• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.29 no.4 s.235
• /
• pp.591-599
• /
• 2005

This paper proposes a systematic design methodology for high-speed/high-precision servomechanisms by using a disturbance observer. A multiplicative uncertainty model and a two degree-of-freedom controller composed of a disturbance observer (DOB) and a PD controller are considered as subsystems. Analysis of the system performance, such as internal stability and bandwidth of a servomechanism according to subsystem parameters is conducted for better understanding of the dynamic behavior and interactions among the subsystem parameters. Then, an integrated design methodology, where the interactions are considered simultaneously, is applied to design processes of the servomechanism. The tradeoff relationship between disturbance suppression and measurement noise rejection of the DOB is considered through the design process. Numerical case studies show the improved possibility to evaluate and optimize the dynamic motion performance of the servomechanism. Moreover, the disturbance observer designed based on the proposed design methodology yields excellent disturbance suppression performance.

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.26 no.11
• /
• pp.1570-1577
• /
• 2002

In order to investigate the characteristics of two-phase slug flow, an electromagnetic flowmeter with 240Hz triangular AC excitation was designed and manufactured. The signals and noise from the flowmeter were obtained, and analyzed in comparison with the observations with a high speed CCD camera. The uncertainty of the flowmeter under single-phase flow was $\pm$ 2.24% in real-time. For two-phase slug flow, electromagnetic flowmeter provided real-time simultaneous measurements of the mean film velocity around Taylor bubble and the relative location and the length of the bubble. Besides, it is an easier and cheaper method for measuring mean film velocity than others such as photochromic dye activation method or particle image velocimetry.

• Journal of KSNVE
• /
• v.6 no.4
• /
• pp.521-528
• /
• 1996

Recently, higher speed optical disk drives including computer CD-ROM drives tend to be increasingly demanded to read or write the enormous volume of digital data. To this end, both structure and controller designs of the optical pick-ups should be improved concurrently. In this paper, the pick-up during auto-focusing motion is mathematically modelled retaining all its peculiar features. The model turns out a linear time invariant system suitable for a control design namedH${\infty}$ which ensures robust stability in the presence of system uncertainties. Numerical simulations are performed to demonstrate the robustness with appropriate performance specifications being satisfied. In addition, as the implementation issue of it, procedures of temporal discretization as well as model reduction of the controller are also addressed.

• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10a
• /
• pp.786-791
• /
• 1992

When a mobile robot moves from one place to another, position error occurs due to the limit of accuracy of robot and the effect of environmental noise. In this paper. an accurate method of estimating the position and orientation of a mobile robot using the camera calibration is proposed. Kalman filter is used as the estimation algorithm. The uncertainty in the position of camera with repect to robot base frame is considered well as the position error of the robot. Besides developing the mathematical model for mobile robot calibration system, the effect of relative position between camera and calibration points is analyzed and the method to select the most accurate calibration points is also presented.

• 제어로봇시스템학회:학술대회논문집
• /
• 1995.10a
• /
• pp.484-487
• /
• 1995

An interacting multiple model (IMM) approach which merges two hypotheses for the situations of constant speed and constant acceleration model is considered for the tracking of maneuvering target. The inflexibility of uncertainty which lies in the kinematic constraint (KC) represented by pseudomeasurement noise variance is compensated by the mixing of estimates from two model Kalman tracker: one with KC and one without KC. The numerically simulated tracking performance is compared for the "great circular like turning" trajectory maneuver by the single model tracker with constant speed KC and two model tracker which is developed in this paper.his paper.

• Journal of the Society of Naval Architects of Korea
• /
• v.30 no.4
• /
• pp.46-60
• /
• 1993

Accurate measurements of fluctuating pressure in the cavitation tunnel are necessary to predict vibration and noise intensities in full scale ship. In this paper, the results of an experimental study on fluctuating pressure induced by a cavitating propeller are presented and discussed. Extensive measurements at several propeller revolutions are made using the flat plate to understand controversial problems of the effects of propeller revolution in the cavitation tunnel. The analysis of the uncertainties in experimental measurements and results is used to estimate the errors in uniform flow.

• Korean Journal of Optics and Photonics
• /
• v.5 no.2
• /
• pp.191-197
• /
• 1994

We investigated the properties of various methods of 3 dimensional profilometry to choose the phase shifting technique for the reconstruction of the shape of a given specimen. The pattern was generated by a Twyman-Green interferometer and a PZT was used to shift the fringes on the target surface. The shape was calculated with Hariharan algorithm within the uncertainty of a scaling factor. The optical noise inherent in the laser source was observed to influence the final outcome to a great extent and the need for an exact calibration was noted. noted.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.12
• /
• pp.1183-1187
• /
• 2011

In this paper, an optimal FIR (Finite-Impulse-Response) filter is proposed for discrete time-varying state-space models. The proposed filter estimates the current state using measured output samples on the recent time horizon so that the variance of the estimation error is minimized. It is designed to be linear, unbiased, with an FIR structure, and is independent of any state information. Due to its FIR structure, the proposed filter is believed to be robust for modeling uncertainty or numerical errors than other IIR filters, such as the Kalman filter. For a general system with system and measurement noise, the proposed filter is derived without any artificial assumptions such as the nonsingular assumption of the system matrix A and any infinite covariance of the initial state. A numerical example show that the proposed FIR filter has better performance than the Kalman filter based on the IIR (Infinite- Impulse-Response) structure when modeling uncertainties exist.

• Journal of the Korean Institute of Telematics and Electronics C
• /
• v.34C no.8
• /
• pp.79-87
• /
• 1997

For the representation of a complex object, the object is decomposed into several parts, and it is described by these decomposed parts and their relations. In genral, the parts can be the primitive elements that can not be decomposed further, or can be decomposed into their subparts. Therefore, the hierarchical description method is very natural and it si represented by a hierarchical attributed graph whose vertieces represent either primitive elements or graphs. This graphs also have verties which contain primitive elements or graphs. When some uncertainty exists in the hierarchical description of a complex object either due to noise or minor deformation, a probabilistic description of the object ensemble is necessary. For this purpose, in this paper, we formally define the hierarchical attributed random graph which is extention of the hierarchical random graph, and erive the equations for the entropy calculation of the hierarchical attributed random graph, and derive the equations for the entropy calculation of the hierarchical attributed random graph. Finally, we propose the application areas to use these concepts.

• The Proceeding of the Korean Institute of Electromagnetic Engineering and Science
• /
• v.14 no.1
• /
• pp.81-88
• /
• 2003

CISPR has published the limits on the noises emitting from power lines and signal lines. But different measurement environment and measurement methods are used in every countries. This difference causes much confusion in understanding the results measured by different test laboratories. In this paper, we measure EMI noise using the absorbing clamp method that takes short measurement time and is described in CISPR 13, 14-1, 16-2. We analyze the cause of the difference of measurement results and propose the method for improving the uncertainty