• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.281-285
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• 1986

In this paper, the characteristics of disturbance torque of gimbal servo dynamics are studied, and the simulation methods of gimbal servo dynamics and INS error due to angular rate and linear acceleration of vehicle are proposed. In results of the simulation for a specific INS, it is estimated that INS velocity error due to gimbal servo dynamics is nearly proportional to square of vehicle acceleration.

• Journal of Navigation and Port Research
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• v.35 no.10
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• pp.785-791
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• 2011

This paper describes the evaluation and selection of MEMS(Micro-Elect Mechanical System) based inertial sensor to fit to implement the Inertial Measurement Unit(IMU) for a small-sized vessel at sea. At first, the error model and the noise model of the inertial sensors are defined with Euler's equations and then, the inertial sensor evaluation is carried out with Allan Variance techniques and Monte Carlo simulation. As evaluation results for the five sensors, ADIS16405, SAR10Z, SAR100Grade100, LIS344ALH and ADXL103, the combination of gyroscope and accelerometer of ADIS16405 is shown minimum error having around 160 m/s standard deviation of velocity error and around 35 km standard deviation of position error after 600 seconds. Thus, we select the ADIS16405 inertial sensor as a MEMS-based inertial sensor to implement IMU and, the error reducing method is also considered with the search for reference papers.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1380-1383
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• 2004

The scanning type XY stage is frequently used these days as precision positioning system in equipment for semiconductor or display element. It is requested higher velocity and more precise accuracy for higher productivity and measuring performance. The position accuracy of general stage is primarily affected by the geometric errors caused by parasitic motion of stage, misalignments such as perpendicular error, and thermal expansion of structure. In the case of scanning type stage, H type frame is usually used as base stage which is driven by two actuators such as linear motor. In the point view of scanning process, the stage is used in moving motion. Therefore, dynamic variation is added as significant position error source with other parasitic motion error. Because the scanning axis is driven by two actuators with two position detectors, 2 dimensional position errors have different characteristic compared to general tacked type XY stage. In this study 2D position error of scanning stage is analyzed by 1D heterodyne interferometer calibrator, which can measure 1D linear position error, straightness error, yaw error and pitch error, and perpendicular error. The 2D position error is evaluated by diagonal measurement (ISO230-6). The yaw error and perpendicular error are compensated on the base stage of scanning axis. And, the horizontal straightness error is compensated by cross axis compensation. And, dynamic motion error in scanning motion is analyzed.

• 한국해양학회지
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• v.30 no.6
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• pp.543-549
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• 1995

The inverse method has been used to estimate a surface velocity field from sequential AVHRR/SST data. In the model, equation system was composed of heat equation and horizontal divergence minimization and the velocity field contained in the advective term of the heat equation, which was linearized in grid system, was estimated. A constraint was the minimization of horizontal divergence with weighting factor and introduced to compensate the null space(Menke, 1984) of the velocity solutions for the heat equation. The experiments were carried out to set up the range of weighting factor and the matrix equation was solved by SVD(Singular Value Decomposion). In the experiment, the scales of horizontal temperature gradient and divergence of synthetic velocity field were approximated to those of real field. The neglected diffusive effect and the horizontal variation of heat flux in the heat equation were regarded as random temperature errors. According to the result of experiments, the minimum of relative error was more desirable than the minimum of misfit as the criteria of setting up the weighting factor and the error of estimated velocity field became small when the weighting factor was order of $10^{-1}$

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.864-866
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• 1996

The attitude error is expressed using four kinds of quaternion errors. And the explicit relation equations between them are derived four kinds of nonlinear error models of SDINS using the their explicit relation are also proposed for a nonlinear filter which may be available for a system in the presence of a large attitude error the concept of the proposed nonlinear error model is applied to the velocity aided SDINS using a linear Kalman filter and an extended Kalman filter the simulation results reveal a improvement of performance using the nonlinear error model.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.325-326
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• 2006

