• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.642-645
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• 1991

This paper presents the results of research on hardware and software of the landmark tracking system to the positions of moving robot in real time. The landmark tracking system is composed of CCD camera, landmark, strobo system and image processing board. The algorithm calculates the position and direction by using the coordinate transformation fomula after calculating the centroid and rotation angle of landmark at fixed position using the image data. The experiment is performed with landmark tracking system is loaded on xyz-table. XYZ-table is used for identifying the true position in our experiment. The results shows that this system has high performance with maxima error of .+-.1 pixels.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.13-18
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• 1992

In this study, we developed an autonomous AGV which carries materials between workshops. In most of existing AGV systems, when AGV is required to change its navigating path, the guideline or landmark of AGV should be rebuilt according to new navigating path. Using sensors and internal coordinate system, our AGV, however, can navigate along the new path by only changing input parameters of program. On navigating, if AGV meets obstacles, it avoids them and go on to the destination.

• Journal of the Korean Institute of Telematics and Electronics A
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• v.33A no.6
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• pp.178-188
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• 1996

In this paper, we propose a new opto-digital object recognition system which has rotation, scale, and shift invariant characteristics. The fourier power spectrum of the object image is modified to get shift invariance. The log-polar transform is used for rotation and scale invariance. And the decision of similarities is performed by nonlinear joint transform correlator (NJTC) that can control the ratio of phase and amplitude signals. Experimental verification of th eproposed optical object recognition system is presented.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.68-72
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• 1990

This paper describes a method of calculating the viewing parameters of a camera using a perspective view of a circular pattern. The proposed method determines the angle of pan, tilt, and swing, as well as the distance from the camera to the reference point of a world coordinate system, using simple equations. The proposed method is so simple and accurate that when used in a well-controled environment as in robot vision systems or visual inspection systems it may even seem trivial.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.586-590
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• 1990

In this paper we describe the shape measuring technique and system with a non-contractive sensor, composed of slit-ray projector and solid-state camera. For improving the accuracy and preventing measuring dead point, this sensor part is attached to the end of robot, and each sensing is executed after one step moving. By patching these sensing data, whole measuring data is constructed. The calibration between sensor and world coordinate is implemented through the specific calibration block by transformation matrix method. The result of experiment was satisfactory.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.101-104
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• 1987

This paper shows the robot-vision system which consists of robot, vision system, single board computer and IBM-PC. IBM-PC based system has a great flexibility in expansion for a vision system interfacing. Easy human interfacing and great calculation ability are the benefits of this system. It was carried to interface between each component. The calibration between two coordinate systems is studied. The robot language for robot-vision system was written in "C" language. User also can write job program in "C" language in which the robot and vision related functions reside in the library.side in the library.

• The Korean Journal of Applied Statistics
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• v.3 no.1
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• pp.47-58
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• 1990

Orthogonal regression is reviving due to the current development of software to control robotized coordinate measuring machines. Known features of orthogonal regression are summarized and geometry of the problem is interpreted in terms of equilibrium of force. A class example is given.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2010.04a
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• pp.191-193
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• 2010

In this study, compared with national control point offering in NGII executing Network-Based RTK measurement. As a result, can utilize in various field such as Geodetic Survey/GIS, ITS, Car Navigation, Mobile because error of actuality coordinate and about 0.5m publishes.

• Proceedings of the KIEE Conference
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• 1998.11a
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• pp.131-133
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• 1998

This paper, proposed the p-q-r coordinate system where the instantaneous active power p, and the two instantaneous reactive powers $q_{q}$, $q_{r}$ were defined. The three power components are linearly independent, so the compensation for the two instantaneous reactive powers leads to control the two components of the current space vector. With the theory, the neutral current of the three-phase four-wire system can be eliminated by only compensating the instantaneous reactive power using no energy storage element.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.61.2-61
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• 2001

The purpose of the initial alignment of a SDINS is to get a coordinate transformation matrix from the body frame to the navigation frame. The initial alignment is one of the most important processes in the navigation system since its error has a large influence on the navigation solution. In this paper, a real-time initial alignment algorithm for the SDINS is developed using the Kalman filter. The steady state error analysis is performed for the developed Kalman filter technique and the gyrocompass loop method. The performance of the developed alignment method is compared with the gyrocompass loop method through the real-time alignment experiments.