• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.33.1-33
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• 2002

The INS provides high rate position, velocity and attitude data with good short-term stability while the GPS provides position and velocity data with long-term stability. By integrating the INS with GPS, a navigation system can be achieved to provide highly accurate navigation performance. For the best performance, time synchronization of GPS and INS data is very important in GPS/INS integrated system. But, it is impossible to synchronize them exactly due to the communication and computation time-delay. In this paper, to reduce the error caused by the measurement time-delay in GPS/INS integrated systems, error compensation methods using separate bias Kalman filter are suggested for both the...

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.486-486
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• 2000

This paper is concerned with a transfer alignment method for the SDINS(StrapDown Inertial Navigation System) under ship motions. Major error sources of transfer alignment are data transfer time-delay, lever-arm velocity and ship body flexure. Specifically, to reduce alignment errors induced by measurement time-delay effects, the error compensation method through delay state augmentation is suggested. A linearized error model for the velocity and attitude matching transfer alignment system is first derived by linearizing the nonlinear measurement equation with respect to its time delay and augmenting the delay state into the conventional linear state equations. And then it is shown via observability analysis and computer simulations that the delay state can be estimated and compensated during ship motions resulting in considerably less alignment errors.

• International Journal of Control, Automation, and Systems
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• v.5 no.3
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• pp.343-348
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• 2007

This paper presents an adaptive controller for the compensation of state-dependent disturbance with unknown amplitude in a digital servo motor system. The state-dependent disturbance is caused by friction and eccentricity between the wheel axis and the motor driver of a mobile robot servo system. The proposed control scheme guarantees an asymptotical stability for both the velocity and position regulation. An experimental result shows the effectiveness of the adaptive disturbance compensator for wheeled-mobile robot in a low velocity diffusion tracking. A comparative experimental study with a simple PI controller is presented.

• Journal of the Korea Institute of Military Science and Technology
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• v.23 no.3
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• pp.213-220
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• 2020

This paper proposes a method on the performance analysis of pulse repetition frequency jitter compensation for generating Doppler profile. Exact phase compensation of each pulse is required to obtain Doppler profiles under pulse repetition frequency jitter. Three parameters such as velocity, pulse repetition frequency, and carrier frequency are examined to cause errors when conducting the pulse repetition frequency jitter compensation, then assuming well-focused Doppler profiles reflect well-conducted pulse repetition frequency jitter compensation, the proposed method in this paper utilizes the contrast to measure how well Doppler profile is generated. These are validated by electromagnetic computation data and computer simulation. Then, it is concluded which parameter is important on the performance analysis of pulse repetition frequency jitter compensation by using the contrast.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2004.04a
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• pp.59-64
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• 2004

In this paper, the error compensation method of the low-cost IMU is proposed. In general, the position and attitude error calculated by accelerometers and gyros grows with time. Therefore the additional information is required to compensate the drift. The attitude angles can be bound accelerometer mixing algorithm and the heading angle can be aided by single antenna GPS velocity. The Kalman filter is used for error compensation. The result is verified by comparing with the attitude calculated by Attitude Heading Reference System with Micro Electro Mechanical System for a basis

• Journal of the Korean Institute of Telematics and Electronics D
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• v.35D no.8
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• pp.1-7
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• 1998

This paper reports a dispersion compensation technique to implement tje distortionless transmission line by satisfying the heaviside conditon. Because of the skin depth for aconductor, compensation condition is dependent on the freuqncy variation. For this reason, first, the resistance have been chaacterized in awide range of frequencies, and then found the effective conductivity of the substrate which satisfied the heaviside condition. The phase velocity and the characteristics impedance are prresented nearly constant over a wideband frequency range.

• Journal of Drive and Control
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• v.15 no.4
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• pp.55-60
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• 2018

Force-controlled electro-hydrostatic actuators have to exhibit high backdrivability, to quickly compensate for force control errors caused by externally disturbed rod movement. To obtain high backdrivability, the servomotor for driving the hydraulic pump, should rotate exactly to such a revolution to compensate for force control errors, compressing or decompressing cylinder chambers. In this study, we proposed a modified velocity control structure, including a robust internal-loop compensator (RIC)-based velocity controller, for the servomotor to improve backdrivability of a force-controlled EHA. Performance improvement was confirmed experimentally, wherein sinusoidal velocity disturbance was applied to the force-controlled EHA, with constant reference input. Its dynamic force control errors reduced effectively, with the proposed control scheme, compared to test results with a conventional motordriver, for motor velocity control.

• International Journal of Precision Engineering and Manufacturing
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• v.7 no.2
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• pp.18-24
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• 2006

This paper proposes a LuGre Model-Based Neural Network (MBNN) friction compensation algorithm for a linear motor stage. For matching the friction phenomena in both the motion-start region and the motion-reverse region, the LuGre dynamic model is employed into the proposed compensation algorithm. After training of the model-based neural network is completed, the estimated friction for compensation is obtained. From the obtained result we find that the new structure gains advantage over the non-friction compensation system on the performance of the compensator in both regions. The proposed compensator is evaluated and compared experimentally with an uncompensated system on a microcomputer controlled linear motor tracking system in the final section of the paper. The experimental results show the improvement on the maximum velocity error and the root mean square tracking error in the motion-start region ranges from 34% to 53% and from 53% to 75% respectively, and in the motion-reverse region from 48% to 65% and from 79% to 90% respectively.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.20 no.11
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• pp.3666-3675
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• 1996

A new hardware temperature compensation method for hot-wire anemometer is investigated and an analog compensating circuit is proposed in this article. A photoconductive cell is introduced here as a variable resistor in the anemometer bridge and the linearized output of a thermistor is used to monitor the input of the photoconductive cell. In contrast with the conventional method, any type of temperature sensor can be used for compensation if once the output of thermometer varies linearly with temperature. So the present technique can diversify the compensating means from a conventional passive compensating resistance to currently available thermometers. Because the resistance of a photoconductive cell can be set precisely by adopting a stabilizing circuit whose operation is based on the integration function of the operational amplifier, the accuracy of compensation can be enhanced. As an example of linearized thermometer, thermistor sensor whose output is linearized by a series resistor was used to monitor the fluid temperature variation. Validation experiment is conducted in the temperature ranged from 30 deg. C to 60 deg. C and the velocity up to 40 m/s. It is found that the present technique can be adopted as a compensating circuit for anemometer and hot-wire type airflow meter.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.12
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• pp.903-909
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• 2018

In this paper, performance analysis of machine vision techniques is presented to improve the convenience and speed of automatic inspection in the industrial field when machine vision is applied to the image not taken in the stationary state, but in the moving state on a conveyer. When the length of cylindrical rods used for automobiles was measured using the edge detection method, the conveying speed increased, and the uncertainty of the boundary between the background and the part image increased, which resulted in a shorter image of the object taken. This paper proposes a linear compensation method to predict the biased errors of the length measurements after examining the pattern of biased and random errors, respectively, with 6 different types of specimens and 7 velocity stages. The length measurement corrected by the linear compensation method had the same accuracy as the stationary state within the speed range of 30 cm/s and could enhance the application capability in automatic inspections.