• 전력전자학회논문지
• /
• 제20권5호
• /
• pp.402-409
• /
• 2015

This paper proposes a novel rotor position error calculation method for high-frequency signal-injected sensorless control. The rotor position error using the conventional modulation method can be only measured up to ${\pm}45^{\circ}$. In addition, when the rotor position estimation error is not sufficiently small, the small angle approximation in no longer valid. To overcome these problems, this study introduces a new rotor position error calculation method using the rotating matrix. In this study, the position error measurement range of the proposed method is extended from ${\pm}45^{\circ}$ to ${\pm}90^{\circ}$. The linearity between the real rotor position error and the estimated error is maintained by nearly $90^{\circ}$. These features of the proposed method improve the performance of the sensorless control. The validity of the proposed method is verified by simulations and experiments.

• 대한전자공학회논문지SP
• /
• 제37권1호
• /
• pp.1-15
• /
• 2000

3차원 형상의 복구를 위하여 일반적으로 다른 방향에서 취득한 거리 영상을 하나의 좌표계로 변환하는 과정이 필요하다. 본 논문에서는 이러한 과정 중 레지스트레이션과 인티그레이션에 관한 연구 결과를 제시한다 레지스트레이션에 대해서는 가존의 ICP 알고리듬의 수렴 속도 향상을 위해 높은 곡률을 갖는 데이터에 가중치를 주는 2 단계의 알고리듬을 제안한다 첫 번째 단계에서는 모든 거리 데이터 이용하여 적당한 정도의 레지스트레이션을 수행하고 두 번째 단계에서 높은 곡률을 가진 점들만을 이용하여 보다 정확한 레지스트레이션을 수행한다 인티그레이션 알고리듬으로는 가준 좌표계로 변환된 모든 거리 영상간의 전체 오차를 최소화하기 위해 2장간의 거리 영상에 대한 ICP 알고리듬을 임의의 N장의 거리 영상에 대하여 적용할 수 있도록 일반화하는 알고리듬을 제안하였다 제안하는 알고리듬을 통하여 2장간의 변환을 순차적으로 수행하여 기준 좌표계로의 변환을 얻었을 때 레지스트레이션 오차가 누적되는 문제점을 해결하였다 실험결과 레지스트레이션 알고리듬은 펜티움 150MHz PC 환경에서 l분정도의 수행시간을 나타내었다 실험 결과는 제안하는 기법이 적절한 시간내에 모든 거리 데이터들을 오차가 고르게 분포하는 모델을 형성할 수 있음을 보인다.

• 말소리와 음성과학
• /
• 제15권4호
• /
• pp.53-60
• /
• 2023

본 연구에서는 음성장애 환자에서 음성 범위 프로파일(voice range profile, VRP)과 말 범위 프로파일(speech range profile, SRP)을 이용한 추정 발화 기본주파수 절대 오차(absolute error of estimated speaking fundamental frequency, AEF0)를 음성장애의 병인 집단 간에 비교하여 차이를 확인하고,각 병인 집단 별로 AEF0와 관련된 변수들 간의 상관관계를 살펴보고자 하였다. 연구대상은 음성장애로 진단된 기능적(functional, FUNC), 기질적(organic, ORGAN), 신경학적(neurogenic, NEUR) 음성장애 환자군과 정상군(normal control, NC) 각 30명(남 15명, 여 15명)으로 총 120명이었다. 각 대상자로 하여금 음성, 말 범위 프로파일 과제를 수행하도록 하고 전기성문파형검사(electroglottography, EGG)를 통해 발화 기본주파수를 측정하였다. 병인 집단 간 AEF0의 비교 결과, Grade와 Severity는 병인 집단 간 차이가 없었던 반면, AEF0_VRP와 AEF0_SUM에서 병인 집단 간 차이가 있어 AEF0_VRP는 ORGAN이 FUNC와 NC보다 높았으며, AEF0_SUM은 ORGAN이 NC보다 높았다. 또한 FUNC와 NEUR에서는 AEF0가 Grade와 양의 상관관계를 보인 반면, ORGAN은 CQ(closed quotient)와 양의 상관관계가 있었다. 따라서 병인 집단에 따라 AEF0의 적용과 관련 음성 변수를 살펴보는 데 주의를 기울여야 할 것으로 보이며, 본 연구는 이러한 임상적 판단에 대한 기초 자료를 마련하는 데 일조한 것으로 여겨진다.

