• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.5
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• pp.636-643
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• 2009

NHC means that the velocity of the vehicle in the plane perpendicular to the forward direction is almost zero. The main error source of NHC is the mounting misalignment which is the difference between the body frame of a land vehicle and the sensor frame of an inertial measurement unit. This paper suggests new NHC algorithm that can reduce position errors by real-time estimation of mounting misalignment. Then NHC/ZUPT integrated land navigation system is designed and its performances are analyzed by simulations with van test data. Simulation results show that the proposed NHC/ZUPT land navigation system improves navigation accuracy regardless of misalignment angle and is very useful when SDINS operates stand-alone for land vehicle navigation with large mounting misalignment.

• Journal of Positioning, Navigation, and Timing
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• v.10 no.3
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• pp.179-187
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• 2021

To estimate the location of the train, we consider an integrated navigation system that combines Inertial Navigation System (INS) and Global Navigation Satellite System (GNSS). This system provides accurate navigation results in open sky by combining only the advantages of both systems. However, since measurement update cannot be performed in GNSS signal blocked areas such as tunnels, mountain, and urban areas, pure INS is used. The error of navigation information increases in this area. In order to reduce this problem, the train's Non-Holonomic Constraints (NHC) information can be used. Therefore, we deal with the INS/GNSS/NHC integrated navigation system in this paper. However, in the process of installing the navigation system on the train, a Mounting Misalignment Error of the IMU (MMEI) inevitably occurs. In this case, if the NHC is used without correcting the error, the navigation error becomes even larger. To solve this problem, a method of easily estimating the MMEI without an external device is introduced. The navigation filter is designed using the Extended Kalman Filter (EKF) by considering the MMEI. It is assumed that there is no vertical misalignment error, so only the horizontal misalignment error is considered. The performance of the integrated navigation system according to the presence or absence of the MMEI and the estimation performance of the MMEI according to the method of using NHC information are analyzed based on simulation. As a result, it is confirmed that the MMEI is accurately estimated by using the NHC information together with the GNSS information, and the performance and reliability of the integrated navigation system are improved.

• International Journal of Fluid Machinery and Systems
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• v.5 no.2
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• pp.91-99
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• 2012

The Fighter aircraft transmission system consists of a light weight, High Speed Flexible Coupling (HSFC) known as Power Take-Off shaft (PTO) for connecting Engine gearbox (EGB) with Accessory Gear Box (AGB). The HSFC transmits the power through series of specially contoured metallic annular thin flexible plates whose planes are normal to the torque axis. The HSFC operates at high speed ranging from 10,000 to 18,000 rpm. The HSFC is also catered for accommodating larger lateral and axial misalignment resulting from differential thermal expansion of the aircraft engine and mounting arrangement. The contoured titanium alloy flexible plates are designed with a thin cross sectional profile to accommodate axial and parallel misalignment by the elastic material flexure. This paper investigates the effect of misalignment on the transmission characteristics of the HSFC couplings. A mathematical model for the HSFC coupling with misalignment has been developed for analyzing the torque transmission and force interaction characteristics. An extensive testing has been conducted for validating characteristics of the designed coupling under various misalignment conditions. With this the suitability of the model adapted for the design iteration of HSFC development is validated. This method will reduce the design iteration cycles of HSFC and can be extended for the similar development of flexible couplings.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.22 no.1
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• pp.46-52
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• 2012

Since the engine and reduction gear in a naval vessel are usually supported by the mounting system separately, the misalignment between the input shaft of the reduction gear and the output shaft of the engine should occur caused by ship motion. In this study, this misalignment is estimated from the linear static analysis assuming that the phase of movements of the engine and reduction gear at low frequency range is same and the dynamic effect is not affect to them. Through comparing the relative displacement of the engine and reduction gear calculated from linear static analysis to that from dynamic analysis as well as experiment, the assumption in this study could be verified.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.2 no.2
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• pp.67-74
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• 2003

