• Title, Summary, Keyword: pitching error

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A Measurement Error Correction Algorithm of Road Image for Traveling Vehicle's Fluctuation Using V.F. Modeling (V.F. 모델링을 이용한 주행차량의 진동에 대한 도로영상의 계측오차 보정 알고리듬)

  • Kim Tae-Hyo;Seo Kyung-Ho
    • Journal of Institute of Control, Robotics and Systems
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    • v.12 no.8
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    • pp.824-833
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    • 2006
  • In this paper, the image modelling of road's lane markings is established using view frustum(VF) model. From this model, a measurement system of lane markings and obstacles is proposed. The system also involve the real time processing of the 3D position coordinate and the distance data from the camera to the points on the 3D world coordinate by virtue of the camera calibration. In order to reduce their measurement error, an useful algorithm for which analyze the geometric variations due to traveling vehicle's fluctuation using VF model is proposed. In experiments, without correction, for instance, the $0.4^{\circ}$ of pitching rotation gives the error of $0.4{\sim}0.6m$ at the distance of 10m, but the more far distance cause exponentially the more error. We con finned that this algorithm can be reduced less than 0.1m of error at the same condition.

Design of a Front Image Measurement System for the Traveling Vehicle Using V.F. Model (V.F. 모델을 이용한 주행차량의 전방 영상계측시스템 설계)

  • Jung Yong-Bae;Kim Tae-Hyo
    • Journal of the Institute of Convergence Signal Processing
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    • v.7 no.3
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    • pp.108-115
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    • 2006
  • In this paper, a recognition algorithm of the straight line components of lane markings and an obstacle in the travelling lane region is proposed. This algorithm also involve the pitching error correction algorithm due to traveling vehicle's fluctuation. In order to reduce their error a practical road image modelling algorithm using V.F. model and camera calibration procedure are suggested to adapt the geometric variations. It is obtained the 3D world coordinate data by the 2D road images. In experimental test, we showed that this algorithm is available to recognize lane markings and an obstacle in the traveling lane.

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Development of a Program That Computes the Position of the Instantaneous Center of Rotation on the Basis of Experimental Data(I) (실험 데이터를 이용한 회전운동 순간 중심점 분석 프로그램 개발(I))

  • Park, Jin;Shin, Ki-Hoon
    • Korean Journal of Sport Biomechanics
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    • v.19 no.4
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    • pp.779-791
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    • 2009
  • The purpose of this study is to develop a program that computes the position of the instantaneous center of rotation while an object moves in a circular motion. For this study, a mathematical algorithm was developed and implemented on the experimental data. Data for pitching (40m carry) and putting (4m) strokes were obtained from a skilled female golfer. A computer program (Centering 1.0) calculated the experimental data and found the radius of the instantaneous center of rotation. When the data were taken broadly, the program produced an error distance of radius. When the data were divided gradually, the program produced a very close instantaneous center of rotation. On comparing pitching and putting strokes, putting was found to have a greater radius than pitching. The instantaneous centers of rotation of putting were not in the golfer's body rather, they were 3m away from the club head. The Centering 1.0 program can calculate the instantaneous center of rotation with at least three sets of experimental data.

Measurement of 5 DOF Motion Errors in the Ultra Precision Feed Tables for Error Compensation (오차보정을 위한 초정밀 테이블의 5 자유도 운동오차 측정)

  • 오윤진;박천홍;이득우
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • pp.672-676
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    • 2004
  • In this paper, measuring system of 5 DOF motion errors are proposed using two capacitive type sensor, a straight edge and a laser interfoerometer. Yawing error and pitching error are measured using the laser interferometer, and rolling error is measured by the reversal method using a capacitive type sensor. Linear motion errors of horizontal and vertical direction are measured using the sequential two point method. In this case, influence of angular motion errors is compensated using the previously measured angular motion errors. In the horizontal direction, measuring accuracy is within 0.05 $\mu$m and 0.27 arcsec, and in the vertical direction, it is within 0.15 $\mu$m and 0.5 arcsec. From these results, it is confirmed that the proposed measureing system is very effective to the measurement of 5 DOF motion errors in the ultra precision feed tables.

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A Measurement Error Correction Algorithm of Road Structure for Traveling Vehicle's Fluctuation Using VF Modeling (VF 모델링을 이용한 주행차량의 진동에 대한 도로 계측오차 보정 알고리듬)

  • Jeong, Yong-Bae;Kim, Jung-Hyun;Seo, Kyung-Ho;Kim, Tae-Hyo
    • Proceedings of the Korea Institute of Convergence Signal Processing
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    • pp.190-200
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    • 2005
  • In this paper, the image modelling of road's lane markings is established using view frustum(VF) modeling. This algorithm also involve the real time processing of the 3D position coordinate and the distance data from the camera to the points on the 3D world coordinate by the camera calibration. In order to reduce their measurement error, an useful algorithm for which analyze the geometric variations clue to traveling vehicle's fluctuation using VF model is proposed. In experiments, without correction, for instance, the $0.4^{\circ}$ of pitching rotation gives the error of $0.4^{\sim}0.6m$ at the distance of 10m, but the more far distance cause exponentially the more error. We confirmed that this algorithm can be reduced less than 0.1m of error at the same condition.

