요약

• 뒤돌며 단차 올라가기와 계단 마지막 단 세게 내려올 때 오검출 발생
• 모의 실험 진행: 계단에서 빠르게 내려오기, 점프하면서 뒤돌기
  • 실제 상황과 너무 차이가 심하고
  • 낙상과 더 가까워 알고리즘 최적화 어려움
• 실제로 측정된 데이터에 대해서만 최적화하고 조금 더 실제 상황에 가깝게 실험하자

실험 1

뒤돌며 단차 올라가다 에어백 격발된 상황

• 로그분석

  File name: adl01_DSV.csv
  -----------------------------------
         down  raw_acc  raw_gyro    snr    vv       gyroX      gyroZ     detected_modes  jerkA  jerkAy  
  15257    72       72        84   8.44  6.55    3.353659 -40.670732           [19, 23]    5.0  -111.0    
  15258    89       82        82   9.66  6.80   10.304878 -40.304878               [23]   10.0  -157.0    
  15259    94       87        76  11.34  7.56   15.609756 -41.219512               [17]    5.0  -167.0   
  17204    92       81       102  16.71  1.28   25.487805   4.756098                [5]   -4.0    18.0   
  18522    76      100       250  16.38  2.23 -241.890244 -48.902439               [16]   -2.0   128.0    
  18524    95       93       269  16.35  2.02 -264.390244 -41.463415               [16]   -2.0   260.0   
  18526    93      104       289  16.85  1.82 -285.792683 -40.914634               [16]   -5.0   303.0   
  

  • 위로 올라가는 건데 왜 수직속도가 증가?!?!
  • gyro도 200 가까이 높은 수치 보임
  • jerk가 모두 양수 보임 → jerk가 1번만
  • 19 & 23 또는 17 & 23 조정 필요

  

후방낙상 & 에어백 정상격발

• 로그 분석

  File name: adl02_DSV.csv
  -----------------------------------
        down  raw_acc  raw_gyro    snr     vv       gyroX      gyroZ     detected_modes  jerkA  jerkAy
  3637    71       70        56  18.49   6.31   53.902439 -10.365854               [19]    2.0   -69.0
  3645    74       41        71  12.27  12.87   64.512195 -12.134146               [19]   -1.0    30.0
  3646    72       40        69  11.86  13.93   63.780488  -7.804878               [19]   -1.0   138.0
  3647    75       36        72  11.42  15.15   70.365854  -5.670732           [17, 19]   -4.0   270.0
  3661    89       94       151   3.04   7.42  136.890244  -1.097561    [7, 11, 16, 17]  -43.0   176.0
  3663    89      109       113   3.13   6.69  107.256098  10.182927               [17]   -1.0   827.0
  3664    94       72        84   3.15   6.36   80.975610  15.487805  [5, 7, 8, 17, 19]  -37.0   -69.0
  -----------------------------------
  max of vv: 15.4
  Predict as Fall motion: True
  Lead time: 0 ms
  impact: 3647
  detect: 3647
  

  • 19번 모드로 검출됨

    {'down': 70, 'raw_acc': 80, 'raw_gyro': 40, 'snr_acc_svm': 19, 'vv': 4.0, 'gyroX': 40, 'gyroZ': 20, 'jerkA': 5.0},
    

  • 리드타임은 격발로 인한 충격으로 확인 어려움…

  

실험2

계단 걸어서 오르내리기 (1 step)

• 로그 분석

  File name: stair_walk_DSV.csv
  -----------------------------------
  Empty DataFrame
  Columns: [down, raw_acc, raw_gyro, snr, vv, gyroX, gyroZ, detected_modes, jerkA, jerkAy]
  Index: []
  -----------------------------------
  max of vv: 16.86
  Predict as Fall motion: False
  Lead time: nan ms
  impact: 902
  detect: None
  

  • 이상 없음

  

계단 뛰어서 오르내리기 (1 step)

• 로그 분석

  File name: stair_run_01_DSV.csv
  -----------------------------------
  Empty DataFrame
  Columns: [down, raw_acc, raw_gyro, snr, vv, gyroX, gyroZ, detected_modes, jerkA, jerkAy]
  Index: []
  -----------------------------------
  max of vv: 14.9
  Predict as Fall motion: False
  Lead time: nan ms
  impact: 543
  detect: None
  

  • 이상 없음

  

계단 뛰어서 오르내리기 (2 step)

• 로그 분석

  File name: stair_run_02_DSV.csv
  -----------------------------------
       down  raw_acc  raw_gyro   snr     vv      gyroX      gyroZ        detected_modes  jerkA  jerkAy
  744    66       69        89  3.92  13.99  69.634146  47.256098                  [23]   10.0   514.0
  745    78       68        93  4.08  15.78  66.951220  43.353659          [17, 19, 23]   -1.0   610.0
  776    64       29       131  6.57  13.82  37.804878 -45.731707              [23, 24]    6.0   -90.0
  777    69       27       125  7.15  15.80  42.439024 -50.060976              [23, 24]   -2.0    63.0
  778    75       21       125  6.99  16.65  44.878049 -49.878049  [17, 19, 21, 23, 24]   -6.0   157.0
  779    78       21       128  6.59  18.67  49.573171 -50.487805  [17, 19, 21, 23, 24]    0.0   102.0
  780    77       16       128  6.08  19.62  33.658537 -56.341463  [17, 19, 21, 23, 24]   -5.0   -73.0
  -----------------------------------
  max of vv: 21.61
  Predict as Fall motion: True
  Lead time: 40 ms
  impact: 780
  detect: 778
  

