• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.2
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• pp.351-358
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• 1994

A probabilistic model and analysis methods to determine the means and variances of the velocity and acceleration in stochastically-defined planar pin jointed kinematic chains are presented. The presented model considers the effect of tolerances on link length and radial clearance and uncertainty of pin location as a net effect on the link's effective length. The determination of the mean values and variances of the output variables requires the calculation of sensitivities of secondary variables with respect to the random variables. It is shown that this computation is straightforward and can be accomplished by a conventional kinematic analysis package with minor modification. Thus, the concepts of tolerance and clearance have been captured by the model and analysis. The only input data are the nominal linkage model and statistical information. The "effective link length" model is shown to be applicable to both analytical solution and Monte Carlo simulation. The results from both methods are compared. This paper Ksolves the higher-order kinematic problems for the probabilistic design analysis of stochastically-defined mechanisms.echanisms.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.1
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• pp.114-122
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• 2009

An adaptive Kalman filter is designed as a post-navigation filter to improve the accuracy of GPS receiver's navigation performance in high dynamic environments. Not only the adaptive Kalman filter reduces the large noise error of navigation data which is obtained by least square method, but also the filter is not degraded as normal Kalman filter in high acceleration movements because the system noise is estimated. Also an initialization structure of the filter is desisted in consideration for irregular output condition of navigation data by least squared method such as reacquisition status in GPS receiver. The filter performance is verified by GPS simulator which has the simulation capability of high velocity and acceleration. Finally, a vehicle test including DGPS is executed to conform the real improvement of that filter performance. This filter can be applied to various data measurement systems to improve accuracy in high dynamic conditions besides GPS receiver.

• Journal of Positioning, Navigation, and Timing
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• v.13 no.3
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• pp.237-244
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• 2024

An Attitude and Heading Reference System (AHRS) provides the attitude of a vehicle with a constant velocity using an Inertial Measurement Unit (IMU) and a magnetometer. In this case, in order to avoid the disadvantage of a gyroscope, an AHRS using a Gyro-Free IMU (GF-IMU) that is composed of only accelerometers may be considered instead of the gyroscopes. In this paper, a design method of an AHRS using a GF-IMU is proposed. The proposed AHRS consists of roll and pitch calculation, yaw calculation, angular acceleration and angular velocity calculation, attitude calculation, and a Kalman filter. In particular, since the angular velocity cannot be measured from a gyroscope, the angular acceleration is obtained from the accelerometer output, and the angular velocity is calculated by integrating it. In order to show the usefulness of the proposed method, a performance evaluation was carried out. The performance evaluation results show that the attitude estimation performance of the proposed AHRS is similar to that of the conventional AHRS.

• Smart Structures and Systems
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• v.31 no.2
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• pp.141-154
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• 2023

After an earthquake, information regarding potential damage to buildings close to the epicenter is very important during the initial emergency response. This study proposes the use of crowdsourced measured acceleration response data collected from smartphones located within buildings to perform system identification of building structures during earthquake excitations, and the feasibility of the proposed approach is studied. The principal advantage of using crowdsourced smartphone data is the potential to determine the condition of millions of buildings without incurring hardware, installation, and long-term maintenance costs. This study's goal is to assess the feasibility of identifying the lowest fundamental natural frequencies of buildings without knowing the orientations and precise locations of the crowds' smartphones in advance. Both input-output and output-only identification methods are used to identify the lowest fundamental natural frequencies of numerical finite element models of a real building structure. The effects of time synchronization and the orientation alignment between nearby smartphones on the identification results are discussed, and the proposed approach's performance is verified using large-scale shake table tests of a scaled steel building. The presented results illustrate the potential of using crowdsourced smartphone data with the proposed approach to identify the lowest fundamental natural frequencies of building structures, information that should be valuable in making emergency response decisions.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2009.04a
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• pp.10-13
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• 2009

본 논문에서는 모드해석 기법이 내장된 가속도기반 무선센서노드을 개발하였다. 이를 위해 다음과 같은 연구가 수행되었다. 첫째, 가속도 데이터를 취득하고 분석할 수 있는 가속도기반 무선센서노드를 설계하였다. 둘째, 무선센서노드를 이용한 구조건전성모니터링에 적합한 모드해석 기법으로 주파수영역분해법을 선정하였다. 셋째, 무선센서노드에서 모드해석을 독자적으로 수행하기 위한 분산 무선센서 네트워크기반 모드해석 알고리즘을 설계하고 무선센서노드에 내장하였다. 마지막으로, 개발된 무선센서노드를 PSC 거더모형에 설치하고 기존 구조건전성모니터링 시스템과의 성능비교를 통해 검증하였다.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.12
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• pp.1167-1175
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• 2010

This paper presents the use of the inertial measurement unit information and the infrared sector information for getting the position of an object. Travel distance is usually calculated from the double integration of the accelerometer output with respect to time; however, the accumulated errors due to the drift are inevitable. The orientation change of the accelerometer also causes error because the gravity is added to the measured acceleration. Unless three axis orientations are completely identified, the accelerometer alone does not provide correct acceleration for estimating the travel distance. We propose a way of minimizing the error due to the change of the orientation. In order to reduce the accumulated error, the infrared sector information is fused with the inertial measurement unit information. Infrared sector information has highly deterministic characteristics, different from RFID. By putting several infrared emitters on the ceiling, the floor is divided into many different sectors and each sector is set to have a unique identification. Infrared light based sector information tells the sector the object is in, but the size of the uncertainty is too large if only the sector information is used. This paper presents an algorithm which combines both the inertial measurement unit information and the sector information so that the size of the uncertainty becomes smaller. It also introduces a framework which can be used with other types of the artificial landmarks. The characteristics of the developed infrared light based sector and the proposed algorithm are verified from the experiments.

