• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.6
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• pp.221-227
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• 2002

In this paper, the system model for the compensation of the low-cost personal navigation system is derived and the error compensation method using GPS is also proposed. WNS(Walking Navigation System) is a kind of personal navigation system using the number of a walk, stride and azimuth. Because the accuracy of these variables determines the navigation performance, computational methods have been investigated. The step is detected using the walking patterns, stride is determined by neural network and azimuth is calculated with gyro output. The neural network filters off unnecessary motions. However, the error compensation method is needed, because the error of navigation information increases with time. In this paper, the accumulated error due to the step detection error, stride error and gyro bias is compensated by the integrating with GPS. Loosely coupled Kalman filter is used for the integration of WNS and GPS. It is shown by simulation that the error is bounded even though GPS signal is blocked.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.10
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• pp.1696-1702
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• 2008

This paper proposes a voltage compensation device direct control strategy to realize the distributed, autonomous voltage control of the distribution system, which based on voltage data collected from customers of the remote site under the ubiquitous-based distribution system. In the proposed method, The ULTC and the SVR(Step Voltage Regulator)s compensate autonomously the voltage for self-compensation area based on the voltage data furnished from the ubiquitous device of customers. Also, the SVRs overcome the limit of single-operation of ULTC by the interlocking operation with the ULTC and enhance the voltage compensation capability for the customer. In particular, an optimization design method and a fuzzy design method are compared to determine the effective control method of the voltage compensator under the ubiquitous-based on-line operation environments. In fuzzy method, the tap of voltage compensator is defined as output member. Finally, the proposed two methods are implemented in Visual C++ MFC, the effectiveness is proved by simulation based on the worst virtual voltage data. Also, an optimal voltage compensation strategy is determined under on-line environments based on analyzed results.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.2
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• pp.97-103
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• 2005

Most car navigation systems(CNS) estimate the vehicle's location using global positioning system(GPS) or dead reckoning(DR) system. However, the estimated location has undesirable errors because of various noise sources such as unpredictable GPS noises. As a result, the measured position is not lying on the road, although the vehicle is known to be restricted on the road network. The purpose of map matching is to locate the vehicle's position on the road network where the vehicle is most likely to be positioned. In this paper, we analyze some general map matching algorithms first. Then, we propose a map matching method using compensation vectors to improve the performance of map matching. The proposed method calculates a compensation vector from the discrepancy between a measured position and an estimated position. The compensation vector and a newly measured position are to be used to determine the next estimation. To show the performance improvement of the map matching using compensation vectors, the real time map matching experiments are performed. The real road experiments demonstrate the effectiveness and applicability of the proposed map matching.

• Proceedings of the KIEE Conference
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• 1998.11b
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• pp.403-406
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• 1998

There are two cases of error occurrence of STT(Smart Temperature Transmitter). One is that because of unstable reference voltage, data from A/D converter is not reliable. The other is that because of change of room temperature, this change affects conversion of A/D converter. In this paper, we show algorithms be adapted to STT for reliable conversion of A/D converter through a experiment and compensation for temperature change. In a experiment, we collect data from reference voltage and ground then calculate nominal value of these at constant temperature during A/D converter initialization or at any conversion time. Algorithm for compensation for unstable reference voltage calculates a correction factor and adapts it to compensation for malfunction of A/D converter. Algorithm for compensation for variation of room temperature is come from linearization of thermistor but is adapted to zener diode, not thermistor, therefor we have less effort for compensation for temperature and have a idea that it can be adapted to A/D converter system.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.1
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• pp.155-162
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• 2020

In this paper, we present a radiation compensation method and experiment method for two-dimensional direction finding by elevation and azimuth angles of broadband GPS signal, and then produce experimental results. Previous studies have performed direction finding by only using the azimuth angle of the detected signal. So, the compensation table utilizes compensation data by azimuth angles only. However, the presented method in this study has compensation data by azimuth and elevation angles for two-dimensional direction finding. Because of direction finding systems and applications are diversified, recently. So, we present a two-dimensional radiation compensation method. For evaluation of the presented compensation method, we calculate the ideal phase differences on the antenna for two-dimensional direction finding and simulate phase differences using a FEKO EM simulator. Subsequently, we analyze experimental data by radiation compensation experiments using the presented compensation method in an anechoic chamber.

• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.247-254
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• 2006

For more accurate navigation, lever arm compensation is considered. The compensation method for GPS and an odometer is introduced and new compensation methods are proposed for an odometer to consider the effect of coordinate transformation errors and the scale factor error. The methods are applied to a GPS/INS/odometer integrated system and the simulation and experimental results show its effectiveness.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2701-2706
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• 2003

This paper describes weld seam tracking and error compensation methods of automatic plasma arc welding system designed for the corrugation panel that consists of a linear section and a curved section with various curvatures. Realizing automatic welding system, we are faced with two problems. One is a precise seam tracking and the other is an arc length control. Due to the complexity of the panel shape, it is difficult to find a seam and operate a torch manually in the welding process. So, laser vision sensor for seam tracking is equipped for sensing the seam position and controlling the height of a torch automatically. To attain more precise measurement of an arc length, we measure the 3D shape of the panel and analyze error factors according to the various panel states and caused errors are predicted through the welding process. Using that result, compensation algorithm is added to that of arc length control and real time error compensation is achieved. The result shows that these two methods work effectively.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.13 no.3
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• pp.44-52
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• 2004

This paper proposed a error compensation methodology for three-DOF translational parallel manipulator. The proposed method uses CMM (coordinate measuring machine) as metrology equipment to measure the position of end-effector. To identify the transform relationships between the coordinate system of the parallel manipulator and the CMM coordinate system, a new coordinate referencing (or coordinate system identification) technique is presented. By using this technique, accurate coordinate transformation relationships are efficiently established. According to these coordinate transformation relationships, an equation to calculate the compensating error components at any arbitrary position of the end-effector is derived. In this paper, Monte Carlo simulation method is applied to simulate the compensation process. Through the simulation results, the proposed error compensation method proves its effectiveness and feasibility.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.9
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• pp.2358-2367
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• 1994

This paper presents techniques for evaluation and compensation of total measuring errors in a commercial CMM. The probe errors as well as the machine geometric errors are assessed from probing of the mechanical artefacts such as shpere, step, and rings. For the error compensation, the integrated volumetric error equations are considered, including the probe error adn the machine geometric error. The error compensation is performed on the absolute scale coordinate system, in order to overcome the redundant degree of freedom in the CMM with multi-axis probe. A interface box and corresponding software driver are developed for data intercepting/correction between the machine controller and machine, thus the volumetric errors can be compensated in real time with minimum interference to the operating software and hardware of a commercial CMM. The developed system applied to a practical CMM installed on the shop floor, and demonstrated its performance.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.826-832
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• 2016

A two-wheeled balancing mobile robot (TWBMR) has the characteristics of both nonlinear and underactuated system. In this paper, the disturbances acting on a TWBMR are classified into body disturbance and wheel disturbance. Additionally, we describe a nonlinear disturbance observer, which is suitable as a single input multi-output (SIMO) system for the longitudinal motion of TWBMR. Finally, we propose a reasonable disturbance compensation technique that combines the indirect reference input of equilibrium point and the direct torque compensation input. Simulations and experimental results show that the proposed disturbance compensation method is an effective way to achieve robust postural stability, specifically on inclined terrains.