• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2002.05a
• /
• pp.842-847
• /
• 2002

One of the challenging problems with bicycle simulators is to deal with the inherent unstable bicycle dynamics that is coupled with rider's motion. For the bicycle dynamics calculation and the real time simulation, it is necessary to identify the control inputs from the rider as well as the virtual environments. The six control forces of the Stewart platform-based motion system are used for estimation of the rider's action force, which is one of the important control inputs, but of which the direct measurement is impractical. For the effective estimation of the rider's action force, the dynamics model of the motion system is derived incorporated with both analytical and experimental methods and the sliding mode controller with perturbation estimation is developed.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.12 no.2
• /
• pp.107-113
• /
• 2013

When the main spindle of high precision machine tools are run many hours, heat is generated in bearing parts of the inside of the spindle. Also, headstock is appeared distortion by inside and outside temperature difference of a machine. This paper studies method to measure behavior of machine tool about these thermal effects. In addition, it estimates measurement uncertainty factors which can be appeared in thermal effects measurement. Finding the factor of thermal affect measurement is important for estimation of measurement uncertainty. This paper measures thermal effects of high precision machine tools and evaluates the important factors of uncertainty.

• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.6
• /
• pp.470-476
• /
• 2016

This paper proposes a practical algorithm for the reduction of measurement errors due to drift in a micro-electromechanical system (MEMS) gyros that are used for a mobile robot. Any drift in a MEMS gyro will cause an unbounded growth of errors in the estimation of heading, which makes it nearly useless in applications that require high accuracy over a long operating time. In proposed method, maneuvers of a cleaning robot are observed through encoders' measurement process and a decision to correct bias drift will be made if necessary. The method used in this paper is called the "heading estimation filter". To evaluate the accuracy of the proposed method, a comparison was made between the estimation of the heading of the cleaning robot and one from a motion capture system.

• Proceedings of the Korean Nuclear Society Conference
• /
• 1996.05b
• /
• pp.29-35
• /
• 1996

For the Reactor Coolant System(RCS) flow rate measurement by the secondary calorimetric heat balance method, the coolant temperature of the hot leg is needed. Several Resistance Temperature Detectors(RTD) are installed in the hot leg to measure the temperature, but the average value of RTDs does not correctly represent the energy-averaged(bulk) temperature because of the thermal stratification phenomenon. Therefore some correction is introduced to predict the bulk temperature, but the correction inevitably contains uncertainty because the stratification is not defined well quantitatively yet. Therefore a large uncertainty for the correction has been used for the conservative estimation. But unrealistically large uncertainty causes degradation of the measurement method and yields difficulty to meet the acceptance criterion in start-up flow measurement test. In this paper, an analytical estimation is made on the correction and the related uncertainty using the measured hot leg velocity profile of System 80 reactor flow model test and the measured temperatures of YGN 3&4 and PVNGS 1&2 start-up tests. The results reveal that the magnitude of the correction uncertainty is much smaller than that used in the previous design. Therefore, the confidence on the flow rate measurement method can be improved and the difficulty in start-up flow measurement test can be lessened if the smaller correction uncertainty obtained through this estimation is applied.

• Structural Monitoring and Maintenance
• /
• v.10 no.4
• /
• pp.361-379
• /
• 2023

In cable structure maintenance, particularly for cable-stayed bridges, cable safety assessment relies on estimating cable tension. Conventionally, in Japan, cable tension is estimated from the natural frequencies of the cable using the higher-order vibration method. In recent years, dampers have been installed on cables to reduce cable vibrations. Because the higher-order vibration method is a method for damper-free cables, the damper must be removed to measure the natural frequencies of a cable without a damper. However, cables on some cable-stayed bridges have two dampers: one on the girder side and another on the tower side. Notably, removing and reinstalling the damper on the tower side are considerably more time- and labor-intensive. This paper introduces a tension estimation method for cables with two dampers, using natural frequencies. The proposed method was validated through numerical simulation and experiment. In the numerical tests, without measurement error in the natural frequencies, the maximum estimation error among 100 models was 3.3%. With measurement error of 2%, the average estimation error was within 5%, with a maximum error of 9%. The proposed method has high accuracy because the higher-order vibration method for a damper-free cable still has an estimation error of 5%. The experimental verification emphasizes the importance of accurate damper modeling, highlighting potential discrepancies between existing damper design formula and actual damper behavior. By revising the damper formula, the proposed method achieved accurate cable tension estimation, with a maximum estimation error of approximately 10%.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.67 no.4
• /
• pp.491-497
• /
• 2018

