• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.86.1-86
• /
• 2001

Combined with a counter, wheel or strip encoders which have equally divided markers are one of frequent measuring choices towards various applications in terms of cost, simplicity, and diversity of measurements, e.g., measuring displacement, velocity, acceleration, and so on. Often, velocity is measured by counting the series of reference clocks for a period of time which sensor-carrying device took for traveling two adjacent encoding markers. Quantizaion error of such that the disturbance caused by quantization error is under control. This paper identifies design issues, developes theory, and proposes a paradigm to design a velocity measurement system such ...

• 한국환경과학회지
• /
• 제23권4호
• /
• pp.543-552
• /
• 2014

Fixed Electromagnetic Wave Surface Velocimetry (Fixed EWSV) has been started to be used to measure flood discharge in the mountain stream, since it has various advantages such that it works well to continuously measure stream discharge even in the night time as well as very strong weather. On the contrary, the Fixed EWSV only measures single point surface velocity, thus it does not consider varying feature of the transverse velocity profile in the given stream cross-section. In addition, a conventional value of 0.85 was generally used as the ratio for converting the measured surface velocity into the depth-averaged velocity. These aspects could bring in error for accurately measuring the stream discharge. The capacity of the EWSV for capturing rapid flow velocity was also not properly validated. This study aims at conducting error analysis of using the EWSV by: 1) measuring transverse velocity at multiple points along the cross-section to assess an error driven by the single point measurement; 2) figuring out ratio between surface velocity and the depth-averaged velocity based on the concurrent ADCP measurements; 3) validating the capacity of the EWSV for capturing rapid flow velocity. As results, the velocity measured near the center by the fixed EWSV overestimated about 15% of the cross-sectional mean velocity. The converting ratio from the surface velocity to the depth-averaged velocity was 0.8 rather than 0.85 of a conventional ratio. Finally, the EWSV revealed unstable velocity output when the flow velocity was higher than 2 m/s.

• Journal of Positioning, Navigation, and Timing
• /
• 제8권3호
• /
• pp.107-117
• /
• 2019

When a vehicle moves with a high rotation rate, it is not easy to measure the angular velocity using an off-the-shelf gyroscope. If the angular velocity is estimated using the extended Kalman filter in the gyro-free inertial navigation system, the effect of the accelerometer error and initial angular velocity error can be reduced. In this paper, in order to improve the navigation performance of the gyro-free inertial navigation system, an angular velocity estimation method is proposed based on an extended Kalman filter with an accelerometer random bias error model. In order to show the validity of the proposed estimation method, angular velocities and navigation outputs of a vehicle with 3 rev/s rotation rate are estimated. The results are compared with estimates by other methods such as the integration and an extended Kalman filter without an accelerometer random bias error model. The proposed method gives better estimation results than other methods.

• 국제물리치료학회지
• /
• 제9권4호
• /
• pp.1602-1607
• /
• 2018

This study examined the correlation between power error (PE) and velocity error (VE) according to the condition and frequency of self-controlled feedback (SCF) during knee extension. One hundred participants were randomly assigned to 30% SCF, 70% SCF, 30% yoked feedback (YF), 70% YF and control group, respectively. The SCF group was provided with feedback when they requested it, whereas the YF group did not influence the feedback schedule. Participants in the control group were not given any visual feedback during the experiment. The isotonic, isometric, and isokinetic dynamometer (PRIMUS RS, BTE, USA) was used to measure the power and velocity error during knee extension. The collected data was analyzed using a Pearson test and SPSS 21.0. The correlation between PE and VE according to the condition and frequency of feedback on each phase during knee extension was significant. Both PE and VE were significantly higher when the feedback was provided with high frequency, passive, and no feedback. Our study suggests that application of SCF can help to improve the proprioception of the healthy person while reducing errors through low frequency and active feedback.

• Journal of Positioning, Navigation, and Timing
• /
• 제8권4호
• /
• pp.175-181
• /
• 2019

This paper suggests a velocity integration algorithm for Synthetic Aperture Radar (SAR) motion measurement to reduce discontinuity of range error. When using position data from Embedded GPS/INS (EGI) to form SAR image, the discontinuity of the data degrades SAR image quality. In this paper, to reduce the discontinuity of EGI position data, EGI velocity integration is suggested which obtains navigation solution by integrating velocity data from EGI. Simulation shows that the method improves SAR image quality by reducing the discontinuity of range error. INS is a similar algorithm to EGI velocity integration in the way that it also obtains navigation solution by integrating velocity measured by IMU. Comparing INS and EGI velocity integration according to grades of IMU and GPS, EGI velocity integration is more suitable for the real system. Through this, EGI velocity integration is suggested, which improves SAR image quality more than existing algorithms.

