• 로봇학회논문지
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• 제12권3호
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• pp.350-355
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• 2017

UWB (Ultra Wide Band) refers to a system with a bandwidth of over 500 MHz or a bandwidth of 20% of the center frequency. It is robust against channel fading and has a wide signal bandwidth. Using the IR-UWB based ranging system, it is possible to obtain decimeter-level ranging accuracy. Furthermore, IR-UWB system enables acquisition over glass or cement with high resolution. In recent years, IR-UWB-based ranging chipsets have become cheap and popular, and it has become possible to implement positioning systems of several tens of centimeters. The system can be configured as one-way ranging (OWR) positioning system for fast ranging and TWR (two-way ranging) positioning system for cheap and robust ranging. On the other hand, the ranging based positioning system has a limitation on the number of terminals for localization because it takes time to perform a communication procedure to perform ranging. To overcome this problem, code multiplexing and channel multiplexing are performed. However, errors occur in measurement due to interference between channels and code, multipath, and so on. The measurement filtering is used to reduce the measurement error, but more fundamentally, techniques for removing these measurements should be studied. First, the TWR based positioning was analyzed from a stochastic point of view and the effects of outlier measurements were summarized. The positioning algorithm for analytically identifying and removing single outlier is summarized and extended to three dimensions. Through the simulation, we have verified the algorithm to detect and remove single outliers.

• 한국통신학회논문지
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• 제40권1호
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• pp.124-131
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• 2015

본 논문에서는 Zigbee 무선통신모듈과 RSS(Received Signal Strength) 측위 방식을 이용하여 다단계 TSS(Transmission Signal Strength)기술을 적용한 실내측위 시스템을 제안하고자 한다. 특히 실내공간에서 효과적으로 사용할 수 있는 확률적 알고리즘과 영역인식 알고리즘을 적용하여 위치정+확도에 대한 신뢰를 높이고자 하였다. 또한 1차원공간과 2차원 공간에서의 실험을 통해 공간의 형태에 따라 반사나, 회절, 멀티패스 등의 영향으로 변화하는 전파환경을 고려한 효과적인 측위 시스템을 확인하고자 하였다. 특히 약자나 환자에 대한 긴급 상황 발생 시 해당 위치를 찾아 신속한 대응이 필요하다. 따라서 본 연구의 측위 시스템은 교통 IT 분야에 적용하여 사용 될 수 있을 것으로 기대된다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.342-347
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• 2002

After the industrial revolution in 20 century, the world are preparing for new revolution that is society with knowledge for a basis such as IT(Information Technology), NT(Nano Technology) and BT(Bio Technology). Recently, NT is applied to various fields that are composed of science, industry, media and semiconductor-micro technology. It has need of IT that is ultra-precision positioning technology with strokes of many hundreds mm and maintenance of nm precision in fields of ultra micro process, ultra precision measurement, photo communication part and photo magnetic memory. Performance test of servo control system that is used ultra-precision positioning system with single plane X-Y stage is performed by simulation with Matlab. Analyzed for previous control algorithm and adapted for modern control theory, dual servo algorithm is developed by minimum order observer, and stability and priority on controller are secured. Through the simulation and experiments on ultra precision positioning, stability and priority on ultra-precision positioning system with single plane X-Y stage and control algorithm are secured by using Matlab with Simulink and ControlDesk made in dSPACE

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 D
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• pp.2399-2401
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• 2001

This Paper presents a positioning control method of the LBLDCM(Linear Brushless DC Motor) under friction. The friction may cause steady state position error. So it is necessary to consider friction effect for precision positioning control. The proposed control method uses disturbance observer algorithm and friction compensation. The experimental results of the proposed control method based on the disturbance observer are presented to show its effectiveness.

