• Journal of IKEEE
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• v.18 no.4
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• pp.636-644
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• 2014

This paper is to technically implement the sensing platform for Home-Wellness Robot. First, self-localization technique is based on a smart home and object in a home environment, and IOT(Internet of Thing) between Home Wellness Robots. RF tag is set in a smart home and the absolute coordinate information is acquired by a object included RF reader. Then bluetooth communication between object and home wellness robot provides the absolute coordinate information to home wellness robot. After that, the relative coordinate of home wellness robot is found and self-localization through a stereo camera in a home wellness robot. Second, this paper proposed fuzzy control methode based on a vision sensor for approach object of home wellness robot. Based on a stereo camera equipped with face of home wellness robot, depth information to the object is extracted. Then figure out the angle difference between the object and home wellness robot by calculating a warped angle based on the center of the image. The obtained information is written Look-Up table and makes the attitude control for approaching object. Through the experimental with home wellness robot and the smart home environment, confirm performance about the proposed self-localization and posture control method respectively.

• Journal of Korean Society for Geospatial Information Science
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• v.15 no.3
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• pp.41-49
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• 2007

In this study, the software to compute Bessel coordinates by trilateration adjustment was developed, and the software was used to determine coordinates of the cadastral control points over the southern Korean peninsula. The baseline measured by GPS was reduced to the distance on geoid surface by applying PNU95 geoid model, and the distance on geoid surface was reduced to the plane grid distance by applying scale factor of map projection of Bessel coordinates. Using the plane grid distance, Bessel coordinates of 32 CORS (Continuously Operating Reference Station) were computed by free adjustment at first, and then the coordinates of the cadastral control points were computed by joining the control points to adjacent CORS. The result shows a possibility of construction of highly accurate and consistent cadastral survey network with coordinate error less than 1ppm of distance, when newly computing the coordinates of the control points by using distances measured by GPS.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.28 no.4
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• pp.433-440
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• 2004

Since the numerical analysis was adopted in the mold design, lots of computational methods have been proposed for the simulations of casting processes for the various shaped molds. Today, it is possible to simulate the filling and solidification processes of most casts using the VOF technique. Though the three-dimensional numerical model based on the Cartesian coordinate system can be applied to any shape of cast, it becomes very inefficient when the three-dimensional model is applied to the cast of axi-symmetrical shape since the control volume includes at least 11 of the physical model. In addition, the more meshes should be distributed along the circumferential boundaries of curved shape in the Cartesian coordinate system fur the better results, while such curved circumferential boundary does not need to be considered in the two-dimensional cylindrical coordinate system. This motivates the present study i.e. developing a two-dimensional numerical model for the axi-symmetrically shaped casts. The SIMPLER algorithm, the VOF method, and the equivalent specific heat method have been adopted in the combined algorithm for the flow calculation, the free surface tracking, and the phase change heat transfer, respectively. The numerical model has been applied to the casting process of a pulley, and it was proven that the mesh and time effective calculation was accomplished comparing to the calculation using three-dimensional model.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.27 no.2
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• pp.281-288
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• 2009

In the paper, we try to develop the methodology for updating road networks of large-scale digital maps by using construction drawing data. For the purpose, it is pre-requite step to merge road networks detached in CAD drawing data. As such, tie points are identified in neighboring drawings and used for solving the parameters of 2D conformal transformation between drawings. Then, the merged road network in CAD data is transformed to the coordinate system of digital maps. In the process, IPs in the drawings are considered as control information and 2D affine transformation is selected for coordinate transformation. Through the experiments with real dataset, we can identify that the developed method is valid and generally applicable.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.101.2-101
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• 2002

$\textbullet$ Introduction $\textbullet$ Preprocessing $\textbullet$ Pattern Recognition $\textbullet$ Post Processing $\textbullet$ Calibration and Coordinate Transformation $\textbullet$ Experiments and Result $\textbullet$ Conclusions

• 한국신재생에너지학회:학술대회논문집
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• 2007.06a
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• pp.693-697
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• 2007

A control system for solar thermal power plant is the control system to coordinate the whole system's operation, including management of distributed control systems, process control for optimal operation of total system, monitoring system operating conditions and doing administrative functions. This work, as a progress report, presents the results obtained so far in building a control system for the 1MW solar thermal power plant. To make the control system, we first defined the control system's hierarchy and classified the role of each layer. Then, as the first stage of making control system, we designed and developed the sun tracking control system for heliostat.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.4
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• pp.320-328
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• 2003

This paper proposes a new nonlinear adaptive guidance law. Fourth order state equation for integrated guidance and control loop is formulated considering target uncertainties and control loop dynamics. The state equation is further changed into the normal form by nonlinear coordinate transformation. An adaptive nonlinear guidance law is proposed to compensate for the uncertainties In both target acceleration and control loop dynamics. The proposed law adopts the sliding mode control approach with adaptation fer unknown bound of uncertainties. The present approach can effectively solve the existing guidance problem of target maneuver and the limited performance of control loop. We provide the stability analyses and demonstrate the effectiveness of our scheme through simulations.

