• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.39-47
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• 2014

Odometry using wheel encoders is one of the fundamental techniques for the pose estimation of wheeled mobile robots. However, odometry has a drawback that the position errors are accumulated when the travel distance increases. Therefore, position errors are required to be reduced using appropriate calibration schemes. The UMBmark method is the one of the widely used calibration schemes for two wheel differential drive robots. In UMBmark method, it is assumed that odometry error sources are independent. However, there is coupled effect of odometry error sources. In this paper, a new calibration scheme by considering the coupled effect of error sources is proposed. We also propose the test track design for the proposed calibration scheme. The numerical simulation and experimental results show that the odometry accuracy can be improved by the proposed calibration scheme.

• The Journal of Korea Robotics Society
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• v.2 no.1
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• pp.40-47
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• 2007

Recently, with the development of service robots and with the new concept of ubiquitous world, the position estimation of mobile objects has been raised to an important problem. As pre-liminary research results, some of the localization schemes are introduced, which provide the absolute location of the moving objects subjected to large errors. To implement a precise and convenient localization system, a new absolute position estimation method for a mobile robot in indoor environment is proposed in this paper. Design and implementation of the localization system comes from the usage of active beacon systems (based upon RFID technology). The active beacon system is composed of an RFID receiver and an ultra-sonic transmitter: 1. The RFID receiver gets the synchronization signal from the mobile robot and 2. The ultra-sonic transmitter sends out the traveling signal to be used for measuring the distance. Position of a mobile robot in a three dimensional space can be calculated basically from the distance information from three beacons and the absolute position information of the beacons themselves. Since it is not easy to install the beacons at a specific position precisely, there exists a large localization error and the installation time takes long. To overcome these problems, and provide a precise and convenient localization system, a new auto calibration algorithm is developed in this paper. Also the extended Kalman filter has been adopted for improving the localization accuracy during the mobile robot navigation. The localization accuracy improvement through the proposed auto calibration algorithm and the extended Kalman filter has been demonstrated by the real experiments.

• Communications for Statistical Applications and Methods
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• v.10 no.1
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• pp.125-134
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• 2003

Standard estimation methods for linear mixed models are sensitive to influential observations. However, tools and concepts for linear mixed model diagnostics are rudimentary until now and research is heavily demanded in linear mixed models. In this paper, we consider two diagnostics to evaluate the effects of individual observations in the estimation of fixed effects for linear mixed models. Those are Cook's distance and COVRATIO. Results of our limited simulation study suggest that the Cook's distance is not good statistical quantity in linear mixed models. Also calibration point for COVRATIO seems to be quite conservative.

• Journal of the Korean Society for Precision Engineering
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• v.31 no.4
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• pp.319-326
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• 2014

Accurate estimation of the robot's position has an important role in autonomous navigation. Odometry is one of the most widely used techniques for mobile robot positioning. However, odometry has a well-known drawback that the position errors are accumulated when the travel distance increases. The UMBmark method is the conventional odometry calibration scheme for two wheel differential mobile robots. In the UMBmark method, the approximations for small angles are used in order to simplify the calculations. In this paper, we propose the new calibration scheme by using experimental orientation errors. Kinematic parameters can be calculated accurately without approximations by using experimental orientation errors. The numerical simulation and experimental results show that the odometry accuracy can be improved by the proposed method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1040-1044
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• 2005

This paper presents a method for the robot localization and calibration using the ultrasonic and the radio frequency. The distance between the receiver and a beacon can be computed by using the difference between times of flight. The presented method uses the gradient of the maximum amplitude of the ultrasonic in order to measure the time of flight precisely. The measured three distances between the receiver and the beacon are used to compute the robot position by the direct inverse method and the iterated least square approximation method. This paper is defined the calibration as the problem to find the location of 3 beacons and 3 robots, and presents 3 methods for it and found the 2B2R method as the best among them.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.63.1-63
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• 2001

At 3-D vision measuring, the camera calibration is necessary to calculate parameters accurately. Camera calibration was developed widely in two categories. One is that establishes reference points in space, and the other is that uses the grid type frame and statistical method. But, the former has difficult to setup reference points and the latter has low accuracy. In this paper we present an algorithm for camera calibration using perspective ratio of the grid type frame with different line widths. The advantage of this algorithm is that it can estimate position, pose and distance between camera and object ...

• Journal of applied mathematics & informatics
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• v.7 no.1
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• pp.237-245
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• 2000

In this paper, we consider to the adjustment weighting procedure in the two phase sampling scheme. In general, the unit nonresponses may be occured in the final survey operation. When the unit nonresponse be generated in survey, it is able to use the auxiliary variable for estimating of interest variable. In this viewpoint, we use the two kinds level of auxiliary variable, $X_{1k}$ and $X_{2k}$ for the calibration procedure. We proprose the two-step Newton's method in the calibration estimation procedure for the two phase sampling.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.8 no.8
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• pp.2663-2674
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• 2014

For cognitive radio sensor networks (CRSNs) that use underlay-based spectrum access, the location of the primary user (PU) plays an important role in the power control of the secondary users (SUs), because the SUs must keep the minimum interference level required by the PU. Received signal strength (RSS)-based localization schemes provide low-cost implementation and low complexity, thus it is suitable for the PU localization in CRSNs. However, the RSS-based localization schemes have a high localization error because they use an inexact path loss exponent (PLE). Thus, applying a RSS-based localization scheme into the PU localization would cause a high interference to the PU. In order to reduce the localization error and improve the channel reuse rate, we propose a RSS-based PU localization scheme that uses distance calibration for CRSNs using underlay model-based spectrum access. Through the simulation results, it is shown that the proposed scheme can provide less localization error as well as more spectrum utilization than the RSS-based PU localization using the mean and the maximum likelihood calibration.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2006.05a
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• pp.125-129
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• 2006

The analysis of the depth measurement system with multi-sensors (laser, camera, mirror) has been done and the parameter calibration technique has been proposed. In the proposed depth measurement system, the laser beam is reflected to the object by the rotating mirror and again the position of the laser beam is observed through the same mirror by the camera. The depth of the object pointed by the laser beam is computed depending on the pixel position on the CCD. There involved several number of internal and external parameters such as inter-pixel distance, focal length, position and orientation of the system components in the depth measurement error. In this paper, it is shown through the error sensitivity analysis of the parameters that the most important parameters in the sense of error sources are the angle of the laser beam and the inter pixel distance.

• The Bulletin of The Korean Astronomical Society
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• v.46 no.1
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• pp.35.1-35.1
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• 2021

RR Lyrae stars are sensitive probe for the precision stellar astrophysics and also for the cosmic distance scale thanks to their well-defined near-infrared Period-Luminosity relations (PLRs). These horizontal branch variables can be used for primary calibration of the first-rung of population II distance ladder providing an evaluation of the ongoing tension between Cepheid-Supernovae based Hubble constant and the Planck results. Therefore, absolute calibration of RR Lyrae PLRs is now crucial to complement or test the tip of the red giant branch based distances, and in turn, population II star based Hubble constant measurements. While the pulsation models of RR Lyrae can reproduce most observables, they predict a significant metallicity effect on their JHKs-band PLRs that is inconsistent with so-far limited observational studies. We remedy this inconsistency of metallicity dependence in RR Lyrae PLRs by combining their near-infrared observations in the globular clusters of different mean-metallicities with the new parallaxes from the Gaia early data release 3 (EDR3). Our empirical results on Period-Luminosity-Metallicity (PLZ)relations are consistent with theoretical predictions but the precision of absolute calibrations is still affected by the parallax uncertainties and the systematic zero-point offset present in the Gaia EDR3.