• Title/Summary/Keyword: Position Identification

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Positioning Accuracy Improvement of Robots by Link Parameter Calibration (링크인자 보정에 의한 로보트 위치 정밀도 개선)

  • Cho, Eui-Chung;Ha, Young-Kyun;Lee, Sang-Jo;Park, Young-Pil
    • Journal of the Korean Society for Precision Engineering
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    • v.6 no.3
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    • pp.32-45
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    • 1989
  • The positioning accuracy of robots depends upon a forward kinematics which relates the joint variables to the orientation and position of the robot extremity in the absolute coordinate system. The relationship between two connective joint coordi- nates of a robot, which is the basis of the kinematics, is defined by 4 Denavit-Hartenberg parameters. But manufacturing errors in machining and assembly process of robots lead to disctrepancies between the design parameters and the physical structure. Thus, improving the positioning accuracy of robots reguires the identification of the actual link parameters of each robot. In this study, the least-squares method is used to calibrate the link parameters and off-line parameter calibration software is developed. Computer simulation is done to study the dependence of the calibration performance upon the DOF of the robot and number of acquired data set used in the least-squares method. 3 DOF Robot/Controller and specially designed 3D coordinate measurer is made and experiment is carried out to verify the theoretical and computational analysis.

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Pre-processing Algorithm for Detection of Slab Information on Steel Process using Robust Feature Points extraction (강건한 특징점 추출을 이용한 철강제품 정보 검출을 위한 전처리 알고리즘)

  • Choi, Jong-Hyun;Yun, Jong-Pil;Choi, Sung-Hoo;Koo, Keun-Hwi;Kim, Sang-Woo
    • Proceedings of the KIEE Conference
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    • 2008.07a
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    • pp.1819-1820
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    • 2008
  • Steel slabs are marked with slab management numbers (SMNs). To increase efficiency, automated identification of SMNs from digital images is desirable. Automatic extraction of SMNs is a prerequisite for automatic character segmentation and recognition. The images include complex background, and the position of the text region of the slabs is variable. This paper describes an pre-processing algorithm for detection of slab information using robust feature points extraction. Using SIFT(Scale Invariant Feature Transform) algorithm, we can reduce the search region for extraction of SMNs from the slab image.

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A Simulation of the Detection of Buried Facilities using FDTD (FDTD를 이용한 매설 설비의 탐지 시뮬레이션)

  • Lee, Woo-Chan;Kim, Hyeong-Seok
    • Journal of The Institute of Information and Telecommunication Facilities Engineering
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    • v.10 no.2
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    • pp.68-73
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    • 2011
  • In Ground Penetrating Radar (GPR) for buried object detection, it is important to identify a buried target because removal of an unwanted target requires as much time and effort as does a wanted target. For a simulation of the target identification, the FDTD (Finite Difference Time Domain) and PML (Perfectly Matched Layer) techniques are widely used. Simulation results vary depending on the type of the buried object and the position of the source. As a result, this paper illustrates the range (time) profile of the five types of facilities including PEC (Perfect Electric Conductor) rectangular box and pipes, and shows the comparison of the range profile of the buried facilities.

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BB-BC optimization algorithm for structural damage detection using measured acceleration responses

  • Huang, J.L.;Lu, Z.R.
    • Structural Engineering and Mechanics
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    • v.64 no.3
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    • pp.353-360
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    • 2017
  • This study presents the Big Bang and Big Crunch (BB-BC) optimization algorithm for detection of structure damage in large severity. Local damage is represented by a perturbation in the elemental stiffness parameter of the structural finite element model. A nonlinear objective function is established by minimizing the discrepancies between the measured and calculated acceleration responses (AR) of the structure. The BB-BC algorithm is utilized to solve the objective function, which can localize the damage position and obtain the severity of the damage efficiently. Numerical simulations have been conducted to identify both single and multiple structural damages for beam, plate and European Space Agency Structures. The present approach gives accurate identification results with artificial measurement noise.

An Improvement of Bin-slotted Anti-collision Algorithm for Ubiquitous ID System

  • Kim Ji-Yoon;Kang Bong-Soo;Yang Doo-Yeong
    • International Journal of Contents
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    • v.2 no.1
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    • pp.34-38
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    • 2006
  • In this paper, an overview of anti-collision algorithm for RFID system of a standard EPC Class1 protocol is presented, and the binslotted dynamic search algorithm (BDS) based upon the slotted ALOHA and binary tree procedure is proposed and analyzed. Also, the performance is evaluated as comparing the BDS algorithm with the standard bin-slotted algorithm (BSA) through the simulation program. The performance of the proposed BDS algorithm is improved by dynamically identifying the collided-bit position and the collided bins stored in the stack of the reader. As the results, the number of request command that a reader send to tags in the reader s interrogation zone and the total recognition time are decreased to 59% as compared with BSA algorithm. Therefore, the tag identification performance is fairly improved by resolving a collision problem using the proposed BDS algorithm.

