• International Journal of Fuzzy Logic and Intelligent Systems
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• 제11권4호
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• pp.280-285
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• 2011

Recently, with the development of service robots and the concept of ubiquitous, the position estimation of mobile objects has received great interest. Some of the localization schemes are introduced, which provide the relative location of the moving objects subjected to accumulated errors. To implement a real time localization system, a new absolute position estimation method for a mobile robot in indoor environment is proposed. Design and implementation of the localization system comes from the usage of active beacon systems (based upon RFID technology). The active beacon system is composed of an RFID receiver and an ultra-sonic transmitter. The RFID receiver gets the synchronization signal from the mobile robot and the ultra-sonic transmitter sends out the traveling signal to be used for measuring the distance. Position of a mobile robot in a three dimensional space can be calculated basically from the distance information from three beacons and the absolute position information of the beacons themselves. In some case, the mobile robot can acquire the ultrasonic signals from only one or two beacons, due to the obstacles located along the moving path. In this paper, a position estimation scheme using fewer than three sensors is developed. Also, the extended Kalman filter algorithm is applied for the improvement of position estimation accuracy of the mobile robot.

• 한국연초학회지
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• 제26권2호
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• pp.186-192
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• 2004

This study was carried out to analyze the organic acids, polyphenols, pigments and fiber materials concentration with a different stalk position and grade of korean leaf tobaccos. Eight kinds of flue-cured leaf tobaccos which were different stalk position and grade were used for this study. Three kinds of major organic acids(citric, malic and oxalic), 2 kinds of polyphenols(chlorogenic acid and rutin), 3 kinds of pigments($\beta$-carotene, chlorophyll-a and chlorophyll-b), and 2 kinds of fiber components(pectin and lignin) were analyzed. All of these chemical components were changed with a different stalk position. When the citric acid, malic acid, $\beta-carotene$, chlorophyll-a, and lignin concentration were low in the middle stalk position and high in both bottom and upper position, oxalic acid and chlorogenic acid show the highest concentration in the middle stalk position. All of these chemical components also changed with a different grade of leaf tobaccos. As the citric acid, malic acid, $\beta-carotene$, chlorophyll-b, and lignin concentration decreased as the grade ascended, the oxalic acid and chlorogenic acid concentration increased as the grade ascended. This results assumed that the quality of korean leaf tobacco was directly proportional to oxalic acid and chlorogenic acid concentration but it was inversely proportional to citric acid, malic acid, $\beta-carotene$, chlorophyll-b and lignin concentration.

• 전력전자학회논문지
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• 제17권3호
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• pp.246-251
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• 2012

This paper proposes a new position compensation method for misaligned Hall-effect sensors of BLDCM(Brushless DC Motor). If the Hall-effect sensors are installed at wrong position, the exact rotor position cannot be obtained. Therefore, when the BLDCM is controlled with this wrong position, the torque ripple can be increased and the average torque also decreases. The back-EMF of BLDCM can be obtained by using the voltage equation and by multiplying the back-EMF constant and rotor speed. At a constant speed, the estimated back-EMF by using the multiplication of the back-EMF constant and rotor speed is constant, but the estimated back-EMF from the voltage equation decreases at the commutation point because the line-to-line back-EMF of two conducting phases is start to decrease at this point. Therefore, by using the difference between these two estimated back-EMFs, the commutation point of the phase current can be determined and position compensation can be carried out. The proposed position correction method doesn't require additional hardware circuit and can be easily implemented. The validity of the proposed position compensation method is verified through several experiments.

• Journal of Positioning, Navigation, and Timing
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• 제12권1호
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• pp.51-58
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• 2023

Geofencing supports unmanned aerial vehicle (UAV) operation by defining stay-in and stay-out regions. National Aeronautics and Space Administration (NASA) has developed a prototype of the geofencing function, SAFEGUARD, which prevents stayout region violation by utilizing position estimates. Thus, SAFEGUARD depends on navigation system performance, and the safety risk associated with the navigation system uncertainty should be considered. This study presents a methodology to compute the safety risk assessment-based along-track position error bound under nominal and Global Navigation Satellite Systems (GNSS) failure conditions. A Kalman filter system using pseudorange measurements as well as pseudorange rate measurements is considered for determining the position uncertainty induced by velocity uncertainty. The worst case pseudorange and pseudorange rate fault-based position error bound under the GNSS failure condition are derived by applying a Receiver Autonomous Integrity Monitor (RAIM). Position error bound simulations are also conducted for different GNSS fault hypotheses and constellation conditions with a GNSS/INS integrated navigation system. The results show that the proposed along-track position error bounds depend on satellite geometries caused by UAV attitude change and are reduced to about 40% of those of the single constellation case when using the dual constellation.

