• Journal of the Korea Safety Management & Science
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• v.17 no.1
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• pp.119-124
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• 2015

According as radiation therapy technique develops, standardization of radiation therapy has been complicated by the plan QA(Quality Assurance). However, plan QA tools are two type, OADT (opposite accumulation dose tool) and 3DADT (3 dimensional accumulation dose tool). OADT is not applied to evaluation of beam path. Therefore tolerance error of beam path will establish measurement value at OADT. Plan is six beam path, five irradiation field at each beam path. And beam path error is 0 degree, 0.2 degree, 0.4 degree, 0.6 degree, 0.6 degree, 0.8 degree. Plan QA accomplishes at OADT, 3DADT. The more path error increases, the more plan QA error increases. Tolerance error of OADT path is 0.357 using tolerance error of conventional plan QA. Henceforth plan QA using OADT will include beam path error. In addition, It will increase reliability through precise and various plan technique.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.142-151
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• 2022

With the advent of the 4th industrial revolution, autonomous driving technology is being commercialized in various industries. However, research on autonomous driving so far has focused on platforms with wheel-type platform. Research on a tracked platform is at a relatively inadequate step. Since the tracked platform has a different driving and steering method from the wheel-type platform, the existing research cannot be applied as it is. Therefore, a path-tracking algorithm suitable for a tracked platform is required. In this paper, we studied a path-tracking algorithm for a tracked platform based on a GPS sensor. The existing Pure Pursuit algorithm was applied in consideration of the characteristics of the tracked platform. And to compensate for "Cutting Corner", which is a disadvantage of the existing Pure Pursuit algorithm, an algorithm that changes the LAD according to the curvature of the path was developed. In the existing pure pursuit algorithm that used a tracked platform to drive a path including a right-angle turn, the RMS path error in the straight section was 0.1034 m and the RMS error in the turning section was measured to be 0.2787 m. On the other hand, in the variable LAD algorithm, the RMS path error in the straight section was 0.0987 m, and the RMS path error in the turning section was measured to be 0.1396 m. In the turning section, the RMS path error was reduced by 48.8971%. The validity of the algorithm was verified by measuring the path error by tracking the path using a tracked robot platform.

• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.23-30
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• 2024

This paper studies a GPS error filtering method that takes into account the continuity of the ongoing path to enhance the safety of autonomous agricultural mobile robots. Real-Time Kinematic Global Positioning System (RTK-GPS) is increasingly utilized for robot position evaluation in outdoor environments due to its significantly higher reliability compared to conventional GPS systems. However, in orchard environments, the robot's current position obtained from RTK-GPS information can become unstable due to unknown disturbances like orchard canopies. This problem can potentially lead to navigation errors and path deviations during the robot's movement. These issues can be resolved by filtering out GPS information that deviates from the continuity of the waypoints traversed, based on the robot's assessment of its current path. The contributions of this paper is as follows. 1) The method based on the previous waypoints of the traveled path to determine the current position and trajectory. 2) GPS filtering method based on deviations from the determined path. 3) Finally, verification of the navigation errors between the method applying the error filter and the method not applying the error filter.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.3
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• pp.143-148
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• 2001

A lot of robot trajectory tracking methods are proposed to enhance the tracking error, but irregular tracking errors are always accompanied and very hard to reduce it. Up to now, these irregular tracking errors are reduced by introducing more complicated control algorithms. But, it is intuitively obvious to reduce only the big errors selectively in the irregular ones for the better performance instead of using more complicated control algorithms. By the characteristics of the robot, big tracking errors of the end-effector are generated mostly due to the fast moving of joint. So, in this paper, we introduce a new method which reduce the big tracking errors by clippings the joint velocity with the constraint of given path. Using this method, desired trajectory tracking is obtained within the far reduced error bound. Also, this method is successfully applied to generate the path-constrained error reducing trajectories for 2-axis SCARA type robot.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.41 no.10
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• pp.45-52
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• 2004