This paper presents the development of the Inspection machine for SMD mounted on cream solder of PCB. There are mounting errors of SMD such as misalignment, missing part, wrong orientation, wrong polarity and so on. The main hardware of the system consists of a machine vision part and a motion control part. Operating software has been developed in GUI environment to help user convenience. The Inspection Jobs consist of two procedures, that is, creation of the inspection reference data and automatic inspection. The Inspection reference data has a tree structure of linked list including PCB information, blocks, components, windows, and inspection methods. This paper presents versatile inspection methods which include a section length method, a projection method and histogram method. Therefore, user can choose the suitable procedure for various components. Finally, the automatic Inspection procedure using the reference data checks the mounting errors of components.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2002.02a
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• pp.260-265
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• 2002

In micro hole punching process, it is very difficult to align punch with die hole. Misalignment can cause a falling-on in hole quality and breakage of punch and die. Micro punching using soft die plate without a die hole has a big advantage because it is not necessary to align punch with die hole and to consider die clearance. Soft die plates are made by polymers or hard rubbers which are softer than metals. In this study, several micro punching experiments are conducted. Micro punching test with some materials shows that micro hole punching is feasible with some soft die plates. Through the section shape obtained by mounting and polishing, the punched hole quality is measured and the shapes of burr and dome we studied.

• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.4
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• pp.189-195
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• 2003

The steel wheels are widely used in the passenger cars because of their low cost of production although the aluminum wheels have many advantages in their performance and appearance. It is known that the steering wheel vibration with steel wheels is generated more often than one with aluminum wheels. Both the constant velocity driving test and the m up test are carried out in this study to analyze the causes and path of the steering wheel vibration generated from the steel wheels. And this study shows that the steering wheel vibration is affected by the fastening torque of the wheel mounting bolts between the steel wheel and the suspension disk.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.6
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• pp.698-704
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• 1999

There are several types of defects of SMDs mounted on PCB, that is, missing components, misalignment, wrong parts and poor solder joints. This research study mainly focuses on measuring of deviation of SMD leads using the partial image of component, not using the full image. This processing based on the partial image has the advantage of the reduction in calculation time compared to the full image. Since position of lead is calculated with respect of the reduction in calculation time compared to the full image. Since position of lead is calculated with respect to pad, the accuracy of the system is not dependent on percise positioning stage. The grabbed image of gray scale is converted into binary format using a cutomatic threshold. After small fragments in the image is removed by a series of morphology operations such as opening and closing, the centroids of PCB pads and SMD leads is obtained together with labeling of blobs. Translational shift and rotationial angle of SMD are succedingly estimated using above information and chip data. The expression that can calculate the maximum deviation of leads with respect to PCB pads has been derived, and inferior mounting of SMD is judged by a given criterion. Some experiments have been executed to verify this measuring scheme.

• Design & Manufacturing
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• v.14 no.1
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• pp.8-14
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• 2020

In general, auto parts production assembly line is assembled and produced by automatic mounting by an automated robot. In such a production site, quality problems such as misalignment of parts (doors, trunks, roofs, etc.) to be assembled with the vehicle body or collision between assembly robots and components are often caused. In order to solve such a problem, the quality of parts is manually inspected by using mechanical jig devices outside the automated production line. Automotive inspection technology is the most commonly used field of vision, which includes surface inspection such as mounting hole spacing and defect detection, body panel dents and bends. It is used for guiding, providing location information to the robot controller to adjust the robot's path to improve process productivity and manufacturing flexibility. The most difficult weighing and measuring technology is to calibrate the surface analysis and position and characteristics between parts by storing images of the part to be measured that enters the camera's field of view mounted on the side or top of the part. The problem of the machine vision device applied to the automobile production line is that the lighting conditions inside the factory are severely changed due to various weather changes such as morning-evening, rainy days and sunny days through the exterior window of the assembly production plant. In addition, since the material of the vehicle body parts is a steel sheet, the reflection of light is very severe, which causes a problem in that the quality of the captured image is greatly changed even with a small light change. In this study, the distance between the car body and the door part and the door are acquired by the measuring device combining the laser slit light source and the LED pattern light source. The result is transferred to the joint robot for assembling parts at the optimum position between parts, and the assembly is done at the optimal position by changing the angle and step.