• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• 제5B권4호
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• pp.350-357
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• 2005

This paper presents a mechanical sensorless vector-controlled system with parameter identification by the aid of image processor. Based on the flux observer and the model reference adaptive system method, the proposed sensorless system includes rotor speed estimation and stator resistance identification using flux errors. Since the mathematical model of this system is constructed in a synchronously rotating reference frame, a linear model is easily derived for analyzing the system stability, including motor operating state and parameter variations. Because it is difficult to identify rotor resistance simultaneously while estimating rotor speed, a low-accuracy image processor is used to measure the mechanical axis position for calculating the rotor speed at a steady-state operation. The rotor resistance is identified by the error between the estimated speed using the estimated flux and the calculated speed using the image processor. Finally, the validity of this proposed system has been proven through experimentation.

• 한국전자파학회논문지
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• 제11권4호
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• pp.565-574
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• 2000

본 논문에서는 지하 탐사용 레이다를 이용하여 공사현장에 매설된 파이프 또는 케이블의 위치를 파악하는 법 과 이에 따른 새로운 근사 이미지 추출 방법을 제안하였다. 기본 원리는 매설 구조물에 의해 산란된 광대역펄스 산란신호의 지연시간과 크기 복원에 기초를 두고 있다. 산란신호의 정확한 측정을 위해 레이다 탐색경로에 따른 수신신호의 절대치 적분 방법을 사용하였고, 이로 인해 다양한 지면 상태 하에서도 선명한 이미지 추출이 가능 하였다. 분산과 손실특성을 나타내는 다항 Debye모텔을 사용하여 지하매질을 기술하였고, 모의 실험은 FDTD 방법을 사용하였다. 본 논문에서 제안한 이미지 추출방법은 시간영역에서의 전파 경로추적이라는 새로운 방법을 사용하였고, 이를 이용하여 구조물의 위치를 탐색하였다.

• 동력기계공학회지
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• 제17권5호
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• pp.112-120
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• 2013

In this study, we propose an improved view-based navigation method for obstacle avoidance and evaluate the effectiveness of the method in real environments with real obstacles. The proposed method possesses the ability to estimate the position and rotation of a mobile robot, even if the mobile robot strays from a recording path for the purpose of avoiding obstacles. In order to achieve this, ego-motion estimation was incorporated into the existing view-based navigation system. The ego-motion is calculated from SURF points between a current view and a recorded view using a Kinect sensor. In conventional view-based navigation systems, it is difficult to generate alternate paths to avoid obstacles. The proposed method is anticipated to allow a mobile robot greater flexibility in path planning to avoid humans and objects expected in real environments. Based on experiments performed in an indoor environment using a mobile robot, we evaluated the measurement accuracy of the proposed method, and confirmed its feasibility for robot navigation in museums and shopping mall.

• 대한공간정보학회지
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• 제24권2호
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• pp.25-35
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• 2016

Since a sophisticated location determination technology (LDT) is necessary for accurate positioning in urban area environments, numerous studies related to the LDT using the RFID (Radio Frequency IDentification) technology have been implemented for real-time positioning and data transferring. However, there are still lots of unsolved questions especially regarding what to use as base stations and what are corresponding results under the intrinsic complexity of alignment and configuration of components used for the RFID positioning. This study proposes the street light fixtures as base stations where the RFID receivers will be embedded for the mobile tracking scheme. As street light fixtures are usually installed at a certain distance interval, they can be used as base stations for the RFID receiver installation. Using the principle of the single row triangle network, the RFID receiver organization is determined based on the experiments such as recognition distance measurement and tag position accuracy estimation at inside and outside of the single row triangle network. The results verify that the mobile tracking scheme which uses RFID-embedded street light fixtures, suggested and configured in this study, is effective for the real-time outdoor positioning.

• 제어로봇시스템학회논문지
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• 제17권10호
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• pp.995-1005
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• 2011

An efficient outdoor local localization method is suggested using multi-sensor fusion with MU-EKF (Multi-Update Extended Kalman Filter) for car-like mobile robots. In outdoor environments, where mobile robots are used for explorations or military services, accurate localization with multiple sensors is indispensable. In this paper, multi-sensor fusion outdoor local localization algorithm is proposed, which fuses sensor data from LRF (Laser Range Finder), Encoder, and GPS. First, encoder data is used for the prediction stage of MU-EKF. Then the LRF data obtained by scanning the environment is used to extract objects, and estimates the robot position and orientation by mapping with map objects, as the first update stage of MU-EKF. This estimation is finally fused with GPS as the second update stage of MU-EKF. This MU-EKF algorithm can also fuse more than three sensor data efficiently even with different sensor data sampling periods, and ensures high accuracy in localization. The validity of the proposed algorithm is revealed via experiments.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2015년도 추계학술대회
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• pp.55-57
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• 2015