This Paper presents a modified hard decision Viterbi decoder with an error prediction circuit enhancing performance for the burst error inputs. Viterbi decoder employs the maximum likelihood decoding algorithm which shows excellent error correction capability for the random error inputs. Viterbi decoders, however, suffer poor error correction performance for the burst error inputs under the fading channel. The proposed error prediction algorithm increases error correction capability for the burst errors. The algorithm estimaties the burst error data area using the maximum path metric for the erroneous inputs, It calculates burst error intervals based on increases in the maximum values of a path metric. The proposed decoder keeps a performance the same as the conventional decoders on AWGN channels for the IEEE802.l1a WLAN system. It shows performance inproving 15% on the burst error of multi-path fading channels, widely used in mobile systems.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.157-161
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• 1996

In the geometric accuracy, most of studies have been concentrated on the analysis of the geometric error, or a control path of grinding using the value of measured geometric error. In this paper, by using the value of measured motor current through hall sensor, detection of the geometric error have been accomplished, and in-process control path of grinding for improvement geometric accuracy, too.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2311-2318
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• 2005

Progress in the LCD industries has been very rapid. Therefore, their manufacturing lines require larger LCD glass-handling robots and more precise path control of the robots. In this paper, we present two practical advanced algorithms for high-precision path generation of an LCD glass-handling robot. One is high-precision path interpolation for continuous motion, which connects several single motions and is a reliable solution for a short robot cycle time. We demonstrate that the proposed algorithm can reduce path error by approximately 91% compared with existing algorithms without increasing cycle time. The second is real-time static deflection compensation, which can optimally compensate the static deflection of the handling robot without any additional sensors, measurement instruments or mechanical axes. This reduces vertical path error to approximately 60% of the existing system error. All of these algorithms have been commercialized and applied to a seventh-generation LCD glass-handling robot.

• Journal of Korea Society of Digital Industry and Information Management
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• v.10 no.3
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• pp.197-205
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• 2014

In applications of adaptive noise control or active noise control, the presence of a transfer function in the secondary path following the adaptive controller and the error path, been shown to generally degrade the performance of the Least Mean Square (LMS) algorithm. Thus, the convergence rate is lowered, the residual power is increased, and the algorithm can become unstable. In general, in order to solve these problems, the filtered-x LMS (FX-LMS) type algorithms can be used. But these algorithms have slow convergence speed and weakness in the environment that the secondary path and error path are varied. Therefore, I present the new algorithm called the "Bi-directional Filtered-x (BFX) LMS" algorithm with nearly equal computation complexity. Through experimental study, the proposed BFX-LMS algorithm has better convergence speed and better performance than the conventional FX-LMS algorithm, especially when the secondary path or error path is varied and the impulsive disturbance is flow in.

• Journal of Korea Multimedia Society
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• v.19 no.10
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• pp.1767-1774
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• 2016

In this paper, we propose the adaptation filtering for correcting the movement path of the recognized object by the depth information. When we recognize the object by the depth information, the path error should be occurred because of the noises in the depth information. The path error is corrected by appling the lowpass filtering, but the lowpass filtering is not efficient when the changes of the object's movement are rapid. In this paper, we apply the adaptation filtering that it gives weights adaptively as the difference between the predicted location and the measured location. To apply the adaptation filtering, we can see that the proposed method can correct accurately the path error of the radical change from simulation results.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.2
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• pp.327-336
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• 1997

This paper addresses an analytical approach to the mechanical error analysis and tolerance design of a four-bar path generator with lubricated joints. The mobility method is applied to consider lubrication effects and the four-bar path generator is stochastically modeled by using the clearance vector model for methanical error analysis. To show the validity of the proposed method, the mechanical errors obtained by applying the method to a four-bar path generator are compared with those by Monte Carlo simulation. Based on this analytical method, an optimal tolerance design problem is formulated and solved for the four-bar path generator.