• Journal of the Ergonomics Society of Korea
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• v.35 no.5
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• pp.319-341
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• 2016

Objective:This research analyzed the lower-limb motion in kinetic and kinematic way while walking on various terrains to develop Foot-Ground Contact Detection (FGCD) algorithm using the Inertial Measurement Unit (IMU). Background: To estimate the location of human in GPS-denied environments, it is well known that the lower-limb kinematics based on IMU sensors, and pressure insoles are very useful. IMU is mainly used to solve the lower-limb kinematics, and pressure insole are mainly used to detect the foot-ground contacts in stance phase. However, the use of multiple sensors are not desirable in most cases. Therefore, only IMU based FGCD can be an efficient method. Method: Orientation and acceleration of lower-limb of 10 participants were measured using IMU while walking on flat ground, ascending and descending slope and stairs. And the inertial information showing significant changes at the Heel strike (HS), Full contact (FC), Heel off (HO) and Toe off (TO) was analyzed. Results: The results confirm that pitch angle, rate of pitch angle of foot and shank, and acceleration in x, z directions of the foot are useful in detecting the four different contacts in five different walking terrain. Conclusion: IMU based FGCD Algorithm considering all walking terrain possible in daily life was successfully developed based on all IMU output signals showing significant changes at the four steps of stance phase. Application: The information of the contact between foot and ground can be used for solving lower-limb kinematics to estimating an individual's location and walking speed.

• The Journal of Fisheries Business Administration
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• v.32 no.2
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• pp.73-89
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• 2001

The market conditions of sea mustard is changing by overproduction, decreasing price, Import of blanched and salted sea mustard from China into Korea domestic market and increasing market share of sea mustard of China in Japan. In addition, the price support program in sea mustard aquaculture must be modified due to the restriction of domestic support by international organization such as WTO. There are two ways to solve those problems. First is that finding a way to solve the overproduction of sea mustard. One of possible ways is the production adjustment by Marketing Order. Second is that finding an alternative way to replace price support program. The possible way is Direct Payment instead of purchase stockpile system. To introduce marketing Order, outlook center, organization of self-management, production adjustment through output control measure, improvement of market structure, and education/publicity arc necessary. Also, to implement marketing order, setting a model business by government is required. There are two steps for implementation of marketing order. First step is to construct Order Committee including organization of producer, people related marketing. However, this committee must run by government for certain short-term. Second step is to improve quality of product and acceleration of demand. At visual point that enforcement of the first step is completed, government has process that government transfers Order Committees self-correcting. It is desirable that government only conduct the support acts such as quality improvement and acceleration of demand. Also, at early stage it is necessary to have aid system for marketing order For example, we can expect that income increase by production adjustment in long run. However, in short run the income of producer may decrease so, it is required to compensate his economic lose. For compensation, The useful means that can be utilized is direct payment. Direct payment is not continued policy. Also, when production adjustment policy such as Marketing Order has effective results, Direct Payment as an assistant measure must be reduced or abolished. Therefore, when production adjustment acts as an effective tool to control overproduction, Direct Payment system.

• Journal of the Korea institute for structural maintenance and inspection
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• v.13 no.4 s.56
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• pp.137-147
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• 2009

In this study, several flexural vibration characteristics of prestressed concrete girders due to changes in prestress forces are experimentally analyzed. In order to achieve the objective, the following approaches are implemented. First, several methods to extract vibration response features from output-only signal are selected. Next, a large-scaled prestressed concrete girder model is constructed to analyze relation between the prestress forces and the vibration features in the prestressed concrete girder. Then acceleration responses are measured from the girder for several prestress force scenarios. Finally, vibration characteristics of the prestressed concrete girder due to change in prestress force are experimentally analyzed. The values of features extracted by the selected methods are reduced due to prestress-loss. Especially, the value of features are linearly reduced in the early prestress-loss.

• Proceedings of the KSR Conference
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• 2011.10a
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• pp.303-310
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• 2011

This paper is focused on development of models for measuring lateral and vertical track irregularities from corresponding accelerometers of an in-service high-speed train. Generally, the track irregularity was measured by a special railway inspection vehicle or system with contact or non-contact sensors. However, the sensors are very expensive and vulnerable to a harsh environment. Displacement estimation from an inertial measurement unit and its wave-band filtering was already developed in the previous study, and it was found that their results included not only the track irregularities but also other information such as phase delay of the applied filters, and suspension and conicity of the wheel. To identify the track irregularities from those results, a compensation filtering method was proposed. Each directional compensation filter was derived by using a system identification method with the estimated directional displacement as input and the corresponding track irregularities as output. In this paper, they are integrated into a model for each direction and applied to the measured lateral and vertical acceleration data from the axle-box and bogie of an in-service high-speed train. Their results are compared with the data from the track geometry measurement system. From the comparison, the proposed models are a useful tool for the measurement of the track irregularities using accelerometers of in-service high-speed trains.