• Title/Summary/Keyword: Estimated Position

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Dead Reckoning Navigation System for Autonomous Mobile Robot using Indirect Feedback Kalman Filter (간접되먹임 필터를 이용한 이동로봇의 추측항법 시스템)

  • 박규철;정학영;이장규
    • Journal of Institute of Control, Robotics and Systems
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    • v.5 no.7
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    • pp.827-835
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    • 1999
  • In this paper, a dead reckoning navigation system for differential drive mobile robots is presented. The navigation system consists of two incremental encoders and a gyroscope. We have built a third order polynomial function for compensating the nonlinear scale factor errors of the gyroscope. We utilize an indirect Kalman filter that feeds back estimated errors to the main navigation system. Also, the observability of the filter is analyzed in order to systematically evaluate the filter's performance. Experimental results show that the proposed navigation system provides a reliable position and heading angle by mutually compensating the encoder and the gyroscope errors. The proposed filter also reduces the computational burden and enhances the navigation system's reliability. The observability analysis confirms the characteristics of inevitably unbounded position error growth in dead reckoning navigation systems.

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FPGA Implementation and Experiment of a Time-Delayed Controller for Humanoid Robot Arm Control (다관절 휴머노이드 로봇 팔의 제어를 위한 시간지연 제어기의 FPGA 구현 및 실험)

  • Lee, Woon-Kyu;Jeon, Hyo-Won;Jung, Seul
    • Journal of Institute of Control, Robotics and Systems
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    • v.13 no.7
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    • pp.649-655
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    • 2007
  • In this paper, a time-delayed controller for position control of humanoid robot arms is designed and implemented on a field programmable gate array(FPGA) chip. The time-delayed control algorithm is simple to implement, and robust to reject disturbances. The time-delayed control method uses the one sample time-delayed previous information to cancel out uncertainties in the system. Since the sampling time is so fast with the current hardware technology, the time-delayed controller can be implemented. However, inertia values should be correctly estimated to have the better performance. The position tracking tasks of humanoid robot arms are tested to compare performances of several control algorithms including the time-delayed controller.

Foot Movement Tracking System using Ultrasonic Sensors and Inertial Sensors (초음파센서와 관성센서를 이용한 발의 움직임 추적 시스템)

  • Boo, Jang-Hun;Park, Sang-Kyeong;Suh, Young-Soo
    • Journal of Institute of Control, Robotics and Systems
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    • v.16 no.11
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    • pp.1117-1124
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    • 2010
  • This paper presents a foot movement tracking system using ultrasonic sensors and inertial sensors, where the position and velocity of foot are computed using inertial sensors and ultrasonic sensors mounted on a shoe. A foot movement can be estimated using an inertial navigation algorithm only; however, the error tends to increase due to biases of gyroscopes and accelerometers. To reduce the error, a localization system using ultrasonic sensors is additionally used. In the localization system using ultrasonic sensors, the position is continuously calculated in the absolute coordinate. An indirect Kalman filter is used to combine inertial sensors and ultrasonic sensors. Through experiments, it is shown that the proposed system can track a foot movement.

A Simplified Sensorless Control of Synchronous Reluctance Motor Using MATLAB (MATLAB을 이용한 동기형 릴럭턴스 전동기의 단순구조형 센서리스 제어)

  • Lim, Jin-Jae;Kim, Sol;An, Joon-Seon;Lee, Ju;Kim, Yun-Hun
    • Proceedings of the KIEE Conference
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    • 2004.04a
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    • pp.30-32
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    • 2004
  • Complex sensorless control scheme is difficult to utilize in field of home appliance system because of cost problem. Therefore, it is necessary to introduce simplified sensorless control scheme that is composed of least calculation to estimate the rotor position. This paper presents the principle of the rotor position estimation with comparison of the estimated flux linkage and reference flux linkage. In order to verify the feasibility of control scheme, MATLAB is used for simulation.

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Assessment of Dispersion Coefficients and Downward Positions of Water Spray for Small-Scale Release of Chlorine Gas

  • Jang, Seo-Il;Kim, Youngran;Yu, Wooyun;Shin, Dongil;Park, Kyoshik;Kim, Tae-Ok
    • Journal of the Korean Institute of Gas
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    • v.19 no.1
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    • pp.51-56
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    • 2015
  • To assess downward positions of water spray for the small-scale release of chlorine gas, dispersion coefficients for the Gaussian dispersion model were validated at the small-scale release experiment. And the downwind distances of water spray were assessed with the simulated results. As results, the Gaussian plume model using the Briggs' dispersion coefficient well estimated the dispersed characteristics for small-scale release of chlorine gas. The best adequate downwind position of water spray is the position of the maximum concentration of chlorine at the ground level. And the adequate vertical and horizontal dimensions of water spray consider the maximum width and height of cloud.