Most of the applications for distribution system operation highly rely on the voltage and current managements from the field devices. Voltage from the remote controlled switch contains unacceptably large measurement error due to the nonlinear characteristics of the bushing potential transformer. This paper proposes a new voltage magnitude estimation method by calculating voltage drop using current measurement, line impedance and loads deployment data. Contract demand power and pole transformer capacity managed by NDIS are used as a key element to improve accuracy of the proposed method. Various case studies using Matlab simulation have been performed to verify feasibility of the propose voltage estimation method.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.61 no.2
• /
• pp.276-283
• /
• 2012

In this paper, a practical quasi-optimal DOA(direction of arrival) estimator is proposed in order to develop a one-axis gimbaled ultrasonic source tracker for mobile robot applications. With help of the gimbal structure, the ultrasonic moving source tracking problem can be simply reduced to the DOA estimation. The DOA estimation is known as one of the representative long-pending nonlinear filtering problems, but the conventional nonlinear filters might be restrictive in many actual situations because it cannot guarantee the reliable performance due to the use of nonlinear signal model. This motivates us to reformulate the DOA estimation problem in the linear robust state estimation setting. Based on the assumption that the received ultrasonic signals are noisy sinusoids satisfying linear prediction property, a linear uncertain measurement model is newly derived. To avoid the DOA estimation performance degradation caused by the stochastic parameter uncertainty contained in the linear measurement model, the recently developed NCRKF (non-conservative robust Kalman filter) scheme [1] is utilized. The proposed linear DOA estimator provides excellent DOA estimation performance and it is suitable for real-time implementation for its linear recursive filter structure. The effectiveness of the suggested DOA estimation scheme is demonstrated through simulations and experiments.

• International Journal of Aeronautical and Space Sciences
• /
• v.14 no.4
• /
• pp.379-386
• /
• 2013

The hemispherical resonator gyroscope is a type of vibratory gyroscope, which can measure angle or angular rate, based on its operating mode. This paper deals with the case when the hemispherical resonator gyroscope is operated in angle measurement mode. In angle measurement mode, the resonator pattern angle precesses, with respect to the external rotation input, by the principle of the Coriolis effect, so that the external rotation can be estimated, by measuring the amount of precession angle. However, this pattern angle drifts, due to the manufacturing error of the resonator. Since the drift effect causes degradation of the angle estimation performance of the resonator, the corresponding drift compensation control should be performed, to enhance the estimation performance. In this paper, a mathematical model of the hemispherical resonator gyro is first introduced. By using the mathematical model, a nonlinear observer for imperfection parameter estimation, and the corresponding compensation controller are designed to operate hemispherical resonator gyros, as angle measurement sensors.

• Communications of Mathematical Education
• /
• v.24 no.3
• /
• pp.587-610
• /
• 2010

This paper investigates the ways for estimation ability improvement in length, which is recently emphasized in measurement area of mathematics education. According to preceding studies, students' length estimation ability is considerably low. Revision curriculum tried to pursue estimation and feeling of massiveness responsive to trends in mathematics education. But, Such efforts are not reflected in textbooks and they are rather weak in the aspect of estimation and feeling of massiveness. This paper analyzes the contents related to length estimation in current textbooks critically and explores an alternatives. This paper is suggestive for textbook development to improve ability to estimate length.

• The Transactions of the Korean Institute of Electrical Engineers C
• /
• v.49 no.6
• /
• pp.354-359
• /
• 2000

A new method of measuring residual stress in micromachined film is proposed. An estimation of residual stress is performed by using least squares fit with an appropriate deflection modeling. an exact value of residual stress is obtained without any of the ambiguities that exist in conventional buckling method, and a good approximation is also obtained by using a few data points. Therefore, the test structures area could be greatly decreased by using this method. The measurement can be done more easily and simply without any actuation or any specific measuring equipment. The structure and fabrication processes described in this paper are simple and widely used in surface micromachining. In addition, in-situ measurement is available by using the proposed method when the test structure and the measurement structure are fabricated on a wafer simultaneously.