This paper proposes a UKF-Based indoor localization method that evaluates the optimal position of a robot by fusing the position information from encoders and the distance information of the obstacle measured by ultrasonic sensors. UKF is a method of evaluating the robot’s position by transforming optimal sigma points extracted using the unscented transform and is advantageous for the localization of a nonlinear system. To solve the problem of the specular reflection effect of ultrasonic sensors, we propose a validation gate that evaluates the reliability of the ranges measured by sonar sensors, that can maximize the quality of the position evaluation. The experimental results showed that the method is stable and convergence of the position error regardless of the size of the initial position error and the length of the sampling time.
This paper proposes a practical method, for evaluating 3-D positioning of outdoor mobile robots using the Unscented Kalman Filter (UKF). The UKF method does not require the linearization process unlike conventional EKF localization, so it can minimize effects of errors caused by linearization of non-linear models for position estimation. Also, this method does not require Jacobian calculations difficult to calculate in the actual implementation. The 3-D position of the robot is predicted using an encoder and tilt sensor, and the optimal position is estimated by fusing these predicted positions with the GPS and digital compass information. Experimental results revealed the proposed method is stable for localization of the 3D position regardless of initial error size, and observation period.
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Research on Parameter Compensation Method and Control Strategy of Mobile Robot Dynamics Model Based on Digital Twin Renjun Li, Xiaoyu Shang, Yang Wang, Chunbai Liu, Linsen Song, Yiwen Zhang, Lidong Gu, Xinming Zhang Sensors.2024; 24(24): 8101. CrossRef
A Study on Improving the Sensitivity of High-Precision Real-Time Location Receive based on UWB Radar Communication for Precise Landing of a Drone Station Sung-Ho Hong, Jae-Youl Lee, Dong Ho Shin, Jehun Hahm, Kap-Ho Seo, Jin-Ho Suh Journal of the Korean Society for Precision Engineering.2022; 39(5): 323. CrossRef
The objective of this study was to perform surface hardening experiments of titanium alloy using laser. The surface hardness value after laser hardening treatment was observed to increase with respect to the inflow of laser energy. However, when the laser energy exceeded the critical value, damage and cracks were observed on the surface of the material. The relationship between surface hardness values and process variables such as laser energy, scan speed, and number of laser scans was quantitatively modeled through the design of experiments and analysis of variance. Using the established mathematical model, the surface hardness value of the material can be predicted accurately with an average of 10% error over various process conditions. Analysis of the surface composition of the material using energy dispersive spectrometry showed that titanium oxide was the main cause of the increasing surface hardness. Further studies will be conducted to improve the accuracy and predictability of the model using nonlinear modeling techniques.
This paper proposes a practical method, for evaluating positioning of outdoor mobile robots using Unscented Kalman Filter (UKF). Since the UKF method does not require the linearization process unlike EKF localization, it can minimize effects of errors caused by linearization of non-linear models for position estimation. This method enables relatively high performance position estimation, using only non-inertial sensors such as low-precision GPS and a digital compass. Effectiveness of the UKF localization method was verified through actual experiments and performance of position estimation was compared with that of the existing EKF method. Experimental results revealed the proposed method has better performance than the EKF method, and it is stable regardless of initial error size, and observation period.
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Localization-based waiter robot for dynamic environment using Internet of Things Muhammad Waqas Qaisar, Muhammad Mudassir Shakeel, Krzysztof Kędzia, José Mendes Machado, Ahmed Zubair Jan International Journal of Information Technology.2025; 17(6): 3675. CrossRef
Research on Parameter Compensation Method and Control Strategy of Mobile Robot Dynamics Model Based on Digital Twin Renjun Li, Xiaoyu Shang, Yang Wang, Chunbai Liu, Linsen Song, Yiwen Zhang, Lidong Gu, Xinming Zhang Sensors.2024; 24(24): 8101. CrossRef
Indoor Localization of a Mobile Robot based on Unscented Kalman Filter Using Sonar Sensors Soo Hee Seo, Jong Hwan Lim Journal of the Korean Society for Precision Engineering.2021; 38(4): 245. CrossRef
Unscented Kalman Filter Based 3D Localization of Outdoor Mobile Robots Woo Seok Lee, Min Ho Choi, Jong Hwan Lim Journal of the Korean Society for Precision Engineering.2020; 37(5): 331. CrossRef
While designing an armored vehicle platform, survivability is the most important capability and so protection design should be performed. In particular, mine protection design should be preferentially considered in a way that can reduce mass casualties. In this study, a simplified model, the main design parameters and their levels were defined, and then mine blast simulations were performed to obtain an effective protection design procedure. Before performing the main simulation, an experiment and simulation for a simple armor plate were performed and compared in order to certify the reliability of the numerical model. Afterwards, simulation cases, which were based on the reasonable numerical model, were defined by the DOE (Design of Experiment). An evaluation of the simulation results was carried out through both the contour and in a statistical manner, via a main effect analysis and ANOVA (Analysis of Variance). Finally, the impact characteristics of a protection parameters under the mine blast were estimated.
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The Study on the Mine Protective Structural Design of Wheeled Armored Vehicle Body Chan Young Park, Kyoung Hoon Lee Journal of the Korean Society for Precision Engineering.2019; 36(3): 255. CrossRef
Spectrally resolved interferometry (SRI) is an attractive technique to measure absolute distances without any moving components. In the spectral interferogram obtained by a spectrometer, the optical path difference (OPD) can simply be extracted from the linear slope of the spectral phase. However, SRI has a fundamental measuring range limitation due to maximum and minimum measurable distances. In addition, SRI cannot distinguish the OPD direction because the spectral interferogram is in the form of a natural sinusoidal function. In this investigation, we describe a direction determining SRI and propose the optimal conditions for determining OPD direction. Spectral phase nonlinearity, caused by a dispersive material, effects OPD direction but deteriorates spectral interferogram visibility. In the experiment, various phase nonlinearities were measured by adjusting the dispersive material (BK7) thickness. We observed the interferogram visibility and the possibility of direction determination. Based on the experimental results, the optimal dispersion conditions are provided to distinguish OPD directions of SRI.
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Development of Spectral-Domain Interferometer Having Dual Reference Paths based on Polarization for Measuring Absolute Distances Yeoungjun Kim, Heulbi Ahn, Jungjae Park, Jonghan Jin Journal of the Korean Society for Precision Engineering.2020; 37(3): 181. CrossRef
Absolute Distance Meter Operating on a Free-Running Mode-Locked Laser for Space Mission Yoon-Soo Jang, Wooram Kim, Heesuk Jang, Seung-Woo Kim International Journal of Precision Engineering and Manufacturing.2018; 19(7): 975. CrossRef
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