Localization and mapmaking of a mobile robot (이동 로봇의 위치추정과 지도작성)

  • Yun, Dong-Woo;Oh, Sung-Nam;Kim, Kab-Il;Son, Young-Ik
    • Proceedings of the KIEE Conference
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    • 2007.04a
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    • pp.352-354
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    • 2007
  • This paper presents a method to estimate the position of a mobile robot by using a gyro sensor and accelerometer sensors on it. Together with contact sensors we propose a mapmaking algorithm for an indoor environment where the robot moves. The direction of robot can be estimated through a gyro sensor and the distance is founded out by accelerometers. Then one can presume the position of robot. Using the direction and distance values vector-based mapmaking job can be performed. Tactile sensors help the robot recognize the boundary limit value of indoor environment and decide outer wall line of the map.

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Sensorless control of a permanent magnet synchronous motor (영구 자석형 동기전동기의 센서리스 제어)

  • Yang Soon-Bae;Hong Chan-Hee;Cho Kwan-Yuhl
    • Proceedings of the KIPE Conference
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    • 2002.07a
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    • pp.289-292
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    • 2002
  • A sensorless control of a PM synchronous motor under the parameter variation is presented. The rotor position is estimated by using the d-axis and q-axis current errors between the real system and motor model of the estimator. The stator resistance is measured at low speeds when the motor changes its rotating direction. The gains in the position estimator are also adapted according to the motor speeds.

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Sensorless Velocity Control for Permanent Magnet Synchronous Motor (DSP 기반 영구자석 동기기의 센서리스 속도제어)

  • Lee Sang-Hun;Won Tae-Hyun;Park Sung-Jun;Lee Dong-Hee;Ahn Jin-Woo
    • Proceedings of the KIPE Conference
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    • 2002.07a
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    • pp.304-307
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    • 2002
  • A sensorless velocity control strategy for permanent magnet synchronous motors is presented in this paper. Two stator currents are measured and processed in discrete form in DSP. The rotor position and speed are estimated through the stator flux linkage and its derivative estimation. Flux and its derivative are calculated in the stationary reference frame and used to estimate the speed and position. The closed-loop speed control has been shown to be effective from standstill to rated speed. Moreover, a flux drift problem caused by the integration can be eliminated so that a stable sensorless starting and running operation can be achieved. Experimental results are presented to demonstrate the effectiveness of the proposed scheme.

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Sensorless Control for the Synchronous Reluctance Motor Using Reference Flux Estimation

  • Ahn Joon-Seon;Kim Sol;Kim Yong-Tae;Lee Ju
    • KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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    • v.5B no.4
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    • pp.324-330
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    • 2005
  • The complex sensorless control scheme is not practical for use in the field of home appliance systems because it is not economical. Therefore, it is necessary to introduce a simplified sensorless control scheme that is composed of least calculation to estimate the rotor position. This paper presents the principle of the rotor position estimation with comparison of the estimated flux linkage and reference flux linkage. In order to verify the feasibility of the control scheme, ACSL is used for the simulation and TI DSP TMS320F240 is used for the experiment.

Genetic Analysis for Agronomic , Chemical, and Leaf Characters According to Stalk Position in Flue-Cured Tobacco(Nicotiana tabacum L.) (황색종 연초(Nicotiana tabacum L. )의 주요형질과 엽위별 엽형질에 대한 유전분석 III. 이면교배에 의한 유전력, 형질간 상관 및 경로계수)

  • 조수헌
    • Journal of the Korean Society of Tobacco Science
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    • v.11 no.2
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    • pp.135-141
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    • 1989
  • The experiment was conducted to obtain basic information on breeding of flue-cured tobacco varieties. Nine cultivars and partial diallel set of 36 F1 hybrides were grown at Taegu Experiment Station, Korea Ginseng & Tobacco Research Institute in 1983. Estimated heritability in the narrow-sense ranged from 66.21% to 94.12% for yield, leaves per plant, days to flower, leaf weight, leaf width, leaf shape, nicotine content and reducing sugar content, while that for stalk height, leaf length, midrib weight and midrib width ranged from 28.12% to 56.25%. The genotypic correlations were positive among yield, leaf weight, leaf length, leaf width, midrib weight and midrib width in the middle leaves, days to flower, nicotine content and reducing correlated with leaf length than leaf width. At the path coefficient analysis of the effect of leaf and midrib characters upon yield according to stalk position, leaf weight, leaf width and midrib width in the middle leaves, and leaf weight, and leaf width in the top leaves showed high direct effects.

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