• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.891-896
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• 2007

This paper contained the flight test calibration for the airspeed indicator and the altimeter of the light airplane ChangGong-91, which is the first type certified aircraft from Korean Ministry of Construction and Transportation, as a part of the flight test validation. The flight test for airspeed position error calibration was performed using tower fly by method in order to calibrate swivel head testboom which is attached to the right wing tip of the airplane, and using system to system method for airspeed indicator. The altimeter calibration was calculated using flight test data for airspeed calibration. The flight test was conducted at the basis of the 'Korean Airworthiness Standard' regulation of Korean Ministry of Construction and Transportation.

• International Journal of Precision Engineering and Manufacturing
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• 제4권1호
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• pp.43-48
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• 2003

A linear laser-vision sensor called ‘Perception TriCam Contour' is mounted on an industrial robot and often used for various application of the robot such as the position correction and the inspection of a part. In this paper, a sensor center position calibration is presented for the most accurate use of the robot-Perceptron system. The obtained algorithm is suitable for on-site calibration in an industrial application environment. The calibration algorithm requires the joint sensor readings, and the Perceptron sensor measurements on a specially devised jig which is essential for this calibration process. The algorithm is implemented on the Hyundai 7602 AP robot, and Perceptron's measurement accuracy is increased up to less than 1.4mm.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.1512-1517
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• 2003

This paper presents the calibration for the parallel typed tilting table. The calibration system needs only simple sensing device which is a digital indicator to measure the orientation of a table. The calibration algorithm is developed by a measurement operator. It eliminates the concern about the poor parameter observability due to a large number of parameters of parallel-mechanism. This paper uses the QR-decomposition to find the optimal calibration configurations maximizing the linear independence of rows of a observation matrix. The number of identifiable parameters is examined by the rank of the observation matrix, which represents the parameter observability. The method is applied to a Parallel-typed Tilting Table and all the necessary kinematic parameters are identifiable.

• 한국생산제조학회지
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• 제21권1호
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• pp.76-84
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• 2012

This paper presents the measurement system of arrow's point of impact using laser scan camera and describes the image calibration method. The calibration process of distorted image is primarily divided into explicit and implicit method. Explicit method focuses on direct optical property using physical camera and its parameter adjustment functionality, while implicit method relies on a calibration plate which assumed relations between image pixels and target positions. To find the relations of image and target position in implicit method, we proposed the performance criteria based polynomial theorem model that overcome some limitations of conventional image calibration model such as over-fitting problem. The proposed method can be verified with 2D position of arrow that were taken by SICK Ranger-D50 laser scan camera.

• 산업공학
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• 제5권1호
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• pp.15-23
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• 1992

In a transfer line with mass production capability, calibration systems are included in the process as a separate dedicated station. However, this method is not appropriate in an unattended FMC with flexibility. As the FMC produces vesatile parts with small batch sizes, more flexible calibration systems are required. In this paper, a calibration/inspection system suitable for an unattended turning cell is introduced. The system has functions of dimensional calibration of parts by touch probes, tool wear compensation, and quality monitoring of parts. Furthermore, characteristics of errors in the system are identified and corresponding compensation methodology is suggested. An operation software is developed for efficient use of the system.

• 센서학회지
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• 제32권6호
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• pp.475-480
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• 2023

When modeling a sensor system mathematically, we assume that the sensor noise is Gaussian and white to simplify the model. If this assumption fails, the performance of the sensor model-based controller or estimator degrades due to incorrect modeling. In practice, non-Gaussian or non-white noise sources often arise in many digital sensor systems. Additionally, the noise parameters of the sensor model are not known in advance without additional noise statistical information. Moreover, disturbances or high nonlinearities often cause unknown sensor modeling errors. To estimate the uncertain noise and model parameters of a sensor system, this paper proposes an iterative batch calibration method using data-driven machine learning. Our simulation results validate the calibration performance of the proposed approach.

• 한국전자통신학회논문지
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• 제10권7호
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• pp.793-800
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• 2015

이동 로봇 Pan-Tilt 기구부에 장착된 스테레오 카메라의 Head-Eye 보정 및 Wheel 보정을 동시에 수행하는 방법을 제안한다. 카메라가 이동로봇의 고정형 기구부에 장착되어있는 경우를 고려한 기존의 방법들은 최근 일반적인 이러한 시스템에 적용될 수 없다. 이러한 문제점을 해결하기 위하여 본 논문에서는 기존 방법을 바탕으로 한 선형 반복적인 방법을 고안하였다. 이것은 동시보정을 통한 효율성뿐만 아니라 정확도 면에서도 만족할만한 결과를 얻었다. 그리고 비선형 최적화 기법을 통해 보다 높은 정확도의 보정을 구현했다.

