1 research outputs found
μ μ° μμ€ν μ λͺ¨λΈ ν리 μ΅μ μΆμ λ° μΌμ λ°°μΉ νλ μμν¬ κ°λ°
νμλ
Όλ¬Έ (μμ¬)-- μμΈλνκ΅ λνμ : 곡과λν κΈ°κ³ν곡곡νλΆ, 2019. 2. μ΄λμ€.λ³Έ λ
Όλ¬Έμμλ λ°μ΄ν°κΈ°λ° μ£Όμ±λΆλΆμ κΈ°λ² λ° μ΅λ μ¬ν νλ₯ μΆμ κΈ°λ²μ νμ©νμ¬ μ νλ κ°μμ κ΄μ±μΌμλ§μ μ¬μ©νλ κ³ μμ λ μ μ° μμ€ν
μ λͺ¨λΈν리 μ΅μ μΆμ λ° μΌμ λ°°μΉ μ΅μ ν νλ μμν¬λ₯Ό κ°λ°νμλ€. μ°μ , μ¬μ μ μ μ° μμ€ν
μ λνμ μΈ μλ리μ€μ λνμ¬ μΆ©λΆν κ°μ§νμ¬ μ»μ λ°μ΄ν°λ‘λΆν° μ£Όμ±λΆλΆμμ μ μ©μμΌ μ°μΈ λͺ¨λμ μ΄μΈ λͺ¨λλ‘ λΆν νμλ€. μ΄λ κ² κ΅¬ν κ° λͺ¨λμ νΉμ΄κ°μ κΈ°λ°μΌλ‘ νμν μ΅μνμ κ΄μ±μΌμ κ°μλ₯Ό μ ν μ μμμΌλ©° μμ€ν
λλ¨μ μμΉμ κ°μ μΆλ ₯μ μ¬μ λΆν¬λ₯Ό ꡬν μ μμλ€. μΆλ ₯μ μ¬μ λΆν¬μ κ΄μ±μΌμμ μμΉμ λ°λ₯Έ μ΅λ μ¬ν νλ₯ μΆμ μ ν μ μμμΌλ©°, μΆμ μ±λ₯μ μ΅λννκΈ° μν μΌμ λ°°μΉ μ΅μ νκΈ°λ² λν μ μνμλ€. 그리νμ¬ μ΅μ νλ μΌμ λ°°μΉλ‘ μ μ° μμ€ν
μ μ€μκ° μΆλ ₯ μ΅μ μΆμ μ΄ κ°λ₯νμλ€. μ΅μ’
μ μΌλ‘ λ³Έ λ
Όλ¬Έμμ μ μν μΆμ λ° μΌμ λ°°μΉ μ΅μ ν νλ μμν¬λ₯Ό μ€νμ ν΅νμ¬ κ²μ¦νμλ€.In this thesis, we propose a novel model-free optimal estimation and sensor placement
framework for a high-DOF (degree-of-freedom) EKC (elastic kinematic
chain) with only a limited number of IMU (inertial measurement unit) sensors
based on POD (proper orthogonal decomposition) and MAP (maximum a posteriori)
estimation. First, we (o-line) excite the system richly enough, collect the
data and perform the POD to extract dominant and non-dominant modes. We
then decide the minimum number of IMUs according to the dominant modes,
and construct the prior distribution of the output (i.e., top-end position of EKC)
based on the singular value of each POD mode. We also formulate the MAP
estimation given the prior distribution and dierent placements of the IMUs
and choose the optimal IMU placement to maximize the posterior probability.
This optimal placement is then used for real-time output estimation of the EKC.
Experiments are also performed to verify the theory.Acknowledgements ii
List of Figures v
List of Tables vi
Abbreviations vii
1 Introduction 1
2 System Modeling and Problem Statement 6
2.1 System Modeling . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.2 Problem Statement . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3 Optimal Estimation and Sensor Placement 9
3.1 Output Estimation . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.1.1 Linearization . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.1.2 Mode Reduction . . . . . . . . . . . . . . . . . . . . . . . 11
3.1.3 Maximum a Posteriori Estimation . . . . . . . . . . . . . 17
3.2 Sensor Placement Optimization . . . . . . . . . . . . . . . . . . . 21
4 Experiments 23
4.1 Testbed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.1.1 Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.1.2 Output Estimation Result . . . . . . . . . . . . . . . . . . 26
4.2 Mock-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.2.1 Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.2.2 Output Estimation Result . . . . . . . . . . . . . . . . . . 37
5 Conclusion and Future Work 41
5.1 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
5.2 Future Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42Maste