• Proceedings of the IEEK Conference
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• 2001.06e
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• pp.131-134
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• 2001

This paper proposes a stable control rule for nonlinear unicycle-type mobile robot. The control method uses a local error coordinate system, velocity and distance constants $\kappa$$\_$x/, $\kappa$$\_$y/, and he. Stability of control rule is proved Liapunov function. System input to the mobile robot is reference posture ($\chi$$\_$r/, y$\_$r/, $\theta$$\_$r/)/sup/ $\tau$/ and reference e velocity (ν$\_$r/,$\omega$$\_$r/)$\^$$\tau$/. System output of the mobi-le robot is velocity of driving wheels. We introduce limit velocity for preventing high initial speed. From simulation results, we can see the proposed control rule is stable.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.29B no.10
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• pp.59-68
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• 1992

In this paper, we proposed coordinator description and ambiguity on the hybrid controller for position/force control of robot manipulator. When the hybrid controller is desiged based on the PID control conception, the parameter sharing problem must be considered. However, selection problem of coordinate system on n-DOF robot manipulator control is unsolved. Moreover, contact force on object and change of shape make another problems. And it is very difficult to figure out the accurate mathematical model of manipulator on account of ambiguity and nonlinearity of actuator. Therfore, we design a new hybrid controller, FPID(Fuzzy PID). For verifying the validity of the controller, we tried computer simulation of this system. As a result, we can get remarkable improvement of overdamping and overshooting. Also we can solve compicance problem effectively. Furthermore, ambiguity problem is solved by adding control knowledge based compensator. So robust controller can be acheived, too.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.4
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• pp.582-588
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• 2008

Microgrids are new distribution level power networks that consist of various electronically-interlaced generators and sensitive loads. The important control object of Microgrids is to supply reliable and high-quality power even during the faults or loss of mains(islanding) cases. This paper presents power control methods to coordinate multiple distributed generators(DGs) against abnormal cases such as islanding and load power variations. Using speed-droop and voltage-droop characteristics, multiple distributed generators can share the load power based on locally measured signals without any communications between them. This paper adopts the droop controllers for multiple DG control and improved them by considering the generation speed of distribution level generators. Dynamic response of the proposed control scheme has been investigated under severe operation cases such as islanding and abrupt load changes through PSCAD/EMTDC simulations.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2022.11a
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• pp.168-169
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• 2022

In this study, we investigates the auto-berthing problem for the underactuated surface vessel in the presence of constraints of dynamic uncertainties, finite time, transmission load, and environmental disturbance. A novel control scheme is proposed by fusing the finite time control technology and the event-triggered input algorithm. In the algorithm, differential homeomorphism coordinate the transformation is used to solve the problem of underactuation. Then, we apply the finite time technology and event triggered to save the time of the berthing vessel and relieve transmission burden between the controller and the vessel respectively. Moreover, a radial basis function network is used to approximate unknown nonlinear functions, and minimum learning parameters are introduced to lessen the computational complexity. A sufficient effort has been made to verify the stability of the closed-loop system based on the Lyapunov stability theory. Finally, simulation results display the effectiveness of the proposed scheme.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.37 no.3
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• pp.189-198
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• 2019

In photogrammetry, single photo resection is a method of determining exterior orientation parameters corresponding to a position and an attitude of a camera at the time of taking a photograph using known interior orientation parameters, ground coordinates, and image coordinates. In this study, we proposed a single photo resection algorithm that determines the exterior orientation parameters of the camera using cosine law and linear equation-based three-dimensional coordinate transformation. The proposed algorithm first calculated the scale between the ground coordinates and the corresponding normalized coordinates using the cosine law. Then, the exterior orientation parameters were determined by applying linear equation-based three-dimensional coordinate transformation using normalized coordinates and ground coordinates considering the calculated scale. The proposed algorithm was not sensitive to the initial values by using the method of dividing the longest distance among the combinations of the ground coordinates and dividing each ground coordinates, although the partial derivative was required for the nonlinear equation. In addition, since the exterior orientation parameters can be determined by using three points, there was a stable advantage in the geometrical arrangement of the control points.

