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Pixel-wise Distortion Model and Its Calibration Method for AMCW LiDAR |
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Junwoo Son(POSTECH, Korea), youngbin Son(Hybo Inc., Korea), Byeongho Song(Pohang University of Science and Technology (POSTECH), Korea), Soohee Han(POSTECH, Korea) |
| In this conference paper, we proposed pixel-wise distortion model and its calibration method for AMCW (Amplitude Modulated Continuous Wave) LiDAR (Light Detection and Ranging). The proposed model can be reflect square wave distortion, common mode error and non-linear characteristic of the receiving circuit. The model characterise the distance error with actual distance and amplitude of the DCS (Differential Correlation Sample). A simple calibration method is also announced in order to use the proposed model. The result shows the response of the AMCW LiDAR was changed by both inputs and also the AMCW LiDAR can measure the distance without these errors by using the proposed model. |
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Nonimaging Optical Irradiance Optimization for Enhanced ROI of Mobile Robot LiDAR |
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Ingyo Jeong(POSTECH, Korea), Youngbin Son(Hybo Inc., Korea), Junwoo Son, Byeongho Song, Soohee Han(POSTECH, Korea) |
| In this paper, the design method of illumination optics for solid-state AMCW is suggested. To satisfy the horizontally long and vertically narrow atypical ROI of LiDAR, the concept of etendue is applied. For light sources placed in a rectangle shape, the short side of the source corresponds to the slow axis and the long side corresponds to the fast axis. In order to cover a light source placed in a rectangle, a translational design in which the cross section of the lens is extended in the axial direction is adopted. The refractive surface of the lens is modeled with two parametric curves, and parameters are adjusted to satisfy the given radiance criteria. |
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IMU-integrated Optical Navigation System for Tracking Multi-agent |
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Seongwon Yoon, Junwoo Jason Son, Soohee Han(POSTECH, Korea) |
| In this paper, an IMU-integrated Optical Navigation System is presented. In the existing motion capture system, it was necessary to go through the geometry of the recognized multiple markers to obtain the posture of the object. On the other hand, in the proposed system, real-time output of 6-DOF including position and posture was enabled by compactly implementing a single infrared marker with embedded IMU and computing board as an agent module. |
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Capacity Estimation of Lithium-ion Batteries under Various Temperatures using Two Aging Indicators |
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Minhwan Seo, Youngbin Song, Shina Park, Sang Woo Kim(POSTECH, Korea) |
| Title: Capacity estimation of lithium-ion batteries under various temperatures using two aging indicators
Authors: Minhwan Seo, Youngbin Song, Shina park, and Sang Woo Kim
Affiliation: POSTECH
Abstract: This study proposes a method to easily estimate capacities of batteries at various temperatures and aging conditions using two aging indicators; one is change in entropy of the battery and the other is change in internal resistance of the battery. The two aging indicators have a linear relationship with battery aging through the experimental data, and the linear relationship maintains the identical trend even at various temperatures.
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Cell Inconsistency Classification for Lithium-Ion Battery Packs Considering Internal Short Circuit Fault |
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Youngbin Song, Minhwan Seo(POSTECH, Korea), Shina Park, Sang Woo Kim(Pohang university of science and technology, Korea) |
| Cell inconsistencies, which is the differences of parameters or states of the cells, in battery packs decrease the energy efficiency, and low-capacity cells in packs can occur an internal short circuit (ISC) fault which causes a thermal runaway in severe cases. However, the ISC may be misdiagnosed as cell inconsistencies and vice versa because the impacts of cell inconsistencies and the ISC are similar. Therefore, we propose a model-based cell inconsistency classification method to accurately detect the ISC fault cells. The proposed method was verified in simulation for various types and degrees of cell inconsistencies and ISC, and accurately identified inconsistent and ISC fault cells. |
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An Uncertainty and Disturbance Estimator based on Model-free Time-delay Control to Robot manipulators |
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Jinsuk Choi, Seungmin Baek, Hyunbeen Park, Soohee Han(POSTECH, Korea) |
| This paper proposes a new uncertainty and disturbance estimator with model-free timed-delay control (UDE-MFTDC) for accurate tracking control. The proposed UDE-MFTDC contains a time-delay estimation part, a pole placement part, and an time-delay estimation (TDE) error part. The main feature of the UDE-MFTDC estimates and compensates TDE errors in the frequency-domain; Therefore, compared with the existing TDC with adaptive sliding mode schemes, the TDE error, which is the uncertainty and disturbance of the TDC, is estimated and compensated through the UDE. Moreover, in order to show improved tracking performance compared with the TDC and the existing in experiments with a robot manipulator. |
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