• 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.

• Journal of the Ergonomics Society of Korea
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• v.6 no.2
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• pp.19-28
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• 1987

If an error occurs in the automatic mode when the advanced teleoperator system performs a task in hostile environment, then the mode changes into the manual mode. The operation by program and the operation by hyman recover the error in the manual mode. The system resumew the automatic mode and continues the given task. In order to utilize the inverse kinematics as means of the operation by program in the manual mode, Lee and Nagamachi determined the end point of the robot trajectory planning which varied with the height of the task object recognized by a T.V monitor, solved the end point by the fuzzy set theory, and controlled the position of the robot hand by the inverse kinematics and the posture of the robot hand by the operation by human. But the operation by human did take a lot of task time because the position and the posture of the robot hand were separately controlled. To reduce the task time by human, this paper developes an error recovery expert system (ERES). The position of the robot hand is controlled by the inverse kinematics of the cartesian coordinate system to the end point which is deter- mined by the fuzzy set theory. The posture of the robot hand is controlled by the modulality of the robot hand's motion which is made by the posture of the task object. The knowledge base and the inference engine of the ERES is developed using the muLISP-86 language. The experimental results show that the average task time by human the ERES which was performed by the integration of the position and the posture control of the robot hand is shorter than that of the research, done by the preliminary experiment, which was performed by the separation of the position and the posture control of the robot hand. A further study is likely to research into an even more intelligent robot system control usint a superimposed display and digitizer which can present two-dimensional coordinate of the work space for the convenience of human interaction.

• Korean Journal of Remote Sensing
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• v.37 no.3
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• pp.567-575
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• 2021

In order to correct the provided RPC and DEM generated from the high-resolution satellite images, the acquisition of the ground control point (GCP) must be preceded. This task is a very complicate that requires field surveys, GPS surveying, and image coordinate reading corresponding to GCPs. In addition, since it is difficult to set up and measure a GCP in areas where access is difficult or impossible (tidal flats, polar regions, volcanic regions, etc.), an alternative method is needed. In this paper, we propose a 3D surface matching technique using only the established ground coordinate package, avoiding the ground-image-location survey of the GCP to correct the DEM produced from WorldView-2 satellite images and the provided RPCs. The location data of the public control points were obtained from the National Geographic Information Institute website, and the DEM was corrected by performing 3D surface matching with this package. The accuracy of 3-axis translation and rotation obtained by the matching was evaluated using pre-measured GPS checkpoints. As a result, it was possible to obtain results within 2 m in the plane location and 1 m in height.

• Journal of Ocean Engineering and Technology
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• v.26 no.3
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• pp.6-12
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• 2012

In this paper, addressed is the control problem of generating a formation for a group of unmanned surface and underwater vehicles. The formation control scheme proposed in this work is based on a fusion of theleader-follