• Journal of the Korean Society for Precision Engineering
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• v.31 no.3
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• pp.277-283
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• 2014

This paper presents the design, optimization and fabrication of a piezo driven micro-positioning stage constructed using a 3D-printer. 3D printing technology provides many advantageous aspects in comparison to traditional manufacturing techniques allowing more rapid prototyping freedom in design, etc. Micro-positioning stages have traditionally been made using metal materials namely aluminum. This paper investigates the possibility of fabricating stages using ABS material with a 3D printer. CAE simulations show that equivalent motion amplification can be achieved compared to a traditional aluminum fabricated stage while the maximum stress is 30 times less. This leads to the possibility of stages with higher magnification factors and less load on the driving piezo element. Experiment results agree with the simulation results. A micro-position stage was fabricated using a 3D printer with ABS material. The motion amplification is very linear and 50 nm stepping was demonstrated.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37B no.10
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• pp.912-920
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• 2012

In this paper, we derived a closed-form equation of a Best Linear Unbiased Estimator (BLUE) estimator for the 3 dimensional estimation of the position of the emitter based on the Time Difference of Arrival (TDOA) technique. The BLUE derived for the case of estimating 3 dimensional position of the emitter with 4 base stations or sensors, and for this purpose, we used an approximated equation of the TDOA hyperbola equation obtained from the first order Taylor-series after setting the reference points of the position. The derived equation can be used for any kind of noises which are uncorrelated in each other in the TOA measurement noises and for a white Gaussian noise also.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.39C no.1
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• pp.47-59
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• 2014

This paper deals with a vision-based trajectory tracking control system for a quadrotor-type UAV for entertainment purpose in indoor environment. In contrast to outdoor flights that emphasize the autonomy to complete special missions such as aerial photographs and reconnaissance, indoor flights for entertainment require trajectory following and hovering skills especially in precision and stability of performance. This paper proposes a trajectory tracking control system consisting of a motion generation module, a pose estimation module, and a trajectory tracking module. The motion generation module generates a sequence of motions that are specified by 3-D locations at each sampling time. In the pose estimation module, 3-D position and orientation information of a quadrotor is estimated by recognizing a circular ring pattern installed on the vehicle. The trajectory tracking module controls the 3-D position of a quadrotor in real time using the information from the motion generation module and pose estimation module. The proposed system is tested through several experiments in view of one-point, multi-points, and trajectory tracking control.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2010.04a
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• pp.367-369
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• 2010

The purpose of this study is to develop a campus facility management system, construct 3D graphic data and attribute data of facilities on the Kumoh National Institute of Technology and then verificate the developed system's practicability. Utilized the existing campus facility data from the existing drawings, images, cadastre records and so forth, 3D position data of underground facilities surveyed with a total station and high-resolution aerial photos, 3D realistic models were produced by means of a XD2D software and a XDWORLD Builder Professional software of GIS engines. We intend to embody not only campus guide service in virtual reality space but visualization of 3D virtual campus by providing 2D and 3D data to web space using XDWORLD server soon after. It is expected that the campus facility management system is able to contribute to the integrated management of 3D facility data service, the support of prompt decision-making related to spatial affairs, the work simplification through data holding in common between the members of the staff and so forth.

• Journal of The Korean Astronomical Society
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• v.25 no.1
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• pp.23-46
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• 1992

