• 제어로봇시스템학회논문지
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• 제11권5호
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• pp.463-470
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• 2005

This paper describes a method aimed at improving dead-reckoning accuracy with gyroscopes in mobile robots. The method is a precision calibration procedure for gyroscopes, which effectively reduces the ill effects of nonlinearity of the scale-factor and temperature dependency. This paper also describes the methods of gyro data collection fur all ambient temperature$(-40^{\circ}C{\~}+80^{\circ}C)$ using cubic spline interpolation and defining the error function. The sensor used was a vibrating gyroscope called the EWTS82NA21, which is low lost and commonly used in car navigation system, made by Panasonic. This angular rate sensor utilizes Coriolis force generated by a vibrating tuning fork. The paper also provides experimental results to check the performance and the effectiveness of the proposed method.

• 제어로봇시스템학회논문지
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• 제12권8호
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• pp.818-823
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• 2006

Because the rain gauges of tipping bucket type can easily use the digital signal, the rain gauges are widely used for the meteorological observation. In general, the resolution of rain gauges of tipping bucket type can be categorized by the 0.1mm, 0.5mm, and 1.0mm classes. But, the error of the tipping bucket rain gauges is made by the intensity of rainfalls and is expected to make the standard calibration method for error measurement. Thus, we developed the hardware of standard calibration facility for rain gauges by weighting measurement method and proposed the standard procedure by rainfall intensity in this study Also, we calculated the uncertainty for the rainfall intensity and obtained useful result through the proposed calibration method.

• 제어로봇시스템학회논문지
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• 제7권2호
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• pp.168-172
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• 2001

The accuracy problem of robot manipulators has long been one of the principal concerns in robot design and control. A practical and economical way of enhancing the manipulator accuracy, without affecting its hardware, is kinematic calibration. In this paper an effective and practical method is presented for kinematic calibration of Stewart platforms. In our method differential errors in kinematical parameters are linearly related to differential errors in the platform pose, expressed through the forward kinematics. The algorithm is tested using simulated measurement in which measurement noise is included.

• 제어로봇시스템학회논문지
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• 제7권12호
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• pp.1001-1008
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• 2001

This paper presents a new camera calibration algorithm for ill-conditioned cases in which the camera plane is nearly parallel to a set of non-coplanar calibration boards. for the ill-conditioned case, most of existing calibration approaches such as Tsais radial-alignment-constraint method cannot be applied. Recently, for the ill-conditioned coplanar calibration Lee&Lee[16] proposed an iterative algorithm based on the least square method. The non-coplanar calibration algorithm presented in this paper is an iterative two-stage procedure with extends the previous coplanar calibration algorithm. Through the first stage, camera, position and orientation parameters as well as one radial distortion factor are determined optimally for a given data of the scale factor and the focal length. In the second stage, the scale factor and the focal length are locally optimized. This process is repeated until any improvement cannot be expected any more Computational results are provided to show the performance of the algorithm developed.

• 한국진공학회지
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• 제2권2호
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• pp.139-144
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• 1993

동적교정방법을 이용하여 $10^{-7}~10^{-10}$torr 영역에서 교정 가능한 초고진공 표준기를 제작하였다. $10^{-6}~10^{-9}$torr L/s 영역의 극미세 유량은 고진공 표준기에 porous plug를 연결하여 발생 제어시켰으며 일정한 배기속도를 유지함이 알려져 있는 refrigerator type cryopump를 이용하여 $3{\times}10^{-11}$torr의 base pressure를 얻을 수 있었다. 이 초고진공 표준기를 이용하여 두 개의 extractor gauge와 자체 제작한 nude 이온게이지들을 교정하고 그 직선성 및 재현도를 살펴보았다.

