• Journal of the Korean Society for Precision Engineering
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• v.14 no.12
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• pp.86-94
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• 1997

This paper proposes the robot inverse calibration method using a neural networks. A high-order networks called Pi-Sigma networks has been used. The Pi-Sigma networks uses linear summing units in the hidden layer and product unit in output layer. The inverse calibration model which compensates the diff- erence of joint variables only between measuring value and analytic value about the desired pose(position, orientation) of a robot is proposed. The compensated values are determined by using the weights obtained from the learning process of the neural networks previously. To prove the reasonableness, the SCARA type direct drive robot(4-DOF) and anthropomorphic robot(6-DOF) are simulated. It shows that the proposed calibration method can reduce the errors of the joint variables from .+-. 5 .deg. to .+-. 0.1 .deg. .

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.10
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• pp.843-848
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• 2001

Most of gimballed inertial navigation systems(GNIS) are calibrated periodically to maintain their inherent accuracy. The existing calibration techniques using the conventional schuler test with the least square method and the multiposition test take a long time and have some problems in procedures. To solve this problem, calibration method using a linear Kalman filter is proposed by us. In this paper, the calibration method by the change of Schuler period is studied in order to improve the calibration performance of the gimballed INS. First of all, it is shown that the observability of Kalman filter is also enhanced the Schuler period is decreased. Simulation results show that the calibration performance using the present scheme is improved according to the decrease of the Schuler period and the calibration time is shortened extremely, too. And our proposed technique shows desirable estimation performance for the g-sensitive errors of inertial sensors in particular.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1568-1572
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• 2004

This paper proposes a new online calibration algorithm for the array antenna system. As you know, the several previous calibration methods for the mutual coupling did not estimate but measure mutual coupling effect at the real or test-bed system directly. Therefore we suggest some idea to compensate the calibration errors due to mutual coupling effect and mismatch in cables and electronic modules without the off-line calibration. In this work, we can calibrate the array antenna system under the operation of the system using Independent Component Analysis(ICA). This is what is called an online calibration. As you know, the ICA method has permutation and scaling problems. However, we solve problems of the ICA method and apply it to the calibration of an array antenna. The method simultaneously estimates the DOA(Direction of Arrival) of the signals, and calibrates the array for that specific angle. The proposed algorithm is evaluated by computer simulation and its behavior is illustrated by a numerical example.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.32 no.11
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• pp.863-869
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• 2008

This paper investigated the new calibration algorithm of a straight-type five-hole pressure probe for measuring three-dimensional flow velocity components. This new calibration algorithm was used for velocity data reduction from the calibration map and based on the combination of a look-up, a binary search algorithm and a geometry transformation including the translation and reflection of nodes in a calibration map. The calibration map was expanded up to the application angle, ${\pm}55^{\circ}$ of a probe. This velocity data reduction method showed a perfect performance without any kind of interpolating errors in calculating yaw and pitch angles from the calibration map. Moreover, when it was applied to an actual flow field including a swirling flow, a good result came out on the whole.

• Korean Journal of Veterinary Research
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• v.50 no.1
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• pp.11-17
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• 2010

Linear and non-linear regressions were used to derive the calibration function for the measurement of roxithromycin plasma concentration. Their results were compared with weighted least squares regression by usual weight factors. In this paper the performance of a non-linear calibration equation with the capacity to account empirically for the curvature, y = ax$^{b}$ + c (b $\neq$ 1) is compared with the commonly used linear equation, y = ax + b, as well as the quadratic equation, y = ax$^{2}$+ bx + c. In the calibration curve (range of 0.01 to 10 ${\mu}g/mL$) of roxithromycin, both heteroscedasticity and nonlinearity were present therefore linear least squares regression methods could result in large errors in the determination of roxithromycin concentration. By the non-linear and weighted least squares regression, the accuracy of the analytical method was improved at the lower end of the calibration curve. This study suggests that the non-linear calibration equation should be considered when a curve is required to be fitted to low dose calibration data which exhibit slight curvature.

• Magazine of the Korean Society of Agricultural Engineers
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• v.45 no.5
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• pp.110-116
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• 2003

A catchment modelling system is the summation of the numerous hydrologic, hydraulic and other process models necessary to simulate the response of a catchment to a storm event. Differences between the recorded catchment response and that predicted by a catchment modelling system can arise from structural errors within the catchment modelling system, evaluation errors in the control parameters, or measurement errors in the recorded data being used to assess the reliability of the evaluation of the control parameters. Presented herein is an investigation of the potential measurement errors within the recorded information, which was considered to occur from instrument error in the ultra sonic flow monitor. This investigation was undertaken using three available rating curves at the Musgrave Avenue Stormwater System in Centennial Park, Sydney, developed by Abustan (1997), Water Board (1994), and using Manning's equation.