• Journal of Biosystems Engineering
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• v.26 no.1
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• pp.21-28
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• 2001

Major deficiencies of current automation scheme including various robots for bioproduction include the lack of task adaptability and real time processing, low job performance for diverse tasks, and the lack of robustness of take results, high system cost, failure of the credit from the operator, and so on. This paper proposed a scheme that could solve the current limitation of task abilities of conventional computer controlled automatic system. The proposed scheme is the man-machine hybrid automation via tele-operation which can handle various bioproduction processes. And it was classified into two categories. One category was the efficient task sharing between operator and CCM(computer controlled machine). The other was the efficient interface between operator and CCM. To realize the proposed concept, task of the object identification and extraction of 3D coordinate of an object was selected. 3D coordinate information was obtained from camera calibration using camera as a measurement device. Two stereo images were obtained by moving a camera certain distance in horizontal direction normal to focal axis and by acquiring two images at different locations. Transformation matrix for camera calibration was obtained via least square error approach using specified 6 known pairs of data points in 2D image and 3D world space. 3D world coordinate was obtained from two sets of image pixel coordinates of both camera images with calibrated transformation matrix. As an interface system between operator and CCM, a touch pad screen mounted on the monitor and remotely captured imaging system were used. Object indication was done by the operator’s finger touch to the captured image using the touch pad screen. A certain size of local image processing area was specified after the touch was made. And image processing was performed with the specified local area to extract desired features of the object. An MS Windows based interface software was developed using Visual C++6.0. The software was developed with four modules such as remote image acquisiton module, task command module, local image processing module and 3D coordinate extraction module. Proposed scheme shoed the feasibility of real time processing, robust and precise object identification, and adaptability of various job and environments though selected sample tasks.

• 한국신재생에너지학회:학술대회논문집
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• 2010.11a
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• pp.186-186
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• 2010

개별 블레이드 피치 제어(individual blade pitch control)는 각각의 로터 블레이드의 피치각을 독립적으로 조정함으로써 블레이드에 작용하는 공력을 변화시키는 원리로 풍력 터빈 구조물에 발생하는 동적 피로하중을 저감시키기 위한 제어기법이다. 그러나 개별 피치 제어에 의해 발생하는 각 블레이드의 독립적인 피치 운동은 풍력 터빈 회전자에 비대칭성을 야기하고 구조물의 동적 불안정 현상을 발생시킬 수 있기 때문에 이에 대한 정확한 동적 해석이 선행되어야 한다. 하지만 블레이드의 피치 운동이 반영된 풍력 터빈은 시변계로 간주되어 기존의 시불변계 해석기법을 직접 적용할 수 없기 때문에 동적 해석에 어려움이 있다. 이 논문에서는 각각의 블레이드 피치운동을 주기함수로 근사화 함으로써 풍력 터빈을 주기 시변계로 모형화한다. 그리고 효율적으로 주기 시변계의 근사해를 구하기 위한 변조 좌표 변환(modulated coordinate transformation)기법을 적용하여 블레이드의 피치운동이 반영된 풍력 터빈의 동적 안정성 해석을 수행하였다. 그리고 현재 풍력 터빈의 동적 해석에 활용되는 대표적인 해석 기법인 다중 블레이드 좌표변환(multi-blade coordinate transformation)기법을 이용한 해석보다 정확한 결과를 얻을 수 있음을 보였다.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.11
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• pp.1122-1129
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• 2009

Recently taping robot with smart recognition function have been studied in the coil manufacturing field. Due to the difficulty of 3D surface processing from the complicated working environment, it is not easy to accomplish smart tape attachment motion with non-contact sensor. To solve these problems the applicable surface recognition algorithm and a flexible sensing device has been recommended. In this research, the fusion method between 1D displacement and 3D laser scanner is applied for robust tape attachment about cold rolled coil. With these sensors we develop a two-step exploration and the smart algorithm for the awareness of non-aligned coil's information. In the proposed robot system for tape attachment, the problem is reduced to coil's radius searching with laser displacement sensor at first, and then position and orientation detection with 3D laser scanner. To get the movement at the robot's base frame, the hand-eye compensation between robot's end effector and sensing device should be also carried out respectively. In this paper, we examine the auto-coordinate transformation method in the calibration step for the real environment usage. From the experimental results, it was shown that the taping motion of robot had a robust under the non-aligned cold rolled coil.