• Korean Journal of Computational Design and Engineering
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• v.9 no.4
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• pp.397-405
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• 2004

Texture mapping is the process of covering 3D models with texture images in order to increase the visual realism of the models. For proper mapping the coordinates of texture images need to coincide with those of the 3D models. When projective images from the camera are used as texture images, the texture image coordinates are defined by a camera calibration method. The texture image coordinates are determined by the relation between the coordinate systems of the camera image and the 3D object. With the projective camera images, the distortion effect caused by the camera lenses should be compensated in order to get accurate texture coordinates. The distortion effect problem has been dealt with iterative methods, where the camera calibration coefficients are computed first without considering the distortion effect and then modified properly. The methods not only cause to change the position of the camera perspective line in the image plane, but also require more control points. In this paper, a new iterative method is suggested for reducing the error by fixing the principal points in the image plane. The method considers the image distortion effect independently and fixes the values of correction coefficients, with which the distortion coefficients can be computed with fewer control points. It is shown that the camera distortion effects are compensated with fewer numbers of control points than the previous methods and the projective texture mapping results in more realistic image.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2290-2295
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• 2005

In this paper, it is developed simulator system of 3 D.O.F parallel robot for educate of expertness. This simulator system is composed of three parts ? 3 D.O.F parallel robot, controller (hardware) and software. First, basic structure of the robot is 3 active rotary actuator that small geared step motor with fixed base. An input-link is connected to this actuator, and this input-link can connect two ball joints. Thus, two couplers can be connected to the input-link as a pair. An end-plate, which is jointed by a ball joint, can be connected to the opposite side of the coupler. A sub-link is produced and installed to the internal spring, and then this sub-link is connected to the upper and bottom side of the coupler in order to prevent a certain bending or deformation of the two couplers. The robot has the maximum diameter of 230 mm, 10 kg of weight (include the table), and maximum height of 300 mm. Hardware for control of the robot is composed of computer, micro controller, pulse generator, and motor driver. The PC used in the controller sends commands to the controller, and transform signals input by the user to the coordinate value of the robot by substituting it into equations of kinematics and inverse kinematics. A controller transfer the coordinate value calculated in the PC to a pulse generator by transforming it into signals. A pulse generator analyzes commands, which include the information received from the micro controller. A motor driver transfer the pulse received from the pulse generator to a step motor, and protects against the over-load of the motor Finally, software is a learning purposed control program, which presents the principle of a robot operation and actual implementation. The benefit of this program is that easy for a novice to use. Developed robot simulator system can be practically applied to understand the principle of parallel mechanism, motors, sensor, and various other parts.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.31 no.1D
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• pp.167-173
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• 2011

This paper analyzes the procedure of calculating how the results of national control points (triangulation points), based on Bessel datum, have been transformed into those of KGD2002, based on the world geodetic system. GPS and EDM data observed from 1974 to 2008 were used for this purpose. A large-scale integrated GPS network was constructed to estimate the results of KGD2002 and new national control points about 12,000 were decided through multiple stages of data processing. The accuracy of these results is ${\pm}0.015m$ (95%) in the horizontal direction and ${\pm}0.030m$ (95%) in the vertical direction. The adjusted results verified by the construction of an integrated GPS/EDM network were compared with the results of KGD2002. In conclusion, the bulletin results are thought to be appropriate because the coordinate differences (RMSE) are ${\pm}0.0025m$ and ${\pm}0.008m$ in horizontal and vertical directions respectively.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.25 no.5
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• pp.437-449
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• 2007

This paper deals with issues of GPS network adjustment for the purpose of determining the $3^{rd}$ order national geodetic control points based on the Korean Geodetic Datum which has newly adopted in the country since early 2003. After examining and arranging all the observations, GPS baseline analyses were performed to estimate baseline vectors between two control points. All the observations were divided into 17 block networks in order to accelerate the adjustment efficiency. After applying a minimally constrained adjustment technique to each of the block networks for the sake of detecting outliers and examining network precision, over constrained adjustments by fixing all of the $2^{nd}$ order control points within the block network were carried out to derive final coordinate sets. The final solutions indicated that the accuracy of the adjusted coordinates was better than 1cm and 2cm in the horizontal and vertical component, respectively.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.25 no.5
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• pp.451-463
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• 2007

This paper describes issues of GPS network adjustment to determine coordinate sets of the $2^{nd}$ order national geodetic control points based on the Korean Geodetic Datum (KGD2002) which has been newly adopted in 2003, After outlining theoretical background of the GPS network processing, the adjustment procedure applied for this project is detailed. Throughout performing a series of minimally constrained adjustments, some outliers have been removed and magnitude of absolute and relative error for a stochastic modeling has been determined as 4mm+0.4ppm and 8mm+0.8ppm in the horizontal and vertical component, respectively. The over constrained adjustment by fixing the $1^{st}$ order control points was performed to derive final solution, indicating that the accuracy of the estimated coordinates was 2cm and 4cm in the horizontal and vertical component.