  • 17, 19, 21, 23, 24 모드에서 검출됨

    {'down': 75, 'raw_acc': 120, 'raw_gyro': 30, 'snr_acc_svm': 17, 'vv': 6.0, 'gyroX': 45, 'gyroZ': 40, 'jerkA': 5.0},         #17
    {'down': 70, 'raw_acc': 80, 'raw_gyro': 40, 'snr_acc_svm': 19, 'vv': 4.0, 'gyroX': 40, 'gyroZ': 20, 'jerkA': 5.0},          #19
    {'down': 70, 'raw_acc': 30, 'raw_gyro': 50, 'snr_acc_svm': 10, 'vv': 14.0, 'gyroX': None, 'gyroZ': None, 'jerkA': None},    #21
    {'down': 60, 'raw_acc': 85, 'raw_gyro': 65, 'snr_acc_svm': 19.0, 'vv': 5.0, 'gyroX': 200, 'gyroZ': 30, 'jerkA': None},      #23
    {'down': 55, 'raw_acc': 60, 'raw_gyro': 80, 'snr_acc_svm': 18, 'vv': 5.5, 'gyroX': 200, 'gyroZ': 30, 'jerkA': None},        #24
    

  

점프하면서 회전

• 로그 분석

  File name: jump_rotation_DSV.csv
  -----------------------------------
       down  raw_acc  raw_gyro   snr     vv      gyroX      gyroZ    detected_modes  jerkA  jerkAy
  324    79       58       388  5.65   8.37 -17.195122  38.780488  [16, 19, 23, 24]  -27.0   675.0
  325    89       52       374  5.52  10.01 -20.670732  21.768293      [13, 16, 19]   -6.0   506.0
  326    92       54       356  5.37   9.85 -17.865854  11.219512           [6, 13]    2.0   153.0
  327    93       51       345  5.21  11.73  -6.524390  10.731707           [6, 13]   -3.0  -154.0
  328    96       41       339  4.98  11.67  -3.597561  15.670732    [3, 6, 13, 16]  -10.0  -338.0
  329    97       59       330  4.80  13.65  -0.731707  12.926829           [6, 13]   18.0   -98.0
  330    96       46       328  4.53  13.60   1.829268   9.390244     [3, 5, 6, 13]  -13.0   -39.0
  331    93       34       323  4.21  15.58   9.695122   6.585366        [5, 6, 13]  -12.0   178.0
  332    90       35       318  3.92  15.68  14.634146   7.195122           [6, 13]    1.0   -50.0
  333    87       44       308  3.73  17.84  20.304878   9.451220              [13]    9.0   -39.0
  334    87       46       289  3.68  18.02  21.463415  13.841463              [13]    2.0   -36.0
  335    87       36       275  3.83  20.16   0.548780  13.536585              [13]  -10.0  -244.0
  336    90       83       266  4.59  20.42 -39.390244  -7.195122               [6]   47.0 -1356.0
  -----------------------------------
  max of vv: 22.24
  Predict as Fall motion: True
  Lead time: 180 ms
  impact: 335
  detect: 326
  

  • 6, 13에서만 안걸리면 일단 okay

    File name: jump_rotation_DSV.csv
    -----------------------------------
         down  raw_acc  raw_gyro   snr     vv      gyroX      gyroZ    detected_modes  jerkA  jerkAy
    324    79       58       388  5.65   8.37 -17.195122  38.780488  [16, 19, 23, 24]  -27.0   675.0
    325    89       52       374  5.52  10.01 -20.670732  21.768293      [13, 16, 19]   -6.0   506.0
    326    92       54       356  5.37   9.85 -17.865854  11.219512           ~~[6, 13]~~    2.0   153.0
    327    93       51       345  5.21  11.73  -6.524390  10.731707           ~~[6, 13]~~   -3.0  -154.0
    328    96       41       339  4.98  11.67  -3.597561  15.670732    [3, ~~6, 13,~~ 16]  -10.0  -338.0
    329    97       59       330  4.80  13.65  -0.731707  12.926829           ~~[6, 13]~~   18.0   -98.0
    330    96       46       328  4.53  13.60   1.829268   9.390244     [3, 5, ~~6, 13]~~  -13.0   -39.0
    331    93       34       323  4.21  15.58   9.695122   6.585366        [5, ~~6, 13~~]  -12.0   178.0
    332    90       35       318  3.92  15.68  14.634146   7.195122           ~~[6, 13]~~    1.0   -50.0
    333    87       44       308  3.73  17.84  20.304878   9.451220              ~~[13]~~    9.0   -39.0
    334    87       46       289  3.68  18.02  21.463415  13.841463              ~~[13]~~    2.0   -36.0
    335    87       36       275  3.83  20.16   0.548780  13.536585              ~~[13]~~  -10.0  -244.0
    336    90       83       266  4.59  20.42 -39.390244  -7.195122               ~~[6]~~   47.0 -1356.0
    -----------------------------------
    max of vv: 22.24
    Predict as Fall motion: True
    Lead time: 180 ms
    impact: 335
    detect: 326
    

  

임계값 최적화..!!

현재 성능 확인 → mode 13, 19를 제외하고는 비교적 마이너한 영향만 미침