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자석식 자동 파이프 절단기의 정속제어와 MEMS 형 가속도계를 이용한 미끄럼 측정
김국환(G. H. Kim),이성환(S. W. Lee),임성수(S. S. Rhim),이순걸(S. G. Lee) 한국정밀공학회 2004 한국정밀공학회 학술발표대회 논문집 Vol.2004 No.10월
In this paper, a magnet-type automatic pipe cutting machine that binds itself to the surface of the pipe using magnetic force and executes unmanned cutting process is proposed. During pipe cutting process when the machine moves around the pipe laid vertical to the gravitational field, the gravity acting on the pipe cutting machine widely varies as the position of the machine varies. That is, with same driving force from the driving motor the cutting machine moves faster when it climbs down the surface of the pipe and moves slower when it climbs up to the top of the pipe. To maintain a constant velocity of the pipe cutting machine and improve the cutting quality, the authors adopted a conventional PID controller with a feedforward effort designed based on the encoder measurement of the driving motor. It is, however, impossible for the encoder at the motor to measure the absolute position and consequently the absolute velocity of the cutting machine in the case where the slip between the surface of the pipe and wheel of the cutting machine is not negligible. As an attempt to obtain a better estimation of the absolution angular position/velocity of the machine the authors proposes the use of the MEMS-type accelerometer which can measure static acceleration as well as dynamic acceleration. The estimated angular velocity of the cutting machine using the MEMS-type accelerometer measurement is experimentally obtained and it indicates the significant slipping of the machine during the cutting process.
논문 : 정보처리 및 복합기술 ; 다중 GPS 수신기에 의한 농업용 차량의 정밀 위치 계측(1) -오차추정 시뮬레이션 및 고정위치계측-
김상철 ( S. C. Kim ),조성인 ( S. I. Cho ),이승기 ( S. G. Lee ),이운용 ( W. Y. Lee ),홍영기 ( Y. G. Hong ),김국환 ( G. H. Kim ),조희제 ( H. J. Cho ),강지원 ( G. W. Gang ) 한국농업기계학회 2011 바이오시스템공학 Vol.36 No.2
This study was conducted to develop a robust navigator which could be in positioning for precision farming through developing a plural GPS receiver with 4 sets of GPS antenna. In order to improve positioning accuracy by integrating GPS signals received simultaneously, the algorithm for processing plural GPS signal effectively was designed. Performance of the algorithm was tested using a simulation program and a fixed point on WGS 84 coordinates. Results of this study are aummarized as followings. 1. 4 sets of lower grade GPS receiver and signals were integrated by kalman filter algorithm and geometric algorithm to increase positioning accuracy of the data. 2. Prototype was composed of 4 sets of GPS receiver and INS components. All Star which manufactured by CMC, gyro compass made by KVH, ground speed sensor and integration S/W based on RTOS(Real Time Operating System)were used. 3. Integration algorithm was simulated by developed program which could generate random position error less then 10 m and tested with the prototype at a fixed position. 4. When navigation data was integrated by geometrical correction and kalman filter algorithm, estimated positioning erros were less then 0.6 m and 1.0 m respectively in simulation and fixed position tests.