Recently, it is concentrated on productivity improvement in high speed operation by converting industries. Register error is becoming the one of the most issued problem. Moreover register control is the key to product flexible displays through roll-to-roll systems. This paper presents a derivation of register error modeling. And the dynamics of register error is simulated under various conditions. Register error is affected by both roll velocity and tension between the front and back span. And dynamics of register error is to be an interaction in succeeding spans.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.27 no.10
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• pp.1450-1456
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• 2003

Three-dimensional pipe flows with elbows, tees and headers in three different pipe systems are calculated to estimate the effect of asymmetry of axial velocity profile and swirl on measuring accuracy of an orifice flowmeter. It is evaluated how the pressure difference across the orifice is dependent on the upstream straight pipe length and how swirl intensity, swirl angle, and axial velocity distribution affect the measuring error of the orifice flowmeter. From the results, it is found that variation of the pressure difference across the orifice is negligible in case that maximum swirl angle is less than 2$^{\circ}$, and also that the pressure difference across the orifice is more sensitive to the asymmetry of axial velocity profile rather than the swirl intensity.

• International Journal of Naval Architecture and Ocean Engineering
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• v.10 no.3
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• pp.282-293
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• 2018

This paper attempts to address the motion parameter skip problem associated with three-dimensional trajectory tracking of an underactuated Autonomous Underwater Vehicle (AUV) using backstepping-based control, due to the unsmoothness of tracking trajectory. Through kinematics concepts, a three-dimensional dynamic velocity regulation controller is derived. This controller makes use of the surge and angular velocity errors with bio-inspired models and backstepping techniques. It overcomes the frequently occurring problem of parameter skip at inflection point existing in backstepping tracking control method and increases system robustness. Moreover, the proposed method can effectively avoid the singularity problem in backstepping control of virtual velocity error. The control system is proved to be uniformly ultimately bounded using Lyapunov stability theory. Simulation results illustrate the effectiveness and efficiency of the developed controller, which can realize accurate three-dimensional trajectory tracking for an underactuated AUV with constant external disturbances.

• Journal of the Korean Society for Nondestructive Testing
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• v.11 no.2
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• pp.22-31
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• 1991

Various types of ultrasonic techniques have been used for the estimation of compressive strength of concrete structures. However, conventional ultrasonic velocity method using only longitudial wave cannot be determined the compressive strength of concrete structures with accuracy. In this paper, by using the introduction of multiple parameter, e. g. velocity of shear wave, velocity of longitudinal wave, attenuation coefficient of shear wave, attenuation coefficient of longitudinal wave, combination condition, age and preservation method, multiple regression analysis method was applied to the determination of compressive strength of concrete structures. The experimental results show that velocity of shear wave can be estimated compressive strength of concrete with more accuracy compared with the velocity of longitudinal wave, accuracy of estimated error range of compressive strength of concrete structures can be enhanced within the range of ${\pm}$10% approximately.

• Journal of Advanced Marine Engineering and Technology
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• v.15 no.1
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• pp.71-74
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• 1991

Uncertainty analyses accompanied by the measurement of the velocity vectors in 3-D cavity flows are carried out. Twenty-one elemental errors are esimated or calculated according to the ANIS/ASME uncertainty analysis manual. Error components associater with the PIV(Particle Imaging Velocimetry) are reasonably small and the errors caused by the flow characteristics are fairly large, which confirm the reliability of the PIV measurement and also give good information to the planning phase of the experiment by discriminating the most critical parameter. The present study reveals that vector length expressed by pixels is the most influential. Calculated relative uncertainty for the all experimental conditions is ranging about 5-10% in terms of the representative velocity 0.5U. U is here the belt velocity on the cavity apparatus. Approximating equations to show the relative rss uncertainties are given and graphic representations are followed for the easier understanding of the uncertainty, existing in the velocity profiles of the cavity flow.