• 한국정밀공학회지
• /
• 제10권1호
• /
• pp.28-33
• /
• 1993

Measurements errors due to sound velocity effect on vibrating gas densimeters were described. Nitrogen was used to calibrate the densimeter, and oxygen was employed to determine a coefficient for the compensation of sound velocity effect. Sound velocity effects were shown with methane at temperatures of 7.97, 19.93 and 39.57 .deg. C, and pressures up to 3.6 Mpa. A relative error of about 1% was introduced when the nitrogen calibrated densimeter was used to measure densities of pure methane. A method of sound velocity effect compensation was able to reduce the error down to 0.1%.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2007년도 춘계학술대회B
• /
• pp.2585-2590
• /
• 2007

In this paper, a technique of simultaneously measuring the velocity and the temperature in micro-scale flow is proposed. This method uses particle tracking velocimetry (PTV) for measuring the velocity and laser induced fluorescence (LIF) for measuring the temperature. To measure the accurate velocity and temperature, images for PTV and for LIF are separated by using two light sources and a shutter which is synchronized with a camera. By using only one camera, measurement system can be simplified and the error from complicate optical system can be minimized. Error analyses regarding the concentrations of fluorescent dye and particle and the light source fluctuation are also conducted. It is found that the error of the temperature and the velocity highly depends on the concentration of fluorescent particles which are used for PTV. This technique is applied to the simultaneous measurement of the velocity and the temperature in the electrokinetic flow. It is found that the velocity and temperature vary with the electric field strength and the concentration of electrolyte.

• 대한기계학회논문집B
• /
• 제31권7호
• /
• pp.644-652
• /
• 2007

In this paper, a technique of simultaneously measuring the velocity and the temperature in micro-scale flow is proposed. This method uses particle tracking velocimetry (PTV) for measuring the velocity and laser induced fluorescence (LIE) for measuring the temperature. To measure the accurate velocity and temperature, images for PTV and for LIE are separated by using two light sources and a shutter which is synchronized with a camera. By using only one camera, measurement system can be simplified and the error from complicate optical system can be minimized. Error analyses regarding the concentrations of fluorescent dye and particle and the light source fluctuation are also conducted. It is found that the error of the temperature and the velocity highly depends on the concentration of fluorescent particles which are used for PTV. This technique is applied to the simultaneous measurement of the velocity and the temperature in the electrokinetic flow. It is found that the velocity and temperature vary with the electric field strength and the concentration of electrolyte.

• 제어로봇시스템학회논문지
• /
• 제20권5호
• /
• pp.584-591
• /
• 2014

This paper presents a novel aided navigation method for AUV (Autonomous Underwater Vehicles). The navigation system for AUV includes several sensors such as IMU (Inertial Measurement Unit), DVL (Doppler Velocity Log) and depth sensor. In general, the $13^{th}$ order INS error model, which includes depth error, velocity error, attitude error, and the accelerometer and gyroscope biases as state variables is used with measurements from DVL and depth sensors. However, the model may degrade the estimation performance of the heading state. Therefore, the $11^{th}$ INS error model is proposed. Its validity is verified by using a degree of observability and analyzing steady state error. The performance of the proposed model is shown by the computer simulation. The results show that the performance of the reduced $11^{th}$ order error model is better than that of the conventional $13^{th}$ order error model.

• 자원환경지질
• /
• 제30권5호
• /
• pp.469-476
• /
• 1997

In the conventional velocity analysis, the peaks of a semblance panel are picked and the stacking velocities of the peaks are assumed as RMS velocities from which interval velocities are determined. This velocity analysis technique is correct only for horizontal homogeneous layes and incurs error in a layer whose velocity varies laterally. Tediousness of peak picking and error in velocity analysis can be reduced by automatic velocity analysis techniques. An automatic velocity analysis algorithm has been presented in order to improve these problems by considering the stacking velocity from the view point of interval velocity model and by relating the stacking velocity and the interval velocity with the traveltimes. In this paper, we apply the automatic velocity analysis method to simple models having lateral velocity anomaly to verify the effectivenesses and limits of this method. From the results of numerical experiments, we can determine the interval velocites without pickings of the stacking velocities in the one-dimensional velocity analysis and the general patterns of the laterally varying interval velocities appear in the two-dimensional case. However, the interval velocity and the depth of velocity anomaly determined by two-dimensional automatic velocity analysis are somewaht discrepant in those of the theoretical model.