Position accuracy and sensitivity due to distance error and beacon position in the localization system using ultrasonic wave

Purpose – The purpose of this paper is to present a distance accuracy-based industrial robot kinematic calibration model. Nowadays, the repeatability of the industrial robot is high, while the absolute positioning accuracy and distance accuracy are low. Many factors affect the absolute positioning accuracy and distance accuracy, and the calibration method of the industrial robot is an important factor. When the traditional calibration methods are applied on the industrial robot, the accumulative error will be involved according to the transformation between the measurement coordinate and the robot base coordinate. Design/methodology/approach – In this manuscript, a distance accuracy-based industrial robot kinematic calibration model is proposed. First, a simplified kinematic model of the robot by using the modified Denavit–Hartenberg (MDH) method is introduced, then the proposed distance error-based calibration model is presented; the experiment is set up in the next section. Findings – The experimental results show that the proposed calibration model based on MDH and distance error can improve the distance accuracy and absolute position accuracy dramatically. Originality/value – The proposed calibration model based on MDH and distance error can improve the distance accuracy and absolute position accuracy dramatically.

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Evaluation of Position Error and Sensitivity for Ultrasonic Wave and Radio Frequency Based Localization System

Transactions of the Korean Society of Mechanical Engineers A ◽

10.3795/ksme-a.2010.34.2.183 ◽

2010 ◽

Vol 34 (2) ◽

pp. 183-189

Author(s):

Dong-Hun Shin ◽

Yang-Jae Lee

Keyword(s):

Radio Frequency ◽

Ultrasonic Wave ◽

Position Error ◽

Localization System

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Separation Research of Ultrasonic Wave in Transformer Partial Discharge Based on Improved Waveform Matching

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.291-294.2325 ◽

2013 ◽

Vol 291-294 ◽

pp. 2325-2330

Author(s):

Hong Ling Xie ◽

Fei Wang ◽

Yan Qing Li ◽

Fei Long Wang

Keyword(s):

Ultrasonic Wave ◽

Attenuation Coefficient ◽

Partial Discharge ◽

Ultrasonic Sensor ◽

Separation Method ◽

Signal Frequency ◽

Direct Wave ◽

Wave Signal ◽

Position Accuracy ◽

Wave Separation

The use of direct wave to locate the position of the PD source is of better accuracy in transformer partial discharge ultrasound array positioning. For the signal received by ultrasonic sensor is consisted by direct wave, non-direct wave and a variety of noise, a direct wave separation method based on improved waveform matching is proposed in this paper. It is considered that the direct wave first reaches the ultrasonic sensor. A benchmarks triangle is built and then the attenuation coefficient and the signal frequency are both calculated. In order to search the matching wave, the benchmarks triangle is to pan and zoom. Finally, the best matching waveform is selected from a large number of matching waveforms as a direct wave signal. The result of simulation shows that the method can isolate the ultrasonic direct wave signal from the received signal, which provides some theoretical guidance to improve the position accuracy of the PD source.

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AN ADAPTIVE LOCALIZATION SYSTEM USING PARTICLE SWARM OPTIMIZATION IN A CIRCULAR DISTRIBUTION FORM

Jurnal Teknologi ◽

10.11113/jt.v78.9743 ◽

2016 ◽

Vol 78 (9-3) ◽

Author(s):

Abdulraqeb Alhammadi ◽

Fazirulhisyam Hashim ◽

Mohd Fadlee ◽

Tareq M. Shami

Keyword(s):

Particle Swarm Optimization ◽

Indoor Localization ◽

Particle Swarm ◽

Access Point ◽

Circular Distribution ◽

Swarm Optimization ◽

Localization System ◽

Distance Error ◽

Distribution Form ◽

Localization Systems

Tracking the user location in indoor environment becomes substantial issue in recent research High accuracy and fast convergence are very important issues for a good localization system. One of the techniques that are used in localization systems is particle swarm optimization (PSO). This technique is a stochastic optimization based on the movement and velocity of particles. In this paper, we introduce an algorithm using PSO for indoor localization system. The proposed algorithm uses PSO to generate several particles that have circular distribution around one access point (AP). The PSO generates particles where the distance from each particle to the AP is the same distance from the AP to the target. The particle which achieves correct distances (distances from each AP to target) is selected as the target. Four PSO variants, namely standard PSO (SPSO), linearly decreasing inertia weight PSO (LDIW PSO), self-organizing hierarchical PSO with time acceleration coefficients (HPSO-TVAC), and constriction factor PSO (CFPSO) are used to find the minimum distance error. The simulation results show the proposed method using HPSO-TVAC variant achieves very low distance error of 0.19 meter.

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