The tracking system plays a key role in accurate estimation and prediction of maneuvering vessel's position and velocity in a bid to enhance safety by taking avoiding action against collision. Therefore, in order to achieve this, many ocean- going vessels are equipped with radar and the ARPA system. However, the accuracy of prediction highly depends on the choice of the gain parameters, ${\alpha}$, ${\beta}$ and ${\gamma}$ employed in the tracking filter. P revious research of this paper was based on theoretically developing an algorithm for a tracking module. This research paper is hence a continuation by the authors to determine the optimal values of the gain parameters used in the tracking module. A tracking algorithm is developed using the ${\alpha}-{\beta}-{\gamma}$ filter to carry out prediction and smoothing of the positions and velocities. Numerical simulations are then performed to evaluate the optimal values of the smoothing parameters that will improve the performance of the tracking module and reduce measurement noise. The twice distance root mean square (2drms) is then calculated to determine error variation.

• Current Optics and Photonics
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• 제1권5호
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• pp.505-513
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• 2017

Measuring the thickness of thin films is strongly required in the display industry. In recent years, as the size of a pattern has become smaller, the substrate has become larger. Consequently, measuring the thickness of the thin film over a wide area with low spatial sampling size has become a key technique of manufacturing-yield management. Interferometry is a well-known metrology technique that offers low spatial sampling size and the ability to measure a wide area; however, there are some limitations in measuring the thickness of the thin film. This paper proposes a method to calculate the thickness of the thin film in the following two steps: first, pre-estimation of the thickness with the phase at the peak position of the interferogram at the bottom surface of the thin film, using white-light phase-shift interferometry; second, accurate correction of the measurement by fitting the interferogram with the theoretical pattern through the estimated thickness. Feasibility and accuracy of the method has been verified by comparing measured values of photoresist pattern samples, manufactured with the halftone display process, to those measured by AFM. As a result, an area of $880{\times}640$ pixels could be measured in 3 seconds, with a measurement error of less than 12%.

• 조명전기설비학회논문지
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• 제30권3호
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• pp.46-52
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• 2016

When a fault occurs on a transmission line, it is important to identify the fault location as speedily as possible for improvement of the power supply reliability. Generally, distance to fault location is estimated by off line from the recorded data. Conventional fault recorder uses the fault data at one end. This paper deals with the design of an advanced fault recorder for enhancement accuracy of the fault distance estimation and fast detection a fault occurrence position. The major emphasis of the paper will be on the description of the hardware and software of the fault recorder. The fault locator algorithm utilizes a GPS time-synchronized the fault data at both ends. The fault data is transmitted to the other side substation through communication. The advanced fault locator includes a Power module, MPU(Main Processing Unit) module, ADPU(Analog Digital Processing Unit) module, and SIU(Signal Interface Unit) modules. The MMI firmware and software of an advanced fault recording device was implemented.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2018년도 춘계학술대회
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• pp.30-31
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• 2018

선박 내부의 경우 철 구조물 특성 및 NLOS(Non-Line of Sight) 환경에 의하여 심한 RF 간섭이 발생하기 때문에 실내 위치 측정에 어려움이 있다. 본 논문에서는 선박 내부 환경에서 측위 정확성을 높이기 위해 ZigBee, UWB, LF 기술들을 이용하는 무선 복합 측위 시스템을 제안하고 실제 선박 환경에 적용하여 특성을 검증하였다. 제안된 시스템은 LF 기술을 이용하여 층간 구분을 하고, 선박 내부에 설치된 다수의 AP로부터 ZigBee, UWB 위치 데이터를 수집해 선박 내부 공간 유형에 따라 선택적으로 알고리즘을 적용하여 위치를 측정하고 편의 서비스 및 구조 지원 서비스를 제공 할 수 있다.

• International Journal of Aeronautical and Space Sciences
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• 제18권3호
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• pp.565-573
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• 2017

This paper presents a multistage in-flight alignment (MIFA) method for a strapdown inertial navigation system (SDINS) suitable for moving vehicles with no initial attitude references. A SDINS mounted on a moving vehicle frequently loses attitude information for many reasons, and it makes solving navigation equations impossible because the true motion is coupled with an undefined vehicle attitude. To determine the attitude in such a situation, MIFA consists of three stages: a coarse horizontal attitude, coarse heading, and fine attitude with adaptive Kalman navigation filter (AKNF) in order. In the coarse horizontal alignment, the pitch and roll are coarsely estimated from the second order damping loop with an input of acceleration differences between the SDINS and GPS. To enhance estimation accuracy, the acceleration is smoothed by a scalar filter to reflect the true dynamics of a vehicle, and the effects of the scalar filter gains are analyzed. Then the coarse heading is determined from the GPS tracking angle and yaw increment of the SDINS. The attitude from these two stages is fed back to the initial values of the AKNF. To reduce the estimated bias errors of inertial sensors, special emphasis is given to the timing synchronization effects for the measurement of AKNF. With various real flight tests using an UH60 helicopter, it is proved that MIFA provides a dramatic position error improvement compared to the conventional gyro compass alignment.