• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.501-504
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• 2001

The use of error compensation techniques has been recognized as an effective way in the improvement of the accuracy of a machine tool. The laser measurement method for identifying position errors of machine tool has the disadvantages such as high cost, long calibration time and usage of volumetric error synthesis model. Accordingly, this paper deals with analysis of the position errors of a machine tool using ball bar test without using complicated error synthesis model. Statistical analysis method was adopted in this paper for deriving position errors using hemispherical helix ball bar test.

• 제어로봇시스템학회논문지
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• 제5권3호
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• pp.306-313
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• 1999

To measure the accurate position of mobile robot, dead-reckoning method using the encoder attached to each wheel is conventionally used, since it is easy to compute and inexpensive to develop. However, that method is useless when slip occurs and error is accumulated with time. This paper proposes a position estimation method using encoder trailer composed of 2 encoders only(ET-2). This method provides accurate position information even when slip occurs, and can reduce accumulated error if we select the proper link lengths of encoder trailer. Experimental results show the performance of ET-2 when slip occurs. Finally, accumulated systematic error from encoder resolution is analyzed in comparison with an existing method with encoder trailer composed of 3 encoders. (As a matter of convenience, we will call the existing encoder trailer ‘ET-3’)

• 한국음향학회지
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• 제38권6호
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• pp.630-636
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• 2019

수동측거소나는 잠수함 플랫폼의 좌/우현에 각각 3개의 부배열로 구성된 수동소나의 한 종류로서 표적을 탐지하고 방위와 거리를 산출하는 특성을 갖는다. 방위와 거리 산출에는 물리적인 부배열 위치로 인하여 발생되는 시간지연과 삼각측량 기법이 활용된다. 이러한 기법에는 부배열의 정확한 위치정보가 요구되며 부배열의 위치정보가 부정확할 경우 방위와 거리정확도 성능이 저하되는 한계가 있다. 특히 하나의 시간지연을 사용하는 방위보다 두 개의 시간지연 값을 사용하는 거리 정확도 성능에 미치는 영향이 더 크다. 이를 개선하기 위하여 부배열의 위치 오차 추정 및 오차보상에 대한 연구가 필요하다. 본 논문에서는 최적화 탐색 기법인 유전자 알고리즘을 바탕으로 부배열 위치오차를 추정하며, 위치오차로 인한 시간지연 오차 값을 보상하여 거리정확도 성능 개선 방법을 제시하고자 한다. 또한 해상시험 데이터를 이용하여 제시한 알고리즘과 성능을 검증하고자 한다.

• 제어로봇시스템학회논문지
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• 제17권5호
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• pp.419-428
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• 2011

This paper suggests a judgement method for an inclined plane before entrance of it and the detection of obstacle position. Main idea is started from the assumption that obstacle is always on the bottom plane, and corner appears at this position. The process to detect the obstacle consists of three steps. First the 3D data using stereo matching is acquired to detect an obstacle. Second a bottom plane is extracted by using limit condition. Last the obstacle position is found by using Harris corner detection. Obstacle position detection on an inclined plane was verified by outdoor and indoor experiment. In error analysis, it is confirmed that an average error of obstacle detection in outdoor was larger than the error in indoor but the error are within about 0.030 m. This method will be applied to unmanned vehicles to navigate under various environment.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.141-142
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• 2006

This paper describes estimation method for 2D position error of planar XY stage from measured profiles of guide-ways. The XY stage usually moves along its guide ways. The motion error of each stage has effect on 2D position errors of XY stages and affected mainly by profiles of guide-ways. To estimate 2D position error and flatness of stages, the profiles of guide-ways were measured and used in motion error estimation.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 2009년도 IWAIT
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• pp.492-497
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• 2009

Computer-Generated Hologram (CGH) is made for three dimensional image of a virtual object. Error diffusion method is used for the phase quantization of CGH, and it is known to be effective to the image quality improvement of the reconstructed image. However, the image quality of the reconstructed image from the CGH using error diffusion method depends on the selection of error diffusion coefficient. In this paper, we derived the relational expression to obtain the error diffusion coefficient from the position of the input object and size of the input object for CGH. As a result, the method of this thesis was able to obtain an excellent reconstructed image compared with the case to derive the error diffusion coefficient from only the position of the input image.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1144-1148
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• 1996

This paper presents WMR modelling and path tracking algorithm using Inertial Navigation System. The error models of gyroscope and accelerometers in INS are derived by Gauss-Newton method which is nonlinear regression model. Then, to test availability of error model, we pursue the fitness diagnosis about probability characteristic for real data and estimated data. Performance of inertial sensor with error model and Kalman filter is pursued by comparing with one without them. The computer simulation shows that position error remarkably decrease when error compensation is applied.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.676-679
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• 1996

In this paper, the uniform observability and the error characteristics for stationary SDINS error are analyzed. The use of the Lyapunov transformation is proposed for transforming te conventional SDINS error model and the sufficient conditions for the uniform observability of SDINS error model are analytically derived. A complete characterization for the SDINS error characteristics during two position alignment is presented which allows us to predict the performance of two position alignment in SDINS.

• 전기학회논문지
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• 제66권5호
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• pp.792-799
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• 2017

The real time unmanned monitoring system of an equipment's internal parts and condition requires the monitoring device to be able to stop at a set location on the rail. However, due to the slip between the driving surface and the roller, an error occurs between the actual position and the command position. In this paper, a method to compensate the position error due to the roller slip is proposed. A proximity sensor located at both ends of the rail detects the starting point and the maximum position pulse, linearly compensating the error between the angular position of the motor and the mechanically fixed starting and maximum position pulse of the rail in forward and reverse direction. Moreover, unlike the existing servo position controller, the motor adopts the position detection method of Hall sensor in BLDC (Brushless DC) and applies an algorithm for low-speed driving so that a stable position control is possible. The proposed rail guided unmanned monitoring system with driving slip compensator was tested to verify the effectiveness.

• Journal of Positioning, Navigation, and Timing
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• 제12권2호
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• pp.121-128
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• 2023

When calculating the user's position using satellite signals, the signals originating from the satellite pass through the ionosphere and troposphere to the user. In particular, the ionosphere delay error that occurs when passing through the ionosphere delays when the signal is transmitted, generating a pseudorange error and position error at a large rate. Therefore, to improve position accuracy, it is essential to correct the ionosphere layer error. In a receiver capable of receiving dual frequency, the ionosphere error can be eliminated through a double difference, but in a single frequency receiver, an ionosphere correction model transmitted from a Global Navigation Satellite System (GNSS) satellite is used. The popularly used Klobuchar model is designed to improve performance globally. As such, it does not perform perfectly in the Korea region. In this paper, the characteristics of the delay in the ionosphere in the Korean region are identified through an analysis of 10 years of data, and an improved ionosphere correction model for the Korean region is presented using the widely employed Klobuchar model. Through the proposed model, vertical position error can be improved by up to 40% relative to the original Klobuchar model in the Korea region.