• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.277-284
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• 2016

A new prediction scheme has been proposed for the robust teleoperation in a non-visible environment. The positioning error caused by the time delay in the non-visible environment has been compensated for by the Smith predictor and the sensory data have been estimated by the Grey model. The Smith predictor is effective for the compensation of the positioning error caused by the time delay with a precise system model. Therefore the dynamic model of a mobile robot has been used in this research. To minimize the unstable and erroneous states caused by the time delay, the estimated sensor data have been sent to the operator. Through simulations, the possibility of compensating the errors caused by the time delay has been verified using the Smith predictor. Also the estimation reliability of the measurement data has been demonstrated. Robust teleoperations in a non-visible environment have been performed with a mobile robot to avoid the obstacles effective to go to the target position by the proposed prediction scheme which combines the Smith predictor and the Grey model. Even though the human operator is involved in the teleoperation loop, the compensation effects have been clearly demonstrated.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.5
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• pp.677-684
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• 2021

This paper presents a time-to-digital converter for measuring absolute time differences. The time-to-digital converter was designed and fabricated in 0.18-um CMOS technology and it can be applied to Light Detection and Ranging system which requires long time-cover range and 50ps time resolution. Since designed time-to-digital converter adopted the reference clock of 625MHz generated by phase locked loop, it could have absolute time resolution of 50ps after automatic calibration and its cover range was over than 800ns. The time-to-digital converter adopted a counter and chain delay lines for time measurement. The counter is used for coarse time measurement and chain delay lines are used for fine time measurement. From many times experiments, fabricated time-to-digital converter has 50 ps time resolution with maximum INL of 0.8 LSB and its power consumption is about 70 mW.

• Korean Journal of Optics and Photonics
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• v.13 no.6
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• pp.510-514
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• 2002

A simple method for a time delay measurement of a chirped fiber grating by using bidirectional modulation of a Mach-Zehnder modulator has been proposed. The bidirectionally modulated light with time difference makes an interference fringe in the RF domain. The time delay of a chirped fiber grating can be obtained by measuring the period of the RF interference fringe for different wavelengths. We have measured the time delay of a chirped fiber grating with a chirped length of 5 cm and a bandwidth of 3.16 nm. The average slope of the time delay has been measured to be 183 ps/nm and its uncertainty has been less than $\pm$1.7%.

• Journal of Positioning, Navigation, and Timing
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• v.11 no.2
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• pp.71-81
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• 2022

In order for electro-optical tracking system (EOTS) to have accurate target coordinate, accurate navigation results are required. If an integrated navigation system is configured using an inertial measurement unit (IMU) of EOTS and the vehicle's navigation results, navigation results with high rate can be obtained. Due to the time-delay of the navigation results of the vehicle in the EOTS and scale factor errors of the EOTS IMU in high-speed and high dynamic operation of the vehicle, it is much more difficult to have accurate navigation results. In this paper, an integrated navigation system of EOTS which compensates time-delay and scale factor error is proposed. The proposed integrated navigation system consists of vehicle's navigation system which provides time-delayed navigation results, an EOTS IMU, an inertial navigation system (INS), an augmented Kalman filter and integration Kalman filter. The augmented Kalman filter outputs navigation results, in which the time-delay of the vehicle's navigation results is compensated. The integration Kalman filter estimates position, velocity, attitude error of the EOTS INS and accelerometer bias, accelerometer scale factor error, gyro bias and gyro scale factor error from the difference between the output of the augmented Kalman filter and the navigation result of the EOTS INS. In order to check performance of the proposed integrated navigation system, simulations for output data of a measurement generator and land vehicle experiments were performed. The performance evaluation results show that the proposed integrated navigation system provides more accurate navigation results.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.23 no.6
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• pp.539-546
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• 2014

This paper describes an ultra-precision electronic clinometer, which is based on the capacitive-based fluid type, for detection of small inclination angles. The main parts of the clinometer low-noise electronics are two capacitance measurement circuits for converting the capacitances of the capacitors of the clinometer into voltages, and a differential amplifier for obtaining the difference of the capacitances, which is proportional to the input inclination angle. A 16 bit analog to digital (AD) converter is also embedded into the same circuit board, whose output is sent to a PC via RS-232C, for achieving a small noise level down to tens of ${\mu}v$. A compensation method, which is referred to as the delay time method for shortening the stabilization time of the sensor was also discussed. Experimental results have shown the possibility of achieving a measurement resolution of $0.0001^{\circ}$ as well as the quick measurement with the delay time method.