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The Couplings for ball-screw on high precision positioning (고정도 이송을 위한 공기정압커플링에 관한 연구)

  • 황성철;전도현;이득우
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
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    • pp.161-166
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    • 2002
  • Recently, researches on precision machining of nato-order, especially in the field of optical components and semi-conductors have been under development very actively. A accuracy of machining and positioning in a critical issue in ultra-precision machining. This paper proposes a new positioning system which can give excellent dynamic characteristics and reduce errors in horizontal, vertical, pitching, and yawing motions. In this paper, we suggest a connecting mechanism (the couplings) to reduce motion errors such as chatter and runout while preserving the positioning accuracy. We verified the good performance in the new connecting systems with various coupling types, which we classified into the fixed type, the spring type, the aeroctatic-nozzle type, and the aeroctatic-porous type according to the way of reducing the chatter and error.

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Design of robust servo systems and application to control of training simulator for radio-controlled helicopter (강인한 서보계설계와 R/C헬리콥터 트레이닝 시뮬레이터 제어에의 응용)

  • 김상봉;박순실
    • Transactions of the Korean Society of Mechanical Engineers
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    • v.15 no.2
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    • pp.497-506
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    • 1991
  • In this paper, a new construction for training simulator of R/C helicopter based on two types of servo controller is proposed. Two modified algorithms (algorithm I and II) for servo controller design are presented. Algorithm I is developed by adopting Davison's method in the case that the expressions for the homogeneous differential equations of reference input and disturbance are different types, and algorithm II is done by considering error weighting function for the servo controller of algorithm I . The linear fractional transformation method is incorporated in both design methods in order to assign the closed loop poles of the servo system in a specified region. The helicopter simulator is composed by the gimbals with two freedom of rolling and pitching. The reliability and validity for the design methods of the proposed servo controller are investigated through the practical experiment for the simulator by using 16bits micro-computer with A/D and D/A converters. It can be observered from the experimental results that the proposed servo controller is applicable to practical plants since the simulator is robust for the arbitrary disturbance and it follows to the given reference input without significant steady state error.

Design and Control of 6 D.O.F(Degrees of Freedom) Hovering AUV (6자유도 호버링 AUV의 설계 및 제어)

  • Jeong, Sang-Ki;Choi, Hyeung-Sik;Seo, Jung-Min;Tran, Ngoc Huy;Kim, Joon-Young
    • Journal of Institute of Control, Robotics and Systems
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    • v.19 no.9
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    • pp.797-804
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    • 2013
  • In this paper, a study of a new hovering six dof underwater robot with redundant horizontal thrusters, titled HAUV (hovering AUV), is presented. The results of study on the structure design, deployment of thrusters, and development of the developed control system of the AUV was presented. For the HAUV structure, a structure design and an analysis of the thrusting system was performed. For navigation, a sensor fusion board which can proceed various sensor signals to identify correct positions and speeds was developed and a total control system including EKF (Extended Kalman Filter) was designed. Rolling, pitching and depth control tests of the HAUV have been performed, and relatively small angle error and depth tracking error results were shown.

A Precision Position Control of Antenna Driving System in Naval Vessel (함상 안테나 구동용 안정화장치의 정밀 위치제어)

  • Cho, Taik-Dong;Seo, Song-Ho;Nam, Ki-Jung
    • Journal of the Korean Society for Precision Engineering
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    • v.18 no.4
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    • pp.190-196
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    • 2001
  • The naval vessel must moves rolling, pitching, yawing by wave when it runs in ocean. Some narrow beam antenna needed position compensation by stabilizer or gimbal for best performance. This paper presents the precision position control for heavy weight(130kg) in roll and pitch direction. Generally it's called for gimbal. This gimbal uses P-I controller, and it's driven by linear actuator and servo motor. This gimbal gets ship's gyro signal and synchro, which have the absolute angle value. Some other similar equipments are driven by huge hydraulic power, but this gimbal is driven by small servo motor. This control loop gets the following procedure repeatedly; reading ship gyro and gimbal synchro, calculating compensated error and control output, driving motor and actuator The performance of gimbal system was satisfied.

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Study on the Linear Air Bearing Stage with Actively Controllable Magnetic Preload (초정밀 스테이지를 위한 능동형 자기예압 공기베어링에 관한 연구)

  • Ro S.K.;Park C.H.;Kim S.H.;Kwak Y.K.
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • pp.135-136
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    • 2006
  • A precise linear motion stage supported by magnetically preloaded air bearings is introduced where preloading magnetic actuators are combined with permanent magnets and coils to adjust air bearing clearance by controlling magnetic force actively. Each of the magnetic actuators has a permanent magnet generating nominal magnetic flux for required preload and a coil to perturb the magnetic force resulting adjustment of air-bearing clearance. The characteristics of porous aerostatic bearing are analyzed by numerical analysis, and analytic magnetic circuit model is driven for magnetic actuator to calculate nominal preload and variation of force due to current. A 1-axis linear stage motorized with a coreless linear motor and a linear encoder is built for verifying this design concept. With the active magnetic preloading actuators controlled with DSP board and PWM power amplifiers, the active on-line adjusting tests about the vertical, pitching and rolling motion were performed, and the result shows very good linearity.

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