Kim, Byung Kook Moon, Hyowon Jang, Minsu KIM, JIN SEOK 2024-08-19T06:30:09Z 2024-08-19T06:30:09Z 2024-08-19 2024-12 1551-3203 https://pubs.kist.re.kr/handle/201004/150463 The instantaneous center of rotation (ICOR) is essential engineering information, providing wheel slip data for fully autonomous skid-steering mobile robots driven by deep learning-based dead-reckoning algorithms. Conventionally, cost-effective and compact inertial measurement unit (IMU) sensors based on microelectromechanical systems (MEMSs) have been employed for ICOR measurement. However, these sensors inherently rely on the differential value of gyroscope data, leading to significant estimation errors due to the amplified noise at low sampling rates. To address this challenge, we developed an acceleration sensor array based on a fiber Bragg grating, inspired by existing MEMS acceleration sensor arrays, which allows ICOR estimation solely from the acceleration data provided by two sensors at the beginning of rotation. The estimation accuracies in the clockwise and counter-clockwise directions were measured to be 3.1 ± 5.1 mm and 3.7 ± 9.9 mm, respectively. Furthermore, a peak detection algorithm was proposed for extracting the peak acceleration under different ICOR conditions using the variance and Bollinger bands. The precision level was comparable to those of optical cameras and MEMS IMU sensors that use computationally intensive algorithms, such as Kalman filters, even without differentiation. This breakthrough in measurement capability opens up the possibility for real-time ICOR estimation, allowing the complete automation of skid-steering-based robots and benefiting fields constrained by the structural limitations of conventional MEMS IMU sensors. English Institute of Electrical and Electronics Engineers Rotational Angle Estimation Using an Acceleration Sensor Array and Real-Time Detection Algorithm Article 10.1109/TII.2024.3438230 1 IEEE Transactions on Industrial Informatics, v.20, no.12, pp.13883 - 13892 IEEE Transactions on Industrial Informatics 20 12 13883 13892 N scie scopus 001292762800001 Automation & Control Systems Computer Science, Interdisciplinary Applications Engineering, Industrial Automation & Control Systems Computer Science Engineering Article Sensor arrays Accuracy Real-time systems Strain Robot sensing systems Estimation Robots Acceleration sensor array fiber Bragg grating (FBG) sensor instantaneous center of rotation (ICOR) peak detection algorithm