• 한국가시화정보학회지
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• 제7권2호
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• pp.42-46
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• 2010

In this paper we report the method of visualizing and measuring the fluid flow within a small droplet of millimeter size. We use a vertical laser sheet in visualization of the micrometer size and special attention is given to the arrangement of microscope to obtain clear images. Then we use a PIV technique to measure the velocity of the internal flow from the images taken. Since the droplet is of spherical shape, the images represent highly deteriorated picture of the real objects due to the refraction phenomenon. In order to compensate the refraction, we in this study developed two kinds of methods for the real velocity. In the first method, the refracted images are directly used to obtain the velocity in the image space, and then the velocity is transformed to the real space. In the second method the images are first transformed to the real-space objects, and then the PIV is used to measure the velocity field. We compared the two results to prove the usefulness of the compensation technique.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.54-58
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• 1989

The purpose of this paper is to develop a more accurate attitude algorithm with low grade gyro output. The proposed algorithm estimates attitudes by combining accelerometer and gyro output. For performance improvement of the algorithm, a method of velocity compensation is proposed for a better attitude estimation which is calculated from the accelerometer output. Velocity compensation is done by using Kalman Filter to estimate another velocity component.

• 한국정밀공학회지
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• 제30권9호
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• pp.951-959
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• 2013

In order to improve the speed performance of the direct drive mechanical systems, a comprehensive analysis of the velocity ripples of blushless DC motors should be required. Every motor has a certain level of torque ripples when it generates power, and the generated torque ripple also makes the velocity ripples in the final output stage in speed control system. In this paper, a novel algorithm for reducing velocity ripples is proposed based on the modeling of torque ripples for BLDC motors. Various algorithms have been made for torque ripples, but usually they should be installed inside the amplifier logic, result in the difficulties of flexibility for various kinds of torque ripples. The proposed algorithm was developed for being ported in the controller not the amplifier, and it has the capability of the automatic compensation adjustment. The performance of the proposed algorithm was verified by effective simulations and experiments.

• 한국전자파학회논문지
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• 제20권11호
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• pp.1138-1144
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• 2009

SAR-GMTI는 고해상도 영상과 동시에 차량, 기차와 같은 지상의 이동 표적을 탐지하여 정보를 제공하는 시스템이다. 본 논문에서는 항공기 탑재 측면 관측 영상 레이다에서 지상 이동 표적을 탐지하는 DPCA 기법에 기반하여 지상 이동 표적의 도플러 특성에 따른 영상 내 심각한 위치 오차와 퍼짐 현상을 분석하였다. 그리고 표적의 속도를 거리와 방위 방향으로 나누어 영상에서 위치 오차와 퍼짐 현상을 보상하며, 추정된 표적 속도와 퍼짐의 양을 정량화하여 제안된 보상 기법의 성능을 검증한다.

• 한국정밀공학회지
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• 제34권4호
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• pp.265-272
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• 2017

Velocity ripple in manufacturing processes reduces productivity and limits the precision of the product. In practice, the frequency and phase of velocity ripples always change minutely, which makes it impossible to compensate for the ripple by simply inserting an opposite feed-forward signal in the system. In this study, an active-phase compensation algorithm was developed to enable the velocity-ripple controller to track the phase change of the ripples in real time. The proposed controller can compensate for the velocity ripple whatever its cause, including disturbance by the torque ripple. The algorithm consists of three functional modules: the velocity-ripple extractor, the synchronized integrator, and the phase shifter. Experimental results showed that the proposed controller clearly reduces velocity ripples with phase variation.

• Journal of Advanced Marine Engineering and Technology
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• 제27권7호
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• pp.914-920
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• 2003

In this paper, we deal with two drift compensation algorithms of acceleration sensor for measuring the galloping on power transmission line. Firstly, the block diagram of galloping measurement system is given and a galloping model is presented. Secondly, two compensation algorithms, a simple compensation and a period compensation, are proposed. A simple compensation algorithm uses the drifts of velocity and distance at fixed periods, so it is useful for constant drift case. Next, a period compensation algorithm can compensate a periodic drift. This algorithm uses the previous measured data and compensated data for constant period, where the period is obtained by FFT method. Lastly, the effectiveness of proposed algorithms is verified by comparing between two algorithms in simulation, and its characteristics and the drift error bound are shown, respectively.

• 제어로봇시스템학회논문지
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• 제12권6호
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• pp.561-567
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• 2006

This paper deals with a fuzzy controller using IA(Immune Algorithm) for Trajectory Tracking of 2-DOF WMR(Wheeled Mobile Robot). The global inputs to the WMR are reference position and reference velocity, which are time variables. The global output of WMR is a current position. The tracking controller makes position error to be converged 0. In order to reduce position error, a compensation velocities on the track of trajectory is necessary. Therefore, a FIAC(Fuzzy-IA controller) is proposed to give velocity compensation in this system. Input variables of fuzzy part are position errors in every sampling time. The output values of fuzzy part are compensation velocities. IA are implemented to adjust the scaling factor of fuzzy part. The computer simulation is performed to get the result of trajectory tracking and to prove efficiency of proposed controller.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.127.6-127
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• 2001

In this paper, we deal with two bias compensation algorithms of acceleration sensor for measuring the galloping on power transmission line. Firstly, the block diagram of galloping measurement system is given and a galloping model is presented. Secondly, two compensation algorithms, a simple compensation and a period compensation, are proposed. A simple compensation algorithm use the drafts of velocity and distance at fixed periods, so it is useful for constant bias case. Next, a period compensation algorithm can compensate a periodic bias. This algorithm use the previous measured data and compensated data for constant period, where the period is obtained by FFT method. Lastly, the effectiveness of proposed algorithms is verified by comparing between two algorithms in simulation, and its characteristics and the bias error bound are shown, respectively.

• 제어로봇시스템학회논문지
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• 제7권4호
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• pp.369-373
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• 2001

This paper is concerned with a transfer alignment of SDINS under ship motions. To reduce alignment errors induced by the ship body flexure, an error compensation method is suggested based on velocity and DCM partial matching, and by interpreting the simulation results and comparing with the conventional velocity and quaternion partial matching, it is shown that the proposed method is effective enough to improve the azimuth alignment performance.

• 한국정보통신학회논문지
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• 제21권10호
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• pp.1973-1980
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• 2017

능동 합성 개구면 소나를 운용하는 소형 수중 무인체는 외부 수중환경의 영향으로 진행경로에 여러 가지 속도 교란이 발생될 수 있으며, 이는 코히어런트 합성 개구면 처리시 위상 오차를 발생시켜 탐지 이미지에 큰 영향을 미친다. 본 연구에서는 진행방향으로 주기적 사인형태의 속도 교란이 발생될 때 각 위치에서 왕복 진행 경사거리에 의해 발생되는 위상을 다중 수신 신호에 대한 상호상관 계수를 추정한 후 중첩된 DPC에서의 위치변위를 최대 허용범위 내에서의 평균값으로 보상하는 방법을 제시하였다. 시뮬레이션을 통하여 수중 무인체의 속도 교란 크기 및 변동 주파수에 의해 손상된 이미지는 제시된 위상 보상 방법으로 허위 표적 제거 및 방위해상도의 성능이 개선됨을 확인하였다.