The electrical, mechanical and optical capabilities have been tested of the microdensitometer PDS 1010GMS at the Korea Astronomy Observatory. The highest stage of scan speed 255 csu (conventional speed unit) is measured to be 47 mm/s. At this speed the position is displaced by $4{\mu}m$ to the direction of scanning and the density is underestimated by $0.4{\sim}0.7D$. Standard deviation in the measured density is proportional to $A^{-0.46}$, where A is the area of scan aperture. The accuracy of position repeatability is ${\pm}1{\mu}m$, and that of density repeatability is ${\pm}(0.003{\sim}0.03)D$. Callier coefficient is determined to be 1.37; the semispecular density is directly proportional to the diffuse density up to 3.5D. Because the logarithmic amplifier has a finite response time, the densities measured at high scan speeds are underestimated to the degree that speeds higher than 200 csu are inadequate for making an accurate astronomical photometry. After power is on, an about 5 hour period of warming is required to stabilize the system electrically and mechanically as well. On the basis of this performance test, we have determined the followings as the optimum scan parameters for the astronomical photometry: For the scan aperture $10\;\sim\;20{\mu}m$ is optimal, and for the scan speed. $20\;{\sim}\;50$ csu is appropriate. These parameter values are chosen in such a way that they may keep the density repeatability within ${\pm}0.01D$, the position displacement under $1{\mu}m$, and the density underestimation below 0.1D even in high density regions.

• Journal of the Korean Society of Propulsion Engineers
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• v.23 no.1
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• pp.33-45
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• 2019

In this study, numerical simulations were performed to investigate the steady-state characteristics of a symmetric pintle nozzle by varying the position of the pintle and the altitude. The pintle nozzle shape was used in a linear pintle nozzle that had been analyzed prior to the study, and the boundary conditions of the chamber were considered to be according to the propellant burn-back characteristics. A software was used to perform a verification analysis of the square nozzle, pintle nozzle, and high-altitude conditions with an appropriate analytical technique. The pintle position had three different nozzle throat area conditions-: fully closed, half open, and fully open, and the altitude was set at 0, 5, and 20 km. The study compared the thrust, pintle drive load, and static stability at each condition.

• Journal of the Korea Computer Graphics Society
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• v.26 no.3
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• pp.69-77
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• 2020

This paper proposes an effective method of giving users feedback on 3-dimensional drawing and measures its performance to ensure that feedback can help users enter the correct position in 3D. In the experiment of drawing a given line shape using a hand-held controller, the user is provided with three levels of visual, auditory, and haptic feedback for the position input error. As a result of analyzing the position input accuracy according to the type of feedback, all types of feedback are able to significantly reduce errors, and visual feedback and haptic feedback are more effective than auditory feedback.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.1
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• pp.121-127
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• 2008

In this paper, we propose a new 3-D working point determination method for industrial robot using vision camera system and block interpolation technique with feature points in a vehicle body. To detect the feature points in a vehicle body, we applied the pattern matching method. For determination of working point, we applied block interpolation method. The block consists of 3-D type blocks with detected feature points per section. 3-D position is selected by Euclidean distance between 245 feature values and an acquired feature point. In order to evaluate the proposed algorithm, experiments are performed in glass equipment process in real industrial vehicle assembly line.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.1
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• pp.34-40
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• 2005

In this paper, we describe the modeling for the 3D robot laser scanning system consisting of a laser stripe projector, camera, and 5-DOF robot and propose its calibration method. Nonlinear radial distortion in the camera model is considered for improving the calibration accuracy. The 3D range data is calculated using the optical triangulation principle which uses the geometrical relationship between the camera and the laser stripe plane. For optimal estimation of the system model parameters, real-coded genetic algorithm is applied in the calibration process. Experimental results show that the constructed system is able to measure the 3D position within about 1mm error. The proposed scheme could be applied to the kinematically dissimilar robot system without losing the generality and has a potential for recognition for the unknown environment.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.30B no.4
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• pp.92-103
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• 1993

In this paper, we propose an adaptive classifier based on uncertainty of features for 3D planar object recognition. First, we investigate the uncertainty of depth information and the feature values of 3D planar object by numerical method. And, we observed that the statistical behavior of feature is dependent on the position and orientation of objects. After that, the approximation of the statistical behavior is executed. Subsequently, the recognition procedure is executed by the adaptive classifier. By computer simulation, we confirmed that the proposed classifier is useful for 3D planar object recognition.