• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.9
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• pp.710-723
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• 1989

This paper describes the efforts to develope a PC based parameter identification system for D.C servomotors. A new identification algorithm for the D.C. servomotor parameters is developed. The algorithm is implemented on 16 bit IBM-PC/XT using the C language. The whole identification process of signal generation, measuring and parameter determination is fully automated. To minimize the errors due to the ripple component in the measured armature currents, digital averaging filter is employed. The proposed parameter correction method using the deadzone current and the time to reach the peak current resulted in excellent agreement between the measured current and the current estimated using the model.

• International Journal of Naval Architecture and Ocean Engineering
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• v.11 no.1
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• pp.474-481
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• 2019

The speed trial of a ship is one of the important elements guaranteeing its performance under the contract between the ship owner and shipbuilding company. A speed trial at sea, where the tidal current and waves are suppressed to the maximum, can prevent measurement errors due to external force conditions. On the other hand, it is difficult to maintain a calm sea state in most sea areas determined by the influence of the tidal current, wave, wind, etc. Therefore, this study evaluated a method of simulating a tidal current, which is one of the external force conditions, at the speed test operation of a ship, and applied the simulation result to the plan of a speed trial.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.401-406
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• 1992

When a velocity-aided strapdown inertial navigation system is loaded into a torpedo subjected to an extraneous force by the current, odometer measurement errors occur seriously. In order to compensate for navigation errors induced by large odometer biases, the Kalman Filter with separate bias estimator is applied, which separately estimates an unknown bias, and corrects the state estimate produced by the bias-free Kalman Filter to reflect the effect of the bias estimate.

• Journal of Ocean Engineering and Technology
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• v.19 no.5 s.66
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• pp.71-77
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• 2005

This paper presents an integrated underwater navigational algorithm for unmanned underwater vehicles, using additional two-range transducers. This paper proposes a measurement model, using two range measurements, to improve the performance of an IMU-DVL (inertial measurement unit - Doppler velocity log) navigation system for long-time operation of underwater vehicles, excluding DVL measurement. Extended Kalman filter was adopted to propagate the error covariance, to update the measurement errors, and to correct the state equation when the external measurements are available. Simulation was conducted with the 6-d.o.f nonlinear numerical model of an AUV in lawn-mowing survey mode, at current flaw, where the velocity information is unavailable. Simulations illustrate the effectiveness of the integrated navigation system, assisted by the additional range measurements without DVL sensing.

• Proceedings of the KIEE Conference
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• 2006.07a
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• pp.208-209
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• 2006

Voltage Transformer is used to transform high voltage into low voltage to input signal of protection relay. Most of the Voltage Transformers use the iron core which maximizes the flux linkage. The ratio of the Voltage Transformer depends on the transformer turns ratio. The current which flows in the Voltage Transformer has non-linear characteristic caused by hysteresis of the iron core, it causes a voltage loss in the winding impedances which makes measurement errors. This paper describes an error compensation method considering hysteresis characteristic. The proposed compensation method improves error by calculating the primary current from the exciting current of the hysteresis loop in the Voltage Transformer, compensating the voltage loss.

• Proceedings of the KIEE Conference
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• 2000.07c
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• pp.1874-1876
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• 2000

In this paper, the effects of the positions of the current probe on the measurements of the ground resistanc, and potential gradients with fall-of-potential method are described, and the testing techniques to minimize the measuring errors are proposed. The fall-of-potential method is theoretically based on the potential and current measuring principle and the measuring error is primarily caused by the position of the measuring auxiliary probes. The ground resistance is calculated by applying the 61.8% lute using fall-of-potential method.

• Current Research on Agriculture and Life Sciences
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• v.32 no.2
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• pp.79-84
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• 2014

The precision aerial application of agricultural unmanned helicopters has become a new paradigm for small farms with orchards, paddy, and upland fields. The needs of agricultural applications require easy and affordable control systems. Recent developments of MEMS technology based on inertial sensors and high speed DSP have enabled the fabrication of low-cost attitude system. Therefore, this study evaluates inertial MEMS sensors for estimating the attitude of an agricultural unmanned helicopter. The accuracies and errors of gyro and acceleration sensors were verified using a pendulum system. The true motion values were calculated using a theoretical estimation and absolute encoder measurement of the pendulum, and then the sensor output was compared with reference values. When comparing the sensor measurements and true values, the errors were determined to be 4.32~5.72%, 3.53~6.74%, and 3.91~4.16% for the gyro rate and x-, z- accelerations, respectively. Thus, the measurement results confirmed that the inertial sensors are effective for establishing an attitude and heading reference system (AHRES). The sensors would be constructed in gimbals for the estimating and proving attitude measurements in the following paper.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.9
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• pp.1818-1825
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• 2017

An Acoustic Doppler Current Profiler(ADCP) measures the current velocity and analyzes the degree of turbulence using Doppler effects of ultrasonic waves. Therefore, the autocorrelation or FFT spectrum estimates are obtained for extraction of current velocity in each spatial region. However, if the correlation method does not satisfy the assumption that the return signal spectra are symmetric Gaussian, the large bias errors can occur. Also, the accurate estimation of autocorrelation or FFT spectrum is difficult due to the short acquisition interval when the rapid changes of current velocity occur. Thus, in this paper, the estimation method of the autoregressive spectrum peak is suggested for the accurate current velocity measurement of both symmetric and asymmetric spectra. It is shown that estimation quality can be improved using the suggested method comparing with the conventional methods. Many return signals under the various environment are simulated and the results are compared and analyzed for evaluation of the suggested method.

• The Transactions of the Korean Institute of Electrical Engineers C
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• v.52 no.1
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• pp.42-46
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• 2003

Arresters are deteriorated by overvoltages or impulse currents, and the resistive leakage current of arresters increases as the deterioration of the arrester progresses, showing an increase in the 3$^{rd}$ harmonic component of the leakage current. In this reason, arrester diagnostic techniques based on the 3$^{rd}$ harmonic leakage current as a reference parameter of deterioration are widely used. The technique, however, includes an error due to the harmonics of power system voltage. Therefore, the influence of the harmonics on arrester diagnostics should be considered. In this paper, we designed a PSpice ZnO arrester model to simulate the influence of the voltage harmonics described above. A pure sinusoidal voltage and its the 3r harmonic voltage were applied to the model, and the leakage current components were analyzed. From the simulation results, it is confirmed that the peak value of resistive leakage current depends not only on the phase of the 3$^{rd}$ harmonic voltage but also on the magnitude of it. Consequently, the errors caused 1)y the harmonic voltage could be minimized by correcting the magnitude of leakage current upon analyzing the harmonics.cs.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.2
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• pp.109-117
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• 2009

This paper presents a linear air bearing stage with compensated motion errors by active control of preloads generated by magnetic actuators with combination of permanent and electromagnets. A 1-axis linear stage motorized with a linear motor with 240mm of travel range is built for verifying this design concept and tested its performances. The three motions of the table are controlled with four magnetic actuators driven by current amplifiers and a DSP based digital controller. Three motion errors were measured combined method with laser interferometer and two-probe method with $0.085{\mu}m$ of repeatability for straightness error. The measured motion errors were modeled as functions of the stage position, and compensation were carried out with feedforward control because the characteristics of the motion control with magnetic actuators are linear and independent for each degree-of-freedoms. As the results, the errors were reduced from $1.09{\mu}m$ to $0.11{\mu}m$ for the vertical motion, from 9.42 sec to 0.18 sec for the pitch motion and from 2.42 sec to 0.18 sec for roll motion.