• 한국군사과학기술학회지
• /
• 제13권3호
• /
• pp.413-420
• /
• 2010

An Estimation of VHF data link range for EW(Electronic Warfare) equipment in the sea environment was studied to predict the data link range between transmitting and receiving station. The theoretical estimation predicts within 3% error with actual measurement of VHF data link range at sea. Data link range factors including refraction and reflection are added in the basic wave propagation equation. The effect of refraction and reflection to the range is analysed with quantity level.

• ETRI Journal
• /
• 제33권4호
• /
• pp.528-536
• /
• 2011

In this paper, we analyze the location accuracy of real-time locating systems (RTLSs) in multipath environments in which the RTLSs comply with the ISO/IEC 24730-2 international standard. To analyze the location error of RTLS in multipath environments, we consider a direct path and indirect path, in which time and phase are delayed, and also white Gaussian noise is added. The location error depends strongly on both the noise level and phase difference under a low signal-to-noise ratio (SNR) regime, but only on the noise level under a high SNR regime. The phase difference effect can be minimized by matching it to the time delay difference at a ratio of 180 degrees per 1 chip time delay (Tc). At a relatively high SNR of 10 dB, a location error of less than 3 m is expected at any phase and time delay value of an indirect signal. At a low SNR regime, the location error range increases to 8.1 m at a 0.5 Tc, and to 7.3 m at a 1.5 Tc. However, if the correlation energy is accumulated for an 8-bit period, the location error can be reduced to 3.9 m and 2.5 m, respectively.

• 한국멀티미디어학회논문지
• /
• 제25권2호
• /
• pp.280-286
• /
• 2022

In order to efficiently collect data, it is essential to locate the facilities and analyze the movement data. The current technology for location collection can collect data using a GPS sensor, but GPS has a strong straightness and low diffraction and reflectance, making it difficult for indoor positioning. In the case of indoor positioning, the location is determined by using wireless network technologies such as Wifi, but there is a problem with low accuracy as the error range reaches 20 to 30 m. In this paper, using BLE 4.2 built in Raspberry Pi, we implement Bluetooth Smart Ready. In detail, a beacon was produced for Advertise, and an experiment was conducted to support the serial port for data transmission/reception. In addition, advertise mode and connection mode were implemented at the same time, and a 3-count gradual algorithm and a quadrangular positioning algorithm were implemented for Bluetooth RSSI error correction. As a result of the experiment, the average error was improved compared to the first correction, and the error rate was also improved compared to before the correction, confirming that the error rate for position measurement was significantly improved.

• 한국항해항만학회지
• /
• 제37권5호
• /
• pp.447-452
• /
• 2013

해상교통관제시스템(VTS)은 선박의 위치, 속도, 침로 등 해상 교통 정보를 획득하기 위하여 다수의 해상감시레이더를 주요 센서로 이용하고 있으며, 거리 및 방위각 바이어스와 같은 2차원 해상감시레이더의 시스템 오차는 레이더 영상 및 표적 추적정보의 정확도를 크게 저하시킬 수 있다. 따라서 해상교통관제시스템에서 정확한 표적정보를 제공하기 위하여 레이더의 시스템 오차는 정밀하게 보정되어야 한다. 본 논문에서는 VTS 관제영역에 설치된 항로표지의 위치정보를 이용하여 2차원 해상감시레이더의 거리 및 방위각 오차를 보정하기 위한 방법을 제안한다. 2차원 레이더 측정값의 표준오차 모델과 항로표지 위치정보로부터 측정 잔차 모델을 유도하고, 레이더 시스템 오차를 추정하기 위한 선형 칼만필터를 설계한다. Monte-Carlo 모의실험을 통하여 제안한 방법을 검증하고, 항로표지 정보의 개수에 따른 레이더 시스템 오차 추정의 수렴 특성 및 정확도를 분석한다.

