• Korean Journal of Construction Engineering and Management
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• v.13 no.2
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• pp.110-119
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• 2012

The Plan and equipment of vertical lifting are very important in high-rise building construction site, and unmanned lifts usage is increasing for financial and efficient reason. However if lift stop position error occur, It can be accumulated. And the lift can not be available during an engineer fix the problem. So loss of time and cost will occur when lifts have problems. This paper reports an improved lift stop position sensing device for preventing loss of time and cost from lift stop position error. The result of tests showed that the system has a correction function of lift stop position error, and the accuracy of device which was developed in this paper was about 9.75mm better than existing equipment.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.23 no.2
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• pp.96-102
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• 2009

In this paper, the effects of the position and the angle of the potential probes on the measurements of the ground resistance with the fall-of-potential method are described and the testing techniques to minimize the measuring errors are proposed. The fall-of-potential method is theoretically based on the potential and current measuring principle and the measuring error is primarily caused by the position and angle of auxiliary probes. In order to analyze the relative error for measuring value of ground resistance due to the position of the potential probe, ground resistance were measured in case that the distance of current probe was fixed at 50[m] and the distance of potential probe was located from l0[m] to 50[m]. Also, the potential probe was located at 30[$^{\circ}$], 45[$^{\circ}$], 60[$^{\circ}$], 90[$^{\circ}$] and 180[$^{\circ}$]. As a consequence, relative error decreased with increasing the distance of potential probe and decreasing the angle between current probe and potential probe. The results could be help to determine the position of potential probe when the ground resistance was measured at grounding system.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.56.1-56
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• 2001

Initial attitude error is one of the large error sources in the navigation errors of SDINS. And it is important to decide the initial attitude of SDINS. The method, like a self-alignment or a transfer alignment method, is required to a precise INS. If we do not have a precise INS, we should get large attitude error. After performing the initial alignment, a vehicle has the initial attitude error. Therefore, it results in navigation error due to the initial attitude error. But, if we use position information during flight, we could estimate and compensate a vehicle attitude error. So, we can maintain a precise attitude in spite of existing the initial attitude error. Using the uplinked position information from a land-based radar system, the new algorithm estimates the attitude of the SDINS during flight ...

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.7
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• pp.986-991
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• 2004

For volumetric error measurement and calibration for machine tools, manufacturing machine or coordinate measuring machine (CMM), are studied using a Ball-bar artifact. A design of the Ball-bar is suggested manufactured by Invar, which is a low thermal expansion material, and precision steel balls. The uncertainty for the artifact method is discussed. A method of the Ball-bar artifact for obtaining 3-D position errors in CMM is proposed. The method of error vector measurement is shown using the Ball-bar artifact. Finally, the volumetric error is calculated from the error vectors and it can be used for Pitch error compensation in conventional NC machine and 3-D position Error map for calibration of NC machine tools.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.1
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• pp.98-107
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• 1996

The use of composite hyperpatch model is proposed to predict a machine tool positional error over the entire work space. This is an appropriate representation of the distorted work space. This model is valid for any configuration of 3-axis machine tool. Tool position, which is given NC data or CL data, contains error vector in actual work space. In this study, off-line compensation scheme was investigated for tool position error due to inaccuracy in machine tool structure. The error vector in actual work space is corrected by the error model using Newton-Raphson method. The proposed error compensation method shows the possibility of improving machine accuracy at a low cost.

• Proceedings of the KIPE Conference
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• 2001.12a
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• pp.190-193
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• 2001

This paper describes the reduction of vibration and position error of Linear Pulse Motor(LPM) with the control method of PWM duty ratio by using Motion Controller in LPM. The LPM is operated on micro-stepping drive, that the linear scale is sequently returned the position signals of a micro-meter And next micro-step is controlled with the scale factor when position error is occurred. The scale factor is experimently acquired.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.181-183
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• 1996

Generally, While position type fuzzy controller has good performance in transient period, it has uniform steady state error of response. While velocity type fuzzy controller is capable of reducing steady state error of response, it is hard to develop the performance in transient period. In order to have both good performance in transient period and ability to reduce the steady state error of response, weighting fuzzy controller, which is composed of these two fuzzy controllers, is proposed. For the decision of weight to each fuzzy controller, Weighting fuzzy set is established according to the system state variables and applied to each fuzzy controller. The proposed weighted fuzzy controller has the merits of both position type fuzzy controller and velocity type fuzzy controller simultaneously.

• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.307-310
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• 2003

In this paper, an iterative learning control method is applied to suppress the vibration of a 2-mass system which has a flexible coupling between a load an a motor. More specifically, conditions for the load speed without vibration are derived based on the steady-state condition. And the desired motor position trajectory is synthesized based on the relation between the load and motor speed. Finally, a PD-type learning iterative control law is applied for the desired motor position trajectory. Since the learning law applied for the desired trajectory guarantees the perfect tracking performance, the resulting load speed shows no vibration. In order to handle the initial position error, the PD-type learning law is changed to PID-type and a weight function is added to suppress the residual vibration caused by the initial error. The simulation results show the effectiveness of the proposed learning method.

• The Journal of Korea Robotics Society
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• v.7 no.1
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• pp.45-56
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• 2012

This paper proposes how to improve the performance of CSS-based indoor localization system. CSS based localization utilizes signal flight time between anchors and tag to estimate distance. From the distances, the 3-dimensional position is calculated through trilateration. However the error in distance caused from multi-path effect transfers to the position error especially in indoor environment. This paper handles a problem of reducing error in raw distance information. And, we propose the new localization method by pattern matching instead of the conventional localization method based on trilateration that is affected heavily on multi-path error. The pattern matching method estimates the position by using the fact that the measured data of near positions possesses a high similarity. In order to gain better performance of localization, we use EKF(Extended Kalman Filter) to fuse the result of CSS based localization and robot model.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.533-535
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• 2006

Cleaning robot that is selling in present city has various cleaning algorithm. However, error of most products happens on progress direction by small obstacle that do not properly and miss cleaning thereby happens. There is robot that correct own position, but is hard to use in general home because economical strain is very big because is high price product very. In this paper measures angular velocity of robot using deviation sensor, and do to correct error using turning angular velocity and vertical angular velocity. Because detailed cleaning such as high pice style is available without addition of expensive hardware in middle and low price style cleaning product thereby, can possess price competitive power.