• Transactions of The Korea Fluid Power Systems Society
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• v.3 no.1
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• pp.7-14
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• 2006

In this paper, an in-process diagnosis method for performance of position control servo system was studied, which was based upon null bias, slew-rate ratio and delay time measurement. Slew-rate ratio and delay time were analyzed by theoretical analysis, computer simulation and experiment. As a result of these analysis, when spool of servovalve was weared, slew-rate ratio was decreased and delay time was increased.

• Proceedings of the Korea Information Processing Society Conference
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• 2012.04a
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• pp.961-963
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• 2012

The sound source localization system is used to some area such as robotic system, object localization system, guarding system and medicine. So time delay estimation and angle estimation of sound direction are studied until now. These days time delay estimation is described in LabVIEW which is used to create innovative computer-based product and deploy measurement and control systems. In this paper, the development of signal monitoring platform is presented for sound source localization. This platform is designed in virtual instrument program and implemented in two stages. In first stage, data acquisition system is proposed and designed to analyze time delay estimation using cross correlation. In second stage, data obtaining system which is applied and designed to monitor analog signal processing is proposed.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.831-833
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• 2004

In this paper, an obstacle avoidance algorithm is proposed for a network-based robot considering network delay by distribution. The proposed algorithm is based on the VFH(Vector Field Histogram) algorithm, and for the network-based robot system, in which it is assumed robot localization information is transmitted through network communication. In this paper, target vector for the VFH algorithm is estimated through the robot localization information and the measurement of its delay by distribution. The delay measurement is performed by time-stamp method. To synchronize all local clocks of the nodes distributed on the network, a global clock synchronization method is adopted. With the delay measurement, the robot localization estimation is performed by calculating the kinematics of the robot. The validation of the proposed algorithm is performed through the performance comparison of the obstacle avoidance between the proposed algorithm and the existing VFH algorithm on the network-based autonomous mobile robot.

• Journal of the Korea institute for structural maintenance and inspection
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• v.22 no.6
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• pp.9-15
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• 2018

According to the development and use of self-consolidating concrete in field, interest in material properties of early-age concrete is rising. Setting time with hydration process of cement is one of significant indicator to evaluate the early-age material properties of concrete, various nondestructive methods including penetration resistance measurement have been proposed to estimate setting time. This study performed an experimental approach to evaluate setting time delay in mortar adding superplasticizer using electrical resistivity measurement. For this purpose, total nine types of mortar samples were prepared, and its electrical resistivity was monitoring during 24h after mixing. From the experimental result, rising time of electrical resistivity was used to evaluate setting delay of mortar, and penetration resistance was also measured for comparison. In addition, dynamic elastic modulus and compressive strength of 1day mortar were measured to investigate a possibility the use of electrical resistivity measurement for evaluation of early-age material properties.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.5
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• pp.373-381
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• 2021

This paper details the result of flight experiment that examines performance of roll angle estimation algorithm of slowly rolling munition taking time delay of measurement into account when measurement comes in delayed fashion. As the measurement is passed through low pass filter for numerical stabilization and de-noising purpose which induces time delay, we design augmented state Kalman filter that incorporates distribution models of stochastic delay over time. Flight experiment was conducted to verify the algorithm at around 250m high AGL(Above Ground Level) conveying velocity of 28m/s from fixed-wing mother plane to the munition. Munition was made spun with respect to its roll axis using internal reaction wheel afterward. Numerical comparison of proposing method's roll estimation performance with that of commercial aerospace graded GPS/INS shows that proposed filter design can effectively compensate time delay of measurement.