• 반도체디스플레이기술학회지
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• 제22권1호
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• pp.72-77
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• 2023

In many manufacturing settings, including the semiconductor industry, products are completed by producing and assembling various components. Sorting out from randomly mixed parts and classification operations takes a lot of time and labor. Recently, many efforts have been made to select and assemble correct parts from mixed parts using robots. Automating the sorting and classification of randomly mixed components is difficult since various objects and the positions and attitudes of robots and cameras in 3D space need to be known. Previously, only objects in specific positions were grasped by robots or people sorting items directly. To enable robots to pick up random objects in 3D space, bin picking technology is required. To realize bin picking technology, it is essential to understand the coordinate system information between the robot, the grasping target object, and the camera. Calibration work to understand the coordinate system information between them is necessary to grasp the object recognized by the camera. It is difficult to restore the depth value of 2D images when 3D restoration is performed, which is necessary for bin picking technology. In this paper, we propose to use depth information of RGB-D camera for Z value in rotation and movement conversion used in calibration. Proceed with camera calibration for accurate coordinate system conversion of objects in 2D images, and proceed with calibration of robot and camera. We proved the effectiveness of the proposed method through accuracy evaluations for camera calibration and calibration between robots and cameras.

• 한국군사과학기술학회지
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• 제12권3호
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• pp.368-377
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• 2009

In this paper we study the gyro bias calibration method of SDINS(Strap-Down Inertial Navigation System). Generally, SDINS's calibration is performed in 2-axis(or 3-axis) rate table with chamber for varying ambient temperature. We assumed that the majority of calibration-parameter except for gyro bias is knowned. During gyrobias calibration procedure, it can be induced some disturbances(accelerometer's short-term error induced rate table rotation and anti-vibration mount's rotation). In these cases, old gyro-bias calibration methods(using velocity error or attitude error) have an error, because these disturbances are not detectable at the same time. So that, we propose a new gyro-bias calibration method(heading error minimizing using equivalent linear transformation) that can detect anti-vibration mount's rotation. And we confirm efficiency of the new gyro-bias calibration method by simulation.

• 한국전자파학회논문지
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• 제21권4호
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• pp.408-416
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• 2010

본 논문에서는 X-밴드 대역의 지상운용용 HPS(Hongik Polarimetric Scatterometer) 시스템 보정에 관한 연구 결과를 선보인다. Scatterometer 시스템 보정을 위해 이론적으로 RCS(Radar Cross Section)가 잘 알려진 금속구, 삼각수동 반사기(trihedral corner reflector), 금속봉 등과 같은 보정용 목표물을 이용하여 이론값과 측정값을 비교함으로써 scatterometer 시스템의 왜곡 정도를 분석한다. 실외 환경에서 scatterometer 시스템을 이용하는 실제 측정상황의 보정 정확도는 보정용 목표물의 정확하고 안정된 측정에 의해 좌우되므로 이를 보완하기 위해 HPS 시스템의 입사각(${\xi}-$, ${\phi}-$방향) 제어 기능을 응용한 자동화된 2차원 목표물 스캐닝 측정법(2-D target scanning technique) 을 함께 선보인다. 이때, scatterometer 시스템의 왜곡 정도를 보정하기 위한 기법으로는 GCT(General Calibration Technique) 기법과 STCT(Single Target Calibration Technique) 기법을 비교 연구하였으며, 보정 정확도를 분석하기 위해서 시험용 목표물로 삼각 수동 반사기의 편파별 RCS와 위상차를 측정/비교하였다. 시스템 보정 정도를 검증하기 위해 세 종류(10/20/30 cm)의 삼각수동 반사기를 이용하였으며, 동일 편파 RCS는 GCT 기법과 STCT 기법을 이용하여 각각 ${\pm}1.0$ dB과 ${\pm}0.5$ dB의 오차 범위에서 보정되었다. 또한, 동일 편파간 위상차( ${\phi}_{hh}-{\phi}_{vv}$)는 이론 값과 비교하여 $-20^{\circ}{\sim}0^{\circ}$와 약 ${\pm}5^{\circ}$의 오차를 각각 보였다.