• 한국운동역학회지
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• 제16권1호
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• pp.151-158
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• 2006

The purpose of this study was to find out the kinematical characteristics of arm's basic position in ballet. In order to achieve the purpose of the study, 3D cinematographic analysis was conducted with a ballerina who might performed the perfect arm's basic position. According to the results of this study, it was appeared that the shoulder kept about 78%-82%, the elbow kept about 62%-96%, the wrist kept 52%-109%, and finger kept 48%-110% with the height. Also, movement was formed with $21^{\circ}-77^{\circ}$ of the upper arm angle, $106^{\circ}-164^{\circ}$ of the elbow, $125^{\circ}-140^{\circ}$ of the wrist, and $83^{\circ}-160^{\circ}$ of the shoulder. The left-right ratio of the total arm angle was 98% in the first, second, and third position, and 100% in the forth position. The angle of arm gradient was remained $-68^{\circ}$ in the first position, $-27^{\circ}$ in the second position, $73^{\circ}$ in the third position, and $-11^{\circ}$ in the forth position. Based on the results mentioned above, balance and symmetry of both arms was an important factor in those four positions. Although it is impossible to maintain the position like robot, it may be a good performance if a certain level of extent was remained With respect to this point of view, it may be a good position if the difference between right and left arm in each joint can be remained within 2%. Angle also was an important factor that if the difference in total angle can be remained within 2% it may be an excellent position, there was difference of right and left based on the joint though. Therefore, practice and instruction to make a perfect symmetry as much as possible were needed Also, it would be a good movement if position and angle of joint within 2% difference of right and left arm can be remained In turn, because ballet is movement with expression of the body, beauty of the body and balance of the movement have to be harmonized for beautiful performance. Therefore, it would be a meaningful future study considering the body condition and movement of ballerina to define the beauty.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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• pp.239-242
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• 2003

In this paper, we propose how to determine the optimal camera position using inverse kinematics of virtual link model and manipulability measure. We model the variable distance and viewing direction between a target object and a camera position as a virtual link. And, by using inverse kinematics of virtual link model, we find out regions that satisfy the direction and distance constraints for the observation of target object. The solution of inverse kinematics of virtual link model simultaneously satisfies camera accessibility as well as a direction and distance constraints. And we use a manipulability measure of active camera system in order to determine an optimal camera position among the multiple solutions of inverse kinematics. By using the inverse kinematics of virtual link model and manipulability measure, the optimal camera position in order to observe a target object can be determined easily and rapidly.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2015년도 제46회 하계학술대회
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• pp.696-697
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• 2015

In this paper, the shape of the slit to provide a view of the sensor in such a manner as to encode the rotor position information using a single sensor for studies of economic rotor position and speed detection method for electric motor drive has a special electronic commutator bar-and proposes a robust encoder can produce a rotor position information for each of the woman, and reads out the location information by using the position detection method of the proposed new method compared to traditional DSP Capture function of incremental encoder that its validity was verified through experiments.

• 전기학회논문지
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• 제62권6호
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• pp.756-761
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• 2013

This paper propose the new demodulation method that can detect resolver signal's peak at the time of position estimation when the position information is required during current controller period. The proposed method is performed in a synchronous demodulation way with exciting signal and also cover a capability which can compensate the lag element of exciting signal caused by the resolver's inductive component and filter circuit. This paper carried out the experiment to investigate the validity and performance of the suggested method by using the test board made up of DSP and demodulation circuit. The test results show that the proposed method is theoretically clear and work completely as expected from making sure of sampling resolver signal's peak at the time of position estimation. In addition, Software position tracking algorithm is executed with the demodulated signals generated by the suggested method and an exact position can be estimated.

• Journal of Electrical Engineering and Technology
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• 제8권6호
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• pp.1310-1319
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• 2013

Resolvers are transducers that are used to sense the angular position of rotational machines. The analog resolver is necessary to use resolver to digital converter. Among the RDC software method, angle tracking observer (ATO) is the most popular method. In an actual resolver-based position sensing system, amplitude imbalance dominantly distorts the estimate position information of ATO. Minority papers have reported position error compensation of resolver's output signal with amplitude imbalance. This paper proposes new ATO algorithm in order to compensate position errors caused by the amplitude imbalance. There is no need premeasured off line data. This is easy, simple, cost-effective, and able to work on line compensation. To verify feasibility of the proposed algorithm, simulation and experiments are carried out.

• 대한전자공학회논문지
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• 제26권11호
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• pp.1819-1828
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• 1989

In this paper, we determined the modulation index for minimization of speed ripple and position error using maximum speed ripple (SRF) and maximum position error(PEF) in current source TPWM inverter. Through computer simulation, we compared with total current harmonic distortion, SRF and PEF for square wave modulation method and TPWM method. As a result, it turns out that square wave modulation method is superior to TPWM method of 3 pulses per half cycle in speed ripple and position error contents. And TPWM is better than square wave method when pulse number is more than 5. Also, in these pulse numbers, moduladtion index of minimum speed ripple and munimum position error is 0.91.