• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.177-177
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• 2000

In this paper, we propose a two-input two-output fuzzy controller to improve the performance of transient response and to eliminate the steady state error. The outputs of this controller are the control input calculated by position-type fuzzy controller and the accumulated error scaling factor. Here, the accumulated error scaling factor is adjusted on-line by fuzzy rules according to the current trend of the controlled process. To show the usefulness of the proposed controller, it is applied to several systems that are difficult to get satisfactory response by conventional PD controllers or PI controllers.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.3
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• pp.306-313
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• 1999

To measure the accurate position of mobile robot, dead-reckoning method using the encoder attached to each wheel is conventionally used, since it is easy to compute and inexpensive to develop. However, that method is useless when slip occurs and error is accumulated with time. This paper proposes a position estimation method using encoder trailer composed of 2 encoders only(ET-2). This method provides accurate position information even when slip occurs, and can reduce accumulated error if we select the proper link lengths of encoder trailer. Experimental results show the performance of ET-2 when slip occurs. Finally, accumulated systematic error from encoder resolution is analyzed in comparison with an existing method with encoder trailer composed of 3 encoders. (As a matter of convenience, we will call the existing encoder trailer ‘ET-3’)

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.16 no.2
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• pp.123-129
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• 2016

Recently indoor positioning technologies have been studied using the acoustic signal from a smart phone. Also multi-hop indoor positioning system in which the equipments measure their relative position successively has been proposed. As the total positioning error is prone to increase due to the successively accumulated positioning error for the multi-hop system, the error analysis is required for the system design. In this paper, the absolute positioning error for the multi-hop indoor positioning equipments successively installed is analyzed, and it is verified by computer simulation. According to the results, the accumulated positioning error is linearly increased as the number of the multi-hop increases.

• Journal of Advanced Navigation Technology
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• v.9 no.2
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• pp.140-146
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• 2005

In this paper, we proposed the frequency offset compensation algorithm and tracking algorithm which could improve the accumulated phase error for HDR-WPAN system. The proposed frequency offset compensation technique estimated each sample phase error by autocorrelation characteristics of CAZAC sequence, estimated phase error multiple each sample in a symbol, and finally compensated for the frequency offset. After frequency offset compensation using two steps, coarse and fine frequency offset, tracking algorithm have to use to compensate for the accumulated phase error. Because there is no pilot symbol in payload, more phase rotation occurred in received signal constellations due to the accumulated phase error as the payload length increase. Tracking algorithm compensates for a cumulative phase error ${\theta}$ between payload data.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.12
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• pp.1046-1052
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• 2016

For the safe driving of autonomous vehicles, accurate position estimation is required. Generally, position error must be less than 1m because of lane keeping. However, GPS positioning error is more than 1m. Therefore, we must correct this error and a map matching algorithm is generally used. Especially, road marking intensity map have been used in many studies. In previous work, 3D LIDAR with many vertical layers was used to generate a local intensity map. Because it can be obtained sufficient longitudinal information for map matching. However, it is expensive and sufficient road marking information cannot be obtained in rush hour situations. In this paper, we propose a localization algorithm using an accumulated intensity local map. An accumulated intensity local map can be generated with sufficient longitudinal information using 3D LIDAR with a few vertical layers. Using this algorithm, we can also obtain sufficient intensity information in rush hour situations. Thus, it is possible to increase the reliability of the map matching and get accurate position estimation result. In the experimental result, the lateral RMS position error is about 0.12m and the longitudinal RMS error is about 0.19m.

• Journal of Satellite, Information and Communications
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• v.9 no.2
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• pp.119-125
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• 2014

In this paper, we developed the signal generator of GNSS navigation signals and analysis the performance of DCO(Digitally Clock Oscillator) compensation algorithm for cumulative distance error thorough simulation. In general, To generate a GNSS signal calculates the Doppler and Initial Pseudorange by using the location information of the receiver and the satellite. The GNSS signal generator generates a signal by determine the carrier and code output frequency using the Doppler information which is calculated as a function of time. The output frequency of the carrier and code would be used the DCO scheme. At this time, It extract the bit and code information on a for each sample by accumulating the DCO. an error of Pseudorange is generated by the cumulative error of the DCO. If Pseudorange error occurs, so that the influence to and operation of the receiver. Therefore, in this paper, we implemented the accumulated error compensation algorithm of the DCO to remove the accumulated error components DCO thereof, Pseudorange accumulated error is removed through the experiment, it was confirmed to be a high accuracy can be operated.

• Journal of the Society of Disaster Information
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• v.1 no.1
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• pp.121-136
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• 2005

Most human-error case of accident database is written by various description and expression because accident database is produced by two or more person. And extracted information by searching of database varies in researcher's judgment criteria and the capability. Furthermore, much time and effort are required to examine manually information related to the human error from each accident case. Accordingly, it is difficult to explore objectively the accidents relevant to the human-error from the accident data base which is accumulated enormously. In this study, to solve these problems, it was developed an searchig method which is not influenced by researcher's judgment criteria and capability. For this, human-error keywords were extracted from a Japanese-English dictionary to examine objectively the accident case related to human-error in data base. This searching method by the human-error keywords can be applicable in most accident databases, although a database will be accumulated in future. Also, using the searching technique of this research, knowledge obtained by searching result can be compared with other research's results by the same method. Although the number of accident case increasese, searching results from database have the objectivity because it is not necessary to modify the based searching method or change the human-error keywords. However, as subject of future investigation, it would be necessary that the extension and investigation on human-error keywords improve and the technique to enhance searching accuracy would be modified.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.179.5-179
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• 2001

Generally, while PD-type fuzzy controller has good performance in transient period, it has uniform steady state error of response. To improve limitations of PD-type fuzzy controller, we propose a new fuzzy controller to improve the performance of transient response and to eliminate the steady state error of response. In this paper, PD-type fuzzy controller is used a simplified indirect inference method(SIIM). When the SIIM is applied, the proposed method has the capability of the high speed inference and adapting with increasing the number of the fuzzy input variables easily. The outputs of this controller are the output calculated by PD-type fuzzy controller and the accumulated error scaling factor. Here, the accumulated error scaling factor is adjusted by fuzzy rule according to the system state variables. To show the usefulness of the proposed controller, it is applied to 0-type 2nd-order linear system.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.2
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• pp.315-319
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• 2011

A switched-capacitor cyclic DAC scheme with mismatch compensation of capacitors is designed. In cyclic DAC, a little error between two capacitors is accumulated every cycle. As a result, the accumulated error influences the final analog output which is wrong data. Therefore, a mismatch compensation technique was proposed and the error can be effectively reduced, which alleviates the matching requirement. In order to verify the operation of the proposed DAC, an 8-bit switched-capacitor cyclic DAC is designed through HSPICE simulation and implemented through magna 0.18um standard CMOS process.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.6
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• pp.814-819
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• 2010

This paper is presented to study the error minimization of angular velocity for AGV(autonomous ground vehicle). The error minimization of angular velocity is related to localization technique which is the most important technique for autonomous vehicle. Accelerometer, yaw gyro and electronic compass have been used to measure angular velocity. And methods for error minimization of angular velocity have been actively studied through probabilistic methods and sensor fusion for AGVs. However, those sensors still occure accumulated error by mathematical error, system characters of each sensor, and computational cost are increased greatly when several sensor are used to correct accumulated error. Therefore, this paper studies about error minimization of angular velocity that just uses encoder and gyro. To experiment, we use autonomous vehicle which is made by ourselves. In experimental result, we verified that the localization error of proposed method has even less than the localization errors which we just used encoder and gyro respectively.