• 한국진공학회:학술대회논문집
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• 한국진공학회 2013년도 제44회 동계 정기학술대회 초록집
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• pp.149-149
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• 2013

반도체 공정 및 디스플레이 공정에서 발생하는 오염입자는 공정 불량을 일으키는 가장 큰 인 중의 하나이며, 수십 나노에서 수 백 나노의 크기를 갖는다. 최근 반도체 산업이 발전함에 따라 회로의 선폭이 점차 감소하고 있으며 오염입자의 임계 직경(critical diameter) 또한 작아지고 있다. 또한 디스플레이 산업에서는 패널이 대형화되고 공정이 발달함에 따라 입자에 의한 패널 오염이 이슈가 되고 있는 실정이다. 현재 반도체 및 디스플레이 산업에서 사용되는 측정방법으로는 레이저를 이용하여 공정 후 표면에 남아있는 오염입자를 측정하는 ex-situ 방법이 주를 이루고 있다. Ex-situ 방법을 이용한 오염입자의 제어는 웨이퍼 전체를 측정할 수 없을 뿐만 아니라 실시간 측정이 불가능하기 때문에 공정 모니터링 장비로 사용이 어려우며 오염입자와 공정 간의 상관관계 파악에도 많은 제약이 따르게 된다. 이에 따라 저압에서 in-situ 방법을 이용한 실시간 오염입자 측정 기술 개발이 요구되고 있다. 또한 입자의 크기 뿐 아니라 성분과 형상까지 측정할 수 있는 장치의 개발 요구가 높아지고 있는 실정이다. 이를 위해 입자의 크기 및 분포를 측정할 수 있는 Particle Beam Mass Spectrometer (PBMS)와 형상을 측정할 수 있는 Scanning Electron Microscope (SEM)의 기능을 통합하여 실시간으로 나노입자의 복합특성(크기, 성분, 형상)을 측정할 수 있는 장치를 개발하였다. 또한 기존 장치들의 문제점 중 하나가 실시간으로 교정이 불가능하다는 것이었는데 이 장치의 경우 실시간으로 측정되는 결과의 조합으로 실시간 교정까지도 가능한 장점을 가지고 있다.

• 한국군사과학기술학회지
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• 제24권4호
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• pp.368-373
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• 2021

This paper presents a method of independent pulse repetition frequency(PRF) generation and control for frequency phase calibration on mono-pulse radar at a remote location. In order to generate an independent PRF signal of 320[Hz], pulse width modulation(PWM) of 16-bit timer/counter was applied. For a precision control of PRF signal, 16-bit timer/counter interrupt was changed for each period. Therefore, average frequency of PRF could be controlled by 0.0001[Hz]. To calibrate a frequency phase of mono-pulse radar at a remote location, the proposed PRF generator with a precision control of frequency was used regardless of receiving PRF signal from a radar. For the verification of the proposed PRF generator, theoretical analysis and experimental results are included.

• 융합신호처리학회논문지
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• 제3권2호
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• pp.83-88
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• 2002

본 논문에서는 온도보상과 POS 접속이 가능한 LPG 충전제어시스템을 구현하였다. 이 시스템은 16-bit 80C196 마이크로프로세서와, RAM, ROM, 비디오 driver, 프로그램주변소자 등으로 구성된다. 가스 유량계로부터의 부호화 유량신호와 장치교정 값, 온도센서로부터의 변환된 전압 값을 근거로 정확한 가스 충전량을 계산하고 솔레노이드 밸브를 on/off 함으로 충전량을 제어한다. 온도보상은 LP 가스 온도의 10-bit 아날로그-디지털변환에 의하여 0.5$^{\circ}C$의 분해능으로 이루어지며 온도보상의 범위는 영하 30도에서 영상 70도까지 가능하다.

• 제어로봇시스템학회논문지
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• 제20권2호
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• pp.149-156
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• 2014

A magnetic compass module must be calibrated accurately before use. Moreover, the calibration process must be performed taking into account any magnetic dip if the magnetic compass module has tilt angles. For this, a calibration method for a magnetic compass module is explained. Tilt error of the magnetic compass module is compensated using a biaxial accelerometer generally. The accelerometer error causes a tilt angle calculation error that gives rise to an azimuth calculation error. For error property analysis, error equations are derived and simulations are performed. In the simulation results, the accuracy of derived error equations is verified. If a biaxial magnetic compass module is used instead of a triaxial one, the magnetic dip and z-axis magnetic compass data must be estimated for tilt compensation. Lastly, estimation equations for the magnetic dip and z-axis magnetic compass data are derived, and the performance of the equations is verified based on a simulation.

• 제어로봇시스템학회논문지
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• 제7권10호
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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.