• ETRI Journal
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• v.45 no.5
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• pp.758-767
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• 2023

In this study, we introduce a loosely coupled relative position estimation method that utilizes a decentralized ultrawideband (UWB), Global Navigation Support System and inertial navigation system for flight controllers (FCs). Key obstacles to multidrone collaboration include relative position errors and the absence of communication devices. To address this, we provide an extended Kalman filter-based algorithm and module that correct distance errors by fusing UWB data acquired through random communications. Via simulations, we confirm the feasibility of the algorithm and verify its distance error correction performance according to the amount of communications. Real-world tests confirm the algorithm's effectiveness on FCs and the potential for multidrone collaboration in real environments. This method can be used to correct relative multidrone positions during collaborative transportation and simultaneous localization and mapping applications.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2021.10a
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• pp.180-182
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• 2021

This paper proposes a method for estimating the location of a user using a beacon to provide a service in an indoor environment. To estimate the location using the beacon, a Gaussian filter was applied to the RSSI value of the beacon, and the distance conversion function was obtained through the filtered RSSI value to estimate the tag location by trilateration. Then, in the indoor space where the beacons are installed, the location estimation accuracy of 8 places where 3 beacons are at a certain distance was confirmed. As a result, it was possible to confirm the position estimation accuracy of ±0.097 standard deviation and 0.242 distance error.

• Nuclear Engineering and Technology
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• v.44 no.4
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• pp.355-362
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• 2012

The aim of this study was to develop a bundle position-wise linear model (BPLM) to predict Pressure Tube (PT) diametral creep employing the previously measured PT diameters and operating conditions. There are twelve bundles in a fuel channel, and for each bundle a linear model was developed by using the dependent variables, such as the fast neutron fluences and the bundle coolant temperatures. The training data set was selected using the subtractive clustering method. The data of 39 channels that consist of 80 percent of a total of 49 measured channels from Units 2, 3, and 4 of the Wolsung nuclear plant in Korea were used to develop the BPLM. The data from the remaining 10 channels were used to test the developed BPLM. The BPLM was optimized by the maximum likelihood estimation method. The developed BPLM to predict PT diametral creep was verified using the operating data gathered from Units 2, 3, and 4. Two error components for the BPLM, which are the epistemic error and the aleatory error, were generated. The diametral creep prediction and two error components will be used for the generation of the regional overpower trip setpoint at the corresponding effective full power days. The root mean square (RMS) errors were also generated and compared to those from the current prediction method. The RMS errors were found to be less than the previous errors.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.1
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• pp.34-40
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• 2005

In this paper, we describe the modeling for the 3D robot laser scanning system consisting of a laser stripe projector, camera, and 5-DOF robot and propose its calibration method. Nonlinear radial distortion in the camera model is considered for improving the calibration accuracy. The 3D range data is calculated using the optical triangulation principle which uses the geometrical relationship between the camera and the laser stripe plane. For optimal estimation of the system model parameters, real-coded genetic algorithm is applied in the calibration process. Experimental results show that the constructed system is able to measure the 3D position within about 1mm error. The proposed scheme could be applied to the kinematically dissimilar robot system without losing the generality and has a potential for recognition for the unknown environment.

• 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.

• The Journal of Korea Robotics Society
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• v.1 no.2
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• pp.125-134
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• 2006

The problem of establishing the servo system to reach the desired location keeping all features in the field of view and following a straight line is considered. In addition, robustness of camera calibration parameters is considered in this paper. The proposed approach is based on switching from position-based visual servoing (PBVS) to image-based visual servoing (IBVS) and allows the camera path to follow a straight line. To achieve the objective, a pose estimation method is required; the camera's target pose is estimated from the obtained images without the knowledge of the object. A switched control law moves the camera equipped to a robot end-effector near the desired location following a straight line in Cartesian space and then positions it to the desired pose with robustness to camera calibration error. Finally simulation results show the feasibility of the proposed visual servoing technique.

• Journal of Power Electronics
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• v.6 no.1
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• pp.8-17
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• 2006

In this paper, we propose a fault-tolerant control system for the position control and vibration suppression of a flexible arm robot. The proposed control system has a strain gauge sensor signal observer based on a reaction force observer and detects a fault by monitoring an estimated error. In order to improve the estimation accuracy, the plant parameters included in the sensor signal observer are updated by using the strain gauge sensor signal in normal time through the adaptive law. After fault detection, the proposed control system exchanges the faulty sensor signal for the estimated one and switches to a fault mode controller so as to maintain the stability and the control performance. We confirmed the effectiveness of the proposed control system through several experiments.

• Journal of Electrical Engineering and Technology
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• v.5 no.2
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• pp.276-281
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• 2010

The switched reluctance motor (SRM) is an older member of the electric machines family. Its simple structure, ruggedness and inexpensive manufacturing potential make it extremely attractive for industrial applications. However, these merits are overshadowed by its inherent high torque ripple, acoustic noise and difficulty to control. In this paper, a control strategy of the angle position control for the SRM drive based on fuzzy logic is illustrated. The input control parameter, the output control parameter and fuzzy control with FAM table formulation strategy are described and simulated with control patterns, and the decision form of the fuzzy control is illustrated and simulated, and the scope of implementing in a Fuzzy based ASIC chip is enlightened with literature support.

• Proceedings of the KIEE Conference
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• 1994.11a
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• pp.335-337
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• 1994

The correlation tracker developed by John M. Fitts in 1979 is the most complex to mechanize but provides the best tracking performance in a low SNR condition. Correlation tracker would rewove the requirements for optimizing threshold and has no need to know information about the target. But if the displacement of the target is large, the tracking error of the correlation tracker tends to diverge. In this paper, we suggest a precision image tracking algorithm which improves the tracking performance via iterative application of the matched filter estimation algorithm.

• International Journal of Ocean System Engineering
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• v.1 no.2
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• pp.102-109
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• 2011

This paper describes the implementation of a precise underwater navigation solution using a multiple sensor fusion technique based on USBL, GPS, DVL and AHRS measurements for the operation of a remotely operated mine disposal vehicle (MDV). The estimation of accurate 6DOF positions and attitudes is the key factor in executing dangerous and complicated missions. To implement the precise underwater navigation, two strategies are chosen in this paper. Firstly, the sensor frame alignment to the body frame is conducted to enhance the performance of a standalone dead-reckoning algorithm. Secondly, absolute position data measured by USBL is fused to prevent cumulative integration error. The heading alignment error is identified by comparing the measured absolute positions with the DR algorithm results. The performance of the developed approach is evaluated with the experimental data acquired by MDV in the South-sea trial.