• 제목/요약/키워드: Estimated Position

검색결과 1,289건 처리시간 0.023초

적응 FNN에 의한 유도전동기의 센서리스 제어 (Sensorless Control of Induction Motor using Adaptive FNN Controller)

  • 이영실;이정철;이홍균;남수명;정동화
    • 대한전기학회:학술대회논문집
    • /
    • 대한전기학회 2004년도 추계학술대회 논문집 전기기기 및 에너지변환시스템부문
    • /
    • pp.179-181
    • /
    • 2004
  • This paper is proposed an adaptive fuzzy-neural network(A-FNN) controller based on the vector controlled induction motor drive system. The hybrid combination of fuzzy control and neural network will produce a powerful representation flexibility and numerical processing capability. Also, this paper is proposed speed estimation of induction motor using A closed-loop state observer. The rotor position is calculated through the stator flux position and an estimated flux value of rotation reference frame. A closed-loop state observer is implemented to compute the speed feedback signal. The results of analysis prove that the proposed control system has strong robustness to rotor parameter variation, and has good steady-state accuracy and transitory response.

  • PDF

저소음 다이아몬드톱의 절삭소음특성에 관한 연구 (A study on the Cutting Noise Characteristics of Low-Noise Diamond Saw)

  • 김경훈;변서봉;정기정
    • 한국소음진동공학회:학술대회논문집
    • /
    • 한국소음진동공학회 2007년도 춘계학술대회논문집
    • /
    • pp.228-233
    • /
    • 2007
  • An experimental and numerical approach has been carried out to characterize the noise and the safety of circular diamond saw with chinks by laser-cutting. The sound pressure level of a circular diamond saw with chinks was measured when cutting workpieces. Therefore, frequency analysis results show us that the sound level was reduced as position of chinks approach to out-diameter. But the safety of circular diamond saw was lower due to the stress concentrated at the edge of chinks while cutting workpieces. FEM analysis was used for safety evaluation with the variation position of chinks. The noise characteristics of circular diamond saw were also estimated during cutting test.

  • PDF

유니폼 실태조사와 디자인 개선을 위한 연구(1) (A Survey on Uniforms and Development of Design (1))

  • 남윤자;김경인;이윤정
    • 한국의류학회지
    • /
    • 제21권2호
    • /
    • pp.455-470
    • /
    • 1997
  • The importance of uniform is getting increased in the present society because it is one of symbols which represent a company and give customers the image of it. Uniform shows the kind of companies, one's position, and sometimes the actual job which one does. And workers who put on the same kind of uniform feel companionship among them, the security of their position and responsibility for their job, all of which elevate the efficiency of their job and the company. To enhance the functions of uniforms such as representativeness, esthetics, convenience and economization, the followings were studied. 1) Through survey on the present condition of seven different types of company uniforms, we analyzed preference of workers, staffs and consumers and did the factor analysis of uniform constitution. 2) It presented the relative importance among the uniform constitution. 3) The reflective condition of the uniform constitution was estimated. 4) It investigated the working condition and working movement.

  • PDF

공간지능화에서 다중카메라를 이용한 이동로봇의 인간추적행위 (Human-Tracking Behavior of Mobile Robot Using Multi-Camera System in a Networked ISpace)

  • 진태석;하시모토 히데키
    • 로봇학회논문지
    • /
    • 제2권4호
    • /
    • pp.310-316
    • /
    • 2007
  • The paper proposes a human-following behavior of mobile robot and an intelligent space (ISpace) is used in order to achieve these goals. An ISpace is a 3-D environment in which many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents providing humans with services. A mobile robot is controlled to track a walking human using distributed intelligent sensors as stably and precisely as possible. The moving objects is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time trajectory to track the walking human, the linear and angular velocities are estimated and utilized. The computer simulation and experimental results of estimating and trackinging of the walking human with the mobile robot are presented.

  • PDF

트랜스포터 운행관제용 저가형 INS 자세에 관한 연구 (A Study of The Attitude of Low-Cost INS for Transporters)

  • 손영득;이영호;이규찬;박상경;박옥득;김한실
    • 대한전기학회:학술대회논문집
    • /
    • 대한전기학회 2005년도 제36회 하계학술대회 논문집 D
    • /
    • pp.2588-2590
    • /
    • 2005
  • This paper presents an three dimension attitude of inertial navigation system(INS) for managing a transporter in shipyard by using low-cost inertial sensors. The GPS(Global Positioning System) shade field prevents from receiving information of position through GPS satellites, GIS(Geographic Information System) in shipyard, therefore TNS system plays an important part. This system is composed of tiny low-cost gyroscopes, accelerometers and a magnetic compass, and 3-dimension position is estimated by an indirect Kalman filter using the outputs of these inertial sensors.