• International Journal of Naval Architecture and Ocean Engineering
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• 제8권1호
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• pp.38-52
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• 2016

This paper describes the nonlinear dynamic motion behavior of a ship equipped with a portable dynamic positioning (DP) control system, under external forces. The waves, current, wind, and drifting forces were considered in the calculations. A self-tuning controller based on a neuro-fuzzy algorithm was used to control the rotation speed of the outboard thrusters for the optimal adjustment of the ship position and heading and for path tracking. Time-domain simulations for ship motion with six degrees of freedom with the DP system were performed using the fourth-order RungeeKutta method. The results showed that the path and heading deviations were within acceptable ranges for the control method used. The portable DP system is a practical alternative for ships lacking professional DP facilities.

• International Journal of Precision Engineering and Manufacturing
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• 제9권3호
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• pp.40-45
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• 2008

This paper presents a linear positioning system and its control algorithm design with nano accuracy/resolution. The basic linear stage structure is driven by an ultrasonic motor and its displacement feedback is detected by a LDGI (Laser Diffraction Grating Interferometer), which can achieve nanometer resolution. Due to the friction driving property of the ultrasonic motor, the driving situation differs in various ranges along the travel. Experiments have been carried out in order to observe and realize the phenomena of the three main driving modes: AC mode (for mm motion), Gate mode (for ${\mu}m$ motion), and DC mode (for nm motion). A proposed FCMAC (Fuzzy Cerebella Model Articulation Controller) control algorithm is implemented for manipulating and predicting the velocity variation during the motion of each mode respectively. The PCbased integral positioning system is built up with a NI DAQ Device by a BCB (Borland $C^{++}$ Builder) program to accomplish the purpose of an intelligent nanopositioning control.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.101-103
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• 2007

In this paper. we design a robust optimal controller for ultra-precision positioning system. Generally, it is hard to control the nanometric scale positioning system because of the parameter uncertainties and external disturbances. To solve this problem. we suggest a control algorithm based on the modified sliding-mode control and the LQ control in an augmented system. The augmented system is composed of additional state variables: state estimates and control input in the nominal system. Through comparison with LQ optimal control, it is verified that the proposed control algorithm is more robust to the unexpected parameter variations and external noises.

• 한국정밀공학회지
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• 제18권11호
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• pp.42-50
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• 2001

In this paper, a new technique and theory are proposed which correct the orientation (inclination of a vertical axis) of a cylinder in vertical-micro positioning device. An algorithm for determining the orientation of the cylinder with a pair of displacement sensor units is derived and two types of the correction methods are described. To assess the performance and efficiency of the developed correction technique, the compensation errors originated from the correction algorithm and the machined characteristics of cylinder surface are evaluated from the geometrical considerations and the statistical techniques. Based upon the evaluation results, the maximum compensation error is estimated for the orientation of cylinder and the optimum correction technique is derived.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제9권11호
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• pp.4453-4468
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• 2015

This paper investigates optimization-based base station (BS) placement. An optimization model is defined and the BS placement problem is transformed to a lexicographical stratified programming (LSP) model for a given trajectory, according to different accuracy requirements. The feasible region for BS deployment is obtained from the positioning system requirement, which is also solved with signal coverage problem in BS placement. The LSP mathematical model is formulated with the average geometric dilution of precision (GDOP) as the criterion. To achieve an optimization solution, a tolerant factor based complete stratified series approach and grid searching method are utilized to obtain the possible optimal BS placement. Because of the LSP model utilization, the proposed algorithm has wider application scenarios with different accuracy requirements over different trajectory segments. Simulation results demonstrate that the proposed algorithm has better BS placement result than existing approaches for a given trajectory.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.907-908
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• 2006

We describe a method for localizing a mobile robot in its working environment using a vision system and Virtual Reality Modeling Language (VRML). The robot identifies landmarks in the environment, using image processing and neural network pattern matching techniques, and then its performs self-positioning with a vision system based on a well-known localization algorithm. After the self-positioning procedure, the 2-D scene of the vision is overlaid with the VRML scene. This paper describes how to realize the self-positioning, and shows the overlap between the 2-D and VRML scenes. The method successfully defines a robot's path.