• 전기학회논문지
• /
• 제63권1호
• /
• pp.99-107
• /
• 2014

In this paper, a landmark based localization system using a Kinect sensor is proposed and evaluated with the implemented system for precise and autonomous navigation of low cost robots. The proposed localization method finds the positions of landmark on the image plane and the depth value using color and depth images. The coordinates transforms are defined using the depth value. Using coordinate transformation, the position in the image plane is transformed to the position in the body frame. The ranges between the landmarks and the Kinect sensor are the norm of the landmark positions in body frame. The Kinect sensor position is computed using the tri-lateral whose inputs are the ranges and the known landmark positions. In addition, a new matching method using the pin hole model is proposed to reduce the mismatch between depth and color images. Furthermore, a height error compensation method using the relationship between the body frame and real world coordinates is proposed to reduce the effect of wrong leveling. The error analysis are also given to find out the effect of focal length, principal point and depth value to the range. The experiments using 2D bar code with the implemented system show that the position with less than 3cm error is obtained in enclosed space($3,500mm{\times}3,000mm{\times}2,500mm$).

• 한국항해학회지
• /
• 제5권2호
• /
• pp.1-39
• /
• 1981

A doppler log is the typical device which can measure the ship's speed over the ground directly, by means of doppler effect of the underwater ultrasonic wave, which involves the error due to the sea bottom inclination, the trim and the incorrect transducer installation etc. The present doppler log adopts a single transducer, faced in the direction of themain beam, and therefore it is unable to correct the beam direction to eliminate the above mentioned error. Moreover, the frequencyis also limitted in a comparatively high range for getting a sharp beam with single transducer, and the speed over the ground can not be detectable at the deep sea, for an instance, over 200 meters. This paper describes a theoretical consideration for the doppler log error and an analysis by a computer on the observed speed data by a full size model ship. The result is verified that the most of doppler log error is caused by the ultrasonic beam angle of transducer. To eliminate the doppler log error due to the incorrect transducer installation and also to sharpen the beam for lower frequency range to expand measurable sea depth, this paper proposes a method of controlling the directivity adopting a linear transducer array and of controlling the directivity by the control of exciting current, and investigates by the computer simulation and make experiment with magnetostrictive ferrite transducer of 28, 50 and 75KHz. The experimental results are shown well coincide with the measured ones, and they are revealed that in case where the transducer interval is greater than 1 wavelength, the effective control of the beam direction is hardly performed with keeping adequate beam width and side lobe level. It is concluded that 6-elements array with inter element space of a half wavelength can make comparatively sharp beam and low side lobe level. The results obtained here will contribute very much to the improvement of the performance of doppler log.

• 비파괴검사학회지
• /
• 제4권1호
• /
• pp.11-22
• /
• 1984

In the straight beam inspection of ultrasonic wave, the method for evaluating flaw size by AVG diagram is useful as a method for the quantitative evaluation of results of ultrasonic flaw detection. This study was carried out the measure the size of circular flat flaw with the inclination by straight beam inspection and could be decreased the error of application due to the inclination of flaw by AVG diagram in consideration of correction coefficient. From the result of the experiment, the error by means of the application of experimental values to AVG diagram was increased as the inclination angle grows. Also, it n s increased the error of application as the detecting frequency and diameter of flaw grows in the same inclination angle. In case of diameter of flaw 6mm, AVG diagram could be applied to the inclination angle $3^{\circ}$ for 5 MHz, $7^{\circ}$ for 2.25 MHz, $15^{\circ}C$ for 1 MHz in the range of 20% error and the theory was concided with the experiment to $5^{\circ}C$ for 5 MHz, $10^{\circ}C$ for 2.25 MHz, $15^{\circ}C$ for 1 MHz in the range of 10% error by correction eq. (45) due to the inclination angle. Therefore, it is considered that the results obtained from this study will be somewhat helpful informations for the size evaluation of circular flat flaw with the inclination.