speed and relatively high reliability. However, it is required to improve the double integration algorithm to get the measurement results with the accuracy of hither level. In the first part of this paper, the effective double integration algorithm is suggested and the ‘Road Profiler’ software is developed on the basis of the algorithm. Road profiling tests are performed using the developed ‘Road Profiler’ system on the specially designed tracks for the durability tests and the various types of pubic roads. Test results are shown and evaluated by the international road evaluation indicies and classification.

• 대한전기학회논문지:전력기술부문A
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• 제48권9호
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• pp.1126-1130
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• 1999

This paper persents an algorithm compensating for the change of tension acting on a belt which is used as a force transfer media of the induction motor that drives a washing machine. The induction motor adopted in a washing machine is operated not only for the power-transmission device, but also for the detection of clothes load. The load of clothes is determined by the duration of inertial rotation which is occurred by the induction motor during a specific time. The tension of belt also affects the determination of clothes load as another load and this change of the tension is a significant disturbance for accurate determination. This paper mentions the algorithm compensating for the amount of change in tension and the application of the algotithm proved to be effectively increasing the washing performance and reducing the noise and the vibration.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.419-424
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• 1991

In this paper, a fuel minimizing closed loop explicit inertial guidance algorithm for the orbit injection of a rocket is developed. In this formulation, the fuel burning rate and magnitude of thrust are assumed constant, and the motion of a rocket is assumed to be subject to the average inverse-square gravity, but with negligible atmospheric effects. The optimum thrust angle for obtaining the given velocity vector in the shortest time with minimizing fuel consumption is first determined, and then the additive thrust angle for targeting the final position vectors is determined by using Pontryagin's Maximum Principle. To establish the real time processing, many algorithms of the onboard guidance software are simplified. Simulations for the explicit guidance algorithm, for the 2nd-stage flight of the N-1 rocket, are carried out. The results show that the guidance algorithm works well in the presence of the maximum .+-.10 % initial velocity and altitude error. The effects of the guidance cycle time is also examined.

• 제어로봇시스템학회논문지
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• 제15권1호
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• pp.89-93
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• 2009

This paper deals with obstacle avoidance for unmanned vehicle using stereo system. The "DARPA Grand Challenge 2005" shows that the robot can move autonomously under given waypoint. RADAR, IMS (Inertial Measurement System), GPS, camera are used for autonomous navigation. In this paper, we focus on stereo system for autonomous navigation. Our approach is based on Singh et. al. [5]'s approach that is successfully used in an unmanned vehicle and a planetary robot. We propose an improved algorithm for obstacle avoidance by modifying the cost function of Singh et. al. [5]. Proposed algorithm gives more sharp contrast in choosing local path for obstacle avoidance and it is verified in experimental results.

• 한국정밀공학회지
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• 제15권6호
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• pp.97-106
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• 1998

In this Paper, a fuel minimizing closed loop explicit inertial guidance algorithm for orbit injection of a rocket is developed. In the formulation, the fuel burning rate and magnitude of thrust are assumed constant. The motion of rocket is assumed to be subject to the average inverse-square gravity, but negligible effects from atmosphere. The optimum thrust angle to obtain a given velocity vector in the shortest time with minimizing fuel consumption is first determined, and then the additive thrust angle for targeting the final position vector is determined by using Pontryagin's maximum principle. To establish real time processing, many algorithms of onboard guidance software are simplified. The explicit guidance algorithm is simulated on the 2nd-stage flight of the N-1 rocket developed in Japan. The results show that the explicit guidance algorithm works well in the presence of the maximum $\pm$10% initial velocity and altitude errors, and exhibits better performance than the open-loop program guidance. The effects of the guidance cycle time are also examined.

• 전기학회논문지
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• 제66권11호
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• pp.1634-1640
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• 2017

The study aims to distinguish hemiplegic gait and normal gait using simple wearable device and classification algorithm. Thus, we developed a wearable system equipped three axis accelerometer and three axis gyroscope. The developed wearable system was verified by clinical experiment. In experiment, twenty one normal subjects and twenty one patients undergoing stroke treatment were participated. Based on the measured inertial signal, a random forest algorithm was used to classify hemiplegic gait. Four-fold cross validation was applied to ensure the reliability of the results. To select optimal attributes, we applied the forward search algorithm with 10 times of repetition, then selected five most frequently attributes were chosen as a final attribute. The results of this study showed that 95.2% of accuracy in hemiplegic gait and normal gait classification and 77.4% of accuracy in hemiplegic-side and normal gait classification.

• International Journal of Ocean System Engineering
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• 제1권3호
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• pp.165-170
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• 2011

In this paper, for the accurate estimation of the position and orientation of the UUV (unmanned underwater vehicle), an AHRS (Attitude Heading Reference System) was developed using the IMU (inertial measurement unit) sensor which provides information on acceleration and orientation in the object coordinate and the initial alignment algorithm and the E-KF (extended Kalman Filter). The initial position and orientation of the UUV are estimated using the initial alignment algorithm with 3-axis acceleration and geomagnetic information of the IMU sensor. The position and orientation of the UUV are estimated using the AHRS composed of 3-axis acceleration, velocity, and geomagnetic information and the E-KF. For the performance test of the orientation estimation of the AHRS, a testbed using IMU sensor(ADIS16405) and DSP28335 coded with an E-KF algorithm was developed and its performance was verified through tests.

• 제어로봇시스템학회논문지
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• 제11권4호
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• pp.369-377
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• 2005

This paper describes the realization of a coordinates tracking algorithm for an EOTS (Electro-Optical Tracking System). The EOTS stabilizes the image sensors, tracks targets automatically, and provides navigation capability for vehicles. The coordinates tracking algorithm calculates the azimuth and the elevation angle of an EOTS using the inertial navigation system and the attitude sensors of the vehicle, so that LOS designates the target coordinates which are generated by a Radar. In the error analysis, the unexpected behaviors of an EOTS due to the time delay and deadbeat of the digital signals of the vehicle equipments are anticipated and the countermeasures are suggested. The application of this algorithm to an EOTS will improve the operational capability by reducing the time which is required to find the target and support flight especially in the night time flight and the poor weather condition.

• 제어로봇시스템학회논문지
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• 제3권3호
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• pp.238-243
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• 1997

A new transfer alignment algorithm using the velocity and the quaternion partial matching methods is proposed to reduce the effect of a ship's Y-axis flexure on the performance of azimuth error estimation of Kalman filter. The simulation results show that it can significantly reduce the effect of Y-axis flexure on error estimation by the transfer alignment algorithm. As its results, azimuth transfer alignment error is reached up to 3 mrad under proper roll and pitch attitude motion of the ship.

• 한국정보통신학회논문지
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• 제10권11호
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• pp.1973-1977
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• 2006

본 논문에서는 IMU(Inertial Motion Unit), DVL(Doppler Velocity Log), USBL(Ultra Short Base Line) DGPS(Differential Global Positioning System) 등의 센서로부터 취득된 데이터를'융합하여 ROV(Remotely Operated Vehicle)와 AUV(Autonomous Underwater Vehicle)와 같은 수중체의 위치를 지구 전체영역에서 추정하기 위한 기본적인 알고리즘을 다루고 있다. 본 논문에 소개된 알고리즘은 6,000m급 과학 조사용 심해무인잠수정인 해미래[1]의 수중 위치추적에 사용될 예정이다.