• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.125-130
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• 1991

This paper presents a tracking filter using pseudomeasurements in an estimated line-of-sight Cartesian coordinate system(ELCCS) whose x-axis is on the line-of-sight to an estimated target position. A target dynamics model and a measurement equation in the ELCCS are derived first and then a tracking filter in the ELCCS named moving coordinate tracking filter(MCTF) is proposed. It is shown that this MCTF is equivalent to a Kalman filter in the inertial Cartesian coordinate system which is widely used in the target tracking system. By approximating the MCTF for a pseudomeasurement noise and an error covariance matrix in the ELCCS, decoupling of three axes can be achieved. In this case, named decoupled moving coordinate tracking filter(DMCTF), computation time can be drastically reduced by utilizing its parallel structure. Finally, the stochastic properties of the MCTF and DMCTF are presented. Especially, a sufficient condition of nondestabilizing deviation for the DMCTF is proposed. The performance of the MCTF and DMCTF are compared with a conventional Kalman tracking filter.

• The KIPS Transactions:PartA
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• v.8A no.2
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• pp.167-178
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• 2001

This paper presents a new methodology for specification and control of the motion of an articulated rigid body for the purposes of animation by coordinate transformations. The approach is to formulate the problem as a coordinate transformation from the joint space of the body to a user-defined animation space which is chosen for convenience in constraining the motion. Constraints are applied to the resulting coordinate transformation equations. It is sufficiently general so that it can be applied to all common types of control problems, including closed loop as well as open loop mechanisms. We also provided a new approach to simulate a closed loop mechanism, which is using animation space transformation technique. The method is formulated in detail and is demonstrated by animating the motion of an inchworm.

• Proceedings of the KIEE Conference
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• 1996.07a
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• pp.528-530
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• 1996

Because of the convenience of variable speed control and proportion of input current and torque, DC servo motor has been used as an actuator. With increasing development speed of robot and factory automation machinery, the actuator of excellent control characteristics is demanded. In this paper, The control characteristics of DC servo motor is tested by Fuzzy control with microprocessor and DC servo motor controller is designed for drive of the cartesian coordinate type robot. The control characteristics experimentation is realized to one axis position, two axes coordinate and circular motion control by experimental equipments.

• Journal of the Ergonomics Society of Korea
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• v.8 no.1
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• pp.41-46
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• 1989

The purpose of this study is to improve robot motion control in teaching and operating the expert system/world coordinate system (TOES/WCS) constructed in the previous study. The major contribution of this study is reduction of the inaccuracy in coordinated reading and the movement time of robots in macro motion control. This study also reduces undesirable time of micro motion control by using an unit control (UC) and a micro unit control (MUC) in micro motion control.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.11
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• pp.4228-4233
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• 2010

This study analyzed the positional accuracy of cadastral control points where central datum points and eastern datum points meet in the area of standard datum of geographic coordinate, in order to suggest the possibility of converting cadastral coordinates into global coordinates in the future in areas between cadastral datum. 12 GPS observation data points were extracted from the station of triangulation in the experimental area, and the accuracy of coordinate conversions in the area where central and eastern datum points meet was analyzed. The results show that the x-coordinate RMSE was ${\pm}0.0014m$ and the y-coordinate RMSE was ${\pm}0.0011m$. Such excellent results indicated that it is possible to convert to the global coordinate system. Thus, in converting to the global coordinate system, it appears possible to convert even borderline datum point areas if points with stable outcomes are selected by inspecting various triangulation markers, then used to carry out the conversion.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1248-1250
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• 1996

The objective of camera calibration is to obtain the correlation between camera image coordinate and 3-D real world coordinate. Most calibration methods are based on the camera model which consists of physical parameters of the camera like position, orientation, focal length, etc and in this case camera calibration means the process of computing those parameters. In this research, we suggest a new approach which must be very efficient because the artificial neural network(ANN) model implicitly contains all the physical parameters, some of which are very difficult to be estimated by the existing calibration methods. Implicit camera calibration which means the process of calibrating a camera without explicitly computing its physical parameters can be used for both 3-D measurement and generation of image coordinates. As training each calibration points having different height, we can find the perspective projection point. The point can be used for reconstruction 3-D real world coordinate having arbitrary height and image coordinate of arbitrary 3-D real world coordinate. Experimental comparison of our method with well-known Tsai's 2 stage method is made to verify the effectiveness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1043-1048
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• 1990

The degenerate case of multivariable hyperbolic distributed-parameter systems (systems of hyperbolic partial differential equations) in time coordinate t and space coordinate x is characterized by a property that all the characteristic curves of the state equations are parallel to the coordinate axes of independent variables. It is a disturbing fact, although not well known, that the so-called maximum principle as applied to these systems does not exist for the control that depend on time alone. In this paper, however, it is shown that a set of necessary conditions in the small can exist for unconstrained as well as magnitude constrained controls in a locally convex set. The necessary conditions thus derived can be used conveniently to find the optimal control for degenerate hyperbolic distributed-parameter control systems.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.184-187
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• 1997

Coordinate measuring machines(CMMs) are used to obtain the dimensional information with micron accuracy. This paper is concerned with the development of the horizontal arm type coordinate measuring machine using open architecture controller. The coordinate measuring machine considered in this paper consists of three orthogonal axes in the x, y and z directions. Open architecture controller IS used to implement a measuring system which can be fulfill to various needs of endusers of coordinate measuring machines. The open architecture controller presented here is embodied in personal computers. The programs and man-machine interfaces(MM1) are developed for various measuring conditions. Through the computer simulation based on the mathematical models of the coordinate measuring machine, control parameters are optimally tuned.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1845-1847
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• 1991

In general, it is not easy to find the linearizing coordinate transformation map for a class of systems which are state equivalent to linear systems, because it is required to solve a set of partial differential equations. It is possible to construct an arbitrary nonlinear function with a backpropagation(BP) net. Utilizing this property of BP neural net, we construct a desired linearizing coordinate transformation map. That is, we implement a unknown coordinate transformation map through the training of neural weights. We have shown an example which supports this idea.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.448-451
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• 1988

This paper deals with the rotation-free optical sensor which will be used for two dimensional robot tracking. This sensor consists of position sensing device and coordinate transformation unit which transform the sensor coordinate into base coordinate. A new coordinate transformation algorithm which use analog signal is presented, and an analog circuit based on this algorithm is constructed. To prove the rightness of this algorithm, same experiments are carried out. And the performance, of this sensor is investigated.