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Simulation Environment using MIDS LVT Emulator (MIDS LVT 에뮬레이터 연동을 통한 시뮬레이션 환경 구축)

  • Lee, Kyuh-hyun;Cho, Kyu-tae;Lee, Seung-young
    • Proceedings of the Korea Information Processing Society Conference
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    • 2016.10a
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    • pp.380-381
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    • 2016
  • MIDS(Multifunctional Information Distribution System)은 Link16의 작전 운용성을 공중/지상/해상 플랫폼에 확장하기 위해 설계된 전술정보 통신 체계이다. MIDS LVT(Low Volume Terminal)는 제한된 공간, 전력, 공조 시스템 환경에서도 MIDS 운용이 가능하도록 설계가 된 장비로써 본 장비를 탑재한 플랫폼은 Link16 시스템 상에서 통합위치 결정(Intergrated position determination), 운항 및 식별(Navigation and identification), 음성 및 데이터 통신 기능을 수행할 수가 있다. 본 논문에서는 이러한 MIDS에 대한 간략한 소개 및 MIDS LVT 에뮬레이터와의 연동을 통한 시뮬레이션 환경 구축 사례에 대해 다루도록 하겠다.

Calibration of gimballed inertial navigation systems using state estimation (상태변수 추정을 이용한 김발형 관성항법시스템의 교정기법에 대한 연구)

  • Kim, Gap-Jin;Song, Taek-Ryeol
    • Journal of Institute of Control, Robotics and Systems
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    • v.4 no.1
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    • pp.62-67
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    • 1998
  • Gimballed Inertial Navigation Systems(GINS) are sophisticated autonomous electro-mechanical systems which supply the position, velocity and attitude of the vehicle on which they are mounted. In order to maintain accuracy of outputs, the GINS are required to regularly calibrate senior errors. However, existing calibration methods take up a long time due to multiposition alignments needed to increase accuracy. A particular system formulation for calibration of a GINS is proposed to enhance system observability and thus to expedite calibration procedure. Performance of the proposed calibration method is compared with existing methods such as Schuler test and muliposition alignment. Simulation studies show the proposed system formulation associated with a suggested suboptimal filter is accurate as well as efficient in error identification essential to GINS calibration.

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A Study on the Air Traffic Situation Variables which Influence the Job Performance of Military Air Traffic Controllers (군관제사의 직무 수행과 항공교통상황 변인의 영향 연구)

  • Sin, Hyon-Sam;Jang, Jung-Ha;Ahn, Jae-Mo
    • Journal of the Korean Society for Aviation and Aeronautics
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    • v.20 no.1
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    • pp.19-25
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    • 2012
  • The air traffic situation variables were emphasized in this research to review the awareness level of job performance of military air traffic controllers in application of air traffic situation variables such as detection of aircraft identification, type of aircraft, position ,speed, altitude, determination of separation between departing and arriving in-trail aircraft, physical airport conditions, adverse weather conditions, NAVAID outage and ATC facilities' operational status. In this respect, This study was conducted under the auspice of ATC facility operating agencies and devoting air force air traffic controller's participation by answering the questionnaires from nine radar approach control facilities and other air traffic control towers.

A Method of Fault Diagnosis for Engine Synchronization Using Analytical Redundancy (해석적 중복을 이용한 내연 기관 엔진의 동기화 처리 이상 진단)

  • 김용민;서진호;박재홍;윤형진
    • Transactions of the Korean Society of Automotive Engineers
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    • v.11 no.2
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    • pp.89-95
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    • 2003
  • We consider a problem of application of analytical redundancy to engine synchronization process of spark ignition engines, which is critical to timing for every ECU process including ignition and injection. The engine synchronization process we consider here is performed using the pulse signal obtained by the revolution of crankshaft trigger wheel (CTW) coupled to crank shaft. We propose a discrete-time linear model for the signal, for which we construct FDI (Fault Detection & Isolation) system consisting residual generator and threshold based on linear observer.

Position-Speed Estimator using Kalman Filter with Parameter Identification (기계적인 시정수의 동정을 가지는 Kalman 필터를 사용한 위치-속도 추정자)

  • Shin, Ki-Sang;Lee, Je-Hie;Huh, Uk-Youl
    • Proceedings of the KIEE Conference
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    • 1997.07b
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    • pp.434-436
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    • 1997
  • 본 연구에서는 저속에서 발생하는 측정잡음에 대한 문제를 불규칙 확률시스템으로 고려하여 Kalman 필터를 관측자로서 사용하고 고속에서뿐만 아니라 저속에서의 위치와 속도 추정성능을 향상시키고자 한다. Kalman 필터는 확률적 외란을 포함하고 있는 동적시스템에 적용되는 최적상태 추정자이다. 또한 이 Kalman 필터는 외란을 가지는 이산형 실시간 동적 처리 시스템에서 최적의 미지 상태를 추정하기 위해 선형, 불편향, 그리고 최소 오차분산 회귀형 알고리즘을 제공한다. 또한, MRAS(Model Reference Adaptive System) 방법을 이용하여 모터와 부하에 대응되는 기계적 시정수를 동정한다. 이 방법은 기계적인 시정수가 알려지지 않은 시스템에 적용하여 위치와 속도의 추정을 가능하게 하기 위해서이다. 더욱이 동정의 결과를 이용하여 Kalman 필터 알고리즘에 적용한다.

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