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자율이동체의 위치인식을 위하여 적용된 자이로스코프의 오차보정에 관한 연구
정준영,김지현,김상권,김판돌,이홍원 경북대학교 센서기술연구소 1994 센서技術學術大會論文集 Vol.5 No.1
Recently, the piezoelectric vibrating gyroscope, as more stable and accurate directional sensor, is attracting attention in the position pointering of car or robot navigation systems, but its output characteristics of sensitivity and linearity can be easily affected by ambient temperature or changed with time-going. This paper describes a simple and effective output calibration method of the piezoelectric vibrating gyroscope which is appiled to the autonomous vacuum cleaner for its direction pointering. Through experimental results, it is verified that proposed method reduces about 1.5% of accumulated angle error to below 0.1% when the robot drives on a floor. With this calibration method, it is possible to use the piezoelectric vibrating gyroscope in position recognition system with low cost and high accuracy.
이옥기,표상연,김홍성,김판돌,이홍원 한국의류학회 1994 한국의류학회지 Vol.18 No.1
The objective of this study was to analyze the effect of the dissolution of detergent on washing and rinsing efficiency, and the possibility of saving detergent in washing. Washing and rinsing efficiency were reviewed in three different ways A method was to input dissolved detergent by the use of rapid detergent dissolution instrument, B method was to input dissolved detergent beforehand, and C method was to input undissolved detergent. The results were as follows 1. A method > B method > C method was shown in detergency with washing time and three method's gaps were reduced because detergent dissolution effect was reduced by mechanical action in proportion of washing time. Especially, according to detergency of A method of 0.07% and C method of 0.1% was appeared approximately, saving detergent was expected by rapid dissolution of detergent. 2. A method > B method > C method was shown in detergency with washing temperature. As the washing temperature rose, the detergent reached chemically more activated state and become easily soluble. It resulted for the detergent to penetrate and adhere to laundry easily. 3. A method > B method > C method was shown in detergency with detergent concentration and C method was more sensitive than A, B method against change of detergent cocentration. Rapid detergent dissolution made it possible not only to enhance the washing efficiency but also to save the detergent because detergency of A method in low concentration is higher than that of C method. 4. A method >= B method > C method was shown in rinsing ratio with detergent input method. It indicated input dissolved detergent was advantageous in rinsing. 5. The result of anion surfactant concentration test of each process with detergent input method was shown like that A method >= B method > C method in washing and reverse result was shown in rinsing. The anion surfactant concentration of C method was low during washing but high during rinsing. This was identical with previous results which shown the washing and rinsing efficiency improved with dissolved detergent usasge. 6. C method > B method > A method was shown in the degree of remaining detergent after rinsing. There was no remaining detergent after second rinsing in A and B method, but in C method four rinsings were required for the same result. Consequently, in A and B methods, less water and electricity were used, and less abrasion of cloth.