  • PDF

주행 로봇 움직임 추정용 스테레오 적외선 조명 기반 Visibility 센서 (Visibility Sensor with Stereo Infrared Light Sources for Mobile Robot Motion Estimation)

  • 이민영;이수용
    • 제어로봇시스템학회논문지
    • /
    • 제17권2호
    • /
    • pp.108-115
    • /
    • 2011
  • This paper describes a new sensor system for mobile robot motion estimation using stereo infrared light sources and a camera. Visibility is being applied to robotic obstacle avoidance path planning and localization. Using simple visibility computation, the environment is partitioned into many visibility sectors. Based on the recognized edges, the sector a robot belongs to is identified and this greatly reduces the search area for localization. Geometric modeling of the vision system enables the estimation of the characteristic pixel position with respect to the robot movement. Finite difference analysis is used for incremental movement and the error sources are investigated. With two characteristic points in the image such as vertices, the robot position and orientation are successfully estimated.

원격무인 잠수정의 자기동조 위치제어 (Self-Tuning Position Control of a Remotely Operated Vehicle)

  • 이판묵
    • 한국해양공학회지
    • /
    • 제3권2호
    • /
    • pp.551-551
    • /
    • 1989
  • In general, a remotely operated vehicle(ROV) operates at deep sea. The control system of ROV is composed of two local loops; the first loop placed on the surface vessel monitors and manipulates the attitude of the ROV using joystick, and the second part on the ROV automatically controls thrusters and acquires positional data. This paper presents a position control simulation of a ROV using an adaptive controller and discusses the control effects of two different conditions. The design of an adaptive control system is obtained by the application of a self-tuning controller with the minimization of an appropriate cost function. The parameters of the control system are estimated by a recursive least square method(RLS). In the simulation, a Runge-Kutta method is used for the numerical integration and the generated outputs are obtained by adding measurement errors. Additionally, this paper discusses the mathematical modelling of a ROV and make a survey of control systems.

원격무인 잠수정의 자기동조 위치제어 (Self-Tuning Position Control of a Remotely Operated Vehicle)

  • 이판묵
    • 한국해양공학회지
    • /
    • 제3권2호
    • /
    • pp.51-58
    • /
    • 1989
  • In general, a remotely operated vehicle(ROV) operates at deep sea. The control system of ROV is composed of two local loops; the first loop placed on the surface vessel monitors and manipulates the attitude of the ROV using joystick, and the second part on the ROV automatically controls thrusters and acquires positional data. This paper presents a position control simulation of a ROV using an adaptive controller and discusses the control effects of two different conditions. The design of an adaptive control system is obtained by the application of a self-tuning controller with the minimization of an appropriate cost function. The parameters of the control system are estimated by a recursive least square method(RLS). In the simulation, a Runge-Kutta method is used for the numerical integration and the generated outputs are obtained by adding measurement errors. Additionally, this paper discusses the mathematical modelling of a ROV and make a survey of control systems.

  • PDF

Edge Line Information based Underwater Landmark for UUV

  • Yu, Son-Cheol;Kang, Dong-Joung;Kim, Jae-Soo
    • International Journal of Ocean System Engineering
    • /
    • 제1권2호
    • /
    • pp.68-75
    • /
    • 2011
  • This paper addresses an underwater landmark for updating UUV positioning information. A method is proposed in which the landmark's cubic shape and edge are recognized. The reliability, installation load, and management of landmark design were taken into consideration in order to assess practical applications of the landmark. Landmark recognition was based on topological features. The straight line recognition confirmed the landmark's location and enabled an UUV to accurately estimated its underwater position with respect to the landmark. An efficient recognition method is proposed, which provides real-time processing with limited UUV computing power. An underwater experiment was conducted in order to evaluate the proposed method's reliability and accuracy.

칼만필터를 이용한 이동 목표물의 실시간 시각추적의 구현 (The Implementation of the Realtime Visual Tracking of Moving Terget by using Kalman Filter)

  • 임양남;방두열;이성철
    • 한국정밀공학회:학술대회논문집
    • /
    • 한국정밀공학회 1996년도 춘계학술대회 논문집
    • /
    • pp.254-258
    • /
    • 1996
  • In this paper, we proposed realtime visual tracking system of moving object for 2D target using extended Kalman Filter Algorithm. A targeting marker are recongnized in each image frame and positions of targer object in each frame from a CCD camera while te targeting marker is attached to the tip of the SCARA robot hand. After the detection of a target coming into any position of the field-of-view, the target is tracked and always made to be located at the center of target window. Then, we can track the moving object which moved in inter-frames. The experimental results show the effectiveness of the Kalman filter algorithm for realtime tracking and estimated state value of filter, predicting the position of moving object to minimize an image processing area, and by reducing the effect by quantization noise of image

  • PDF