• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.4
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• pp.361-368
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• 2015

This paper reports an unscented Kalman filter approach for localization of a mobile robot in an indoor environment. The method proposes a new model of measurement uncertainty which adjusts the error covariance according to the measured distance. The method also uses non-zero off diagonal values in error covariance matrices of motion uncertainty and measurement uncertainty. The method is tested through experiments in an indoor environment of 100*40 m working space using a differential drive robot which uses Laser range finder as an exteroceptive sensor. The results compare the localization performance of the proposed method with the conventional method which doesn't use adaptive measurement uncertainty model. Also, the experiment verifies the improvement due to non-zero off diagonal elements in covariance matrices. This paper contributes to implementing and evaluating a practical UKF approach for mobile robot localization.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1991.11a
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• pp.105-109
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• 1991

A computer aided flatness calibration system has been developed. Rectangular grids based measurement procedure is proposed with closing error technique. giving advantages over conventional diagonal measurement procedures (‘Union Jack’). A new analysis technique has been developed for flatness evaluation called ‘ETT(Enclose Tilt technique)’, enabling minimum separation definition which is acknowledged as standard term for flatness definition. Practical assessment shows the performance of the developed system.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.861-862
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• 2009

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.807-808
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• 2011

• 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.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.10
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• pp.1311-1316
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• 1999

A visual servoing method has been proposed based on disturbance observer to eliminate the effect of the off-diagonal component of image feature Jacobian, since performance indices such as measurement sensitivity of visual features, sensitivity of the control to noise and controllability could be improved when an image feature Jacobian was given as a block diagonal matrix. In this paper, experimental results of disturbance observer-based visual servoing are discussed where Samsung FARAMAN-AS1 6-axis industrial robot manipulator is employed. Also, the feature saturator is proposed to stabilize the disturbance observer loop by saturating the differential changes of the image features.

• Korea Journal of Hospital Management
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• v.14 no.2
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• pp.21-40
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• 2009

The importance-performance analysis (IPA) is a widely used analytical technique that produces a priority of managerial attention for the customer satisfaction. This study attempted to compare various different approaches of IPA such as direct and indirect measurement of importance, and traditional four quadrants grid model and diagonal grid model of IPA. Data on 17 inpatient service quality attributes were collected from 234 inpatients of a general hospital. Eight IPA grids were produced to compare the result of each model. Based on the study results the strength and weakness of each model were discussed, and a set of recommendations for practical application of the IPA in hospital settings was suggested.

• Proceedings of the KIEE Conference
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• 1999.07g
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• pp.3077-3079
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• 1999

A visual servoing method has been proposed based on disturbance observer to eliminate the effect of the off-diagonal component of image feature Jacobian, since performance indices such as measurement sensitivity of visual features, sensitivity of the control to noise and controllability could be improved when an image feature Jacobian was given as a block diagonal matrix. In this paper, experimental results of disturbance observer-based visual servoing are discussed where Samsung FARAMAN-ASl 6-axis industrial robot manipulator is employed. Also, the feature saturator is proposed to stabilized the disturbance observer loop by saturating the differential changes of the image features.

• Transactions of Materials Processing
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• v.27 no.4
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• pp.250-256
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• 2018

Oxygen-free copper (OFC) was prepared as a 90 mm cube and then processed with Multi-Axial Diagonal Forging - Initialization of Prior manufacturing History (MADF). The MADF process has been newly developed as a severe plastic deformation method. The MADF process consists of upset forging with a thickness reduction of 30% and diagonal forging with a diagonal angle of $135^{\circ}$. 1 cycle process consists of a 12 passes forging process. In order to analyze the characteristic changes according to the number of iterations, 1, 2, and 3 cycles of the MADF process were performed. The OFC specimens were MADF processed without surface cracks up to 3 cycles. The microstructure, hardness and tensile test of processed materials were analyzed to study the change of material properties according to the amount of MADF process. The results showed that the MADF process effectively refined the microstructure and increased the strength of OFC. In the case of specimens processed for more than 2 cycles, the grains of all measurement regions were refined to be less than $7{\mu}m$ of grain size. The 1 cycle MADF processed OFC showed the highest mechanical properties with the hardness of 132 HV and tensile strength of 395 MPa. Hardness and strength seemed to be saturated when processed over 2 cycles.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.13 no.2
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• pp.28-34
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• 2014

A non-contact type measurement system is specially devised to measure the width of a piston ring groove in the grinding process. This system comprises a line camera with an imaging lens, collimated white light source, and a one axis translation stage. When the measurement system movesalong the diagonal direction of the cylinder, the line camera captures an image. By analyzing such images, the width of the piston ring groove can be determined. The experimental results prove that the proposed system is useful, especially as a monitoring system in grinding piston ring grooves on cylinders with accuracy of several micrometers in an area of dozens of millimeters.