• Journal of The Korean Society of Agricultural Engineers
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• v.47 no.4
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• pp.65-74
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• 2005

AnnAGNPS model was applied to a catchment mainly occupied with bushland for modeling non-point source pollution. Since the single event model cannot handle events longer than 24 hours duration, the event-based calibration was carried out using the continuous mode. As event flows affect sediment and nutrient generation and transport, the calibration of the model was performed in three steps: Hydrologic, Sediment and Nutrient calibrations. The results from hydrologic calibration for the catchment indicate a good prediction of the model with average ARE(Absolute Relative Error) of $24.6\%$ fur the runoff volume and $12\%$ for the peak flow. For the sediment calibration, the average ARE was $198.8\%$ indicating acceptable model performance for the sediment prediction. The predicted TN(Total Nitrogen) and TP(Total Phosphorus) were also found to be acceptable as the average ARE for TN and TP were $175.5\%\;and\;126.5\%$, respectively. The AnnAGNPS model was therefore approved to be appropriate to model non-point source pollution in bushland catchments. In general, the model was likely to result in underestimation for the larger events and overestimation fur the smaller events for the water quality predictions. It was also observed that the large errors in the hydrologic prediction also produced high errors in sediment and nutrient prediction. This was probably due to error propagation in which the error in the hydrologic prediction influenced the generation of error in the water quality prediction. Accurate hydrologic calibration should be hence obtained for a reliable water quality prediction.

• Journal of Electrical Engineering and Technology
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• v.13 no.6
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• pp.2530-2544
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• 2018

In this paper, we propose an enhanced LiDAR-camera calibration method that extracts the marker plane from 3D point cloud information. In previous work, we estimated the straight line of each board to obtain the vertex. However, the errors in the point information in relation to the z axis were not considered. These errors are caused by the effects of user selection on the board border. Because of the nature of LiDAR, the point information is separated in the horizontal direction, causing the approximated model of the straight line to be erroneous. In the proposed work, we obtain each vertex by estimating a rectangle from a plane rather than obtaining a point from each straight line in order to obtain a vertex more precisely than the previous study. The advantage of using planes is that it is easier to select the area, and the most point information on the board is available. We demonstrated through experiments that the proposed method could be used to obtain more accurate results compared to the performance of the previous method.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.15 no.5
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• pp.1-6
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• 2006

The purpose of this study is to develop to portable near infrared analyzer measuring the sugar content of the fruits on a tree before harvesting ones. The portable near infrared system consists of a tungsten lamp, a coaxial optical fiber bundle and a multi-channel detector, which has 256 pixels and a concave transmission grating. Reflectance NIR spectra of orange were recorded by using a coaxial optical fiber bundle. The spectra were collected over the spectral range $400{\sim}1100nm$. Partial least squares regression(PLSR) was applied for a calibration and validation for determination of sugar contents. The multiple correlation coefficient was 0.99 and standard errors of calibration(SEC) was 0.069 brix. The calibration model predicted the sugar content for validation set with standard errors of prediction(SEP) of 0.092 brix. The sugar content in fruits was successfully quantified using the portable near infrared analyzer.

• JSTS:Journal of Semiconductor Technology and Science
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• v.13 no.5
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• pp.473-481
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• 2013

A fractional folding analog-to-digital converter (ADC) with a novel arithmetic digital encoding technique is discussed. In order to reduce the asymmetry errors of the boundary conditions for the conventional folding ADC, a structure using an odd number of folding blocks and fractional folding rate is proposed. To implement the fractional technique, a new arithmetic digital encoding technique composed of a memory and an adder is described. Further, the coding errors generated by device mismatching and other external factors are minimized, since an iterating offset self-calibration technique is adopted with a digital error correction logic. A prototype 8-bit 1GS/s ADC has been fabricated using an 1.2V 0.13 um 1-poly 6-metal CMOS process. The effective chip area is $2.1mm^2$(ADC core : $1.4mm^2$, calibration engine : $0.7mm^2$), and the power consumption is 88 mW. The measured SNDR is 46.22 dB at the conversion rate of 1 GS/s. Both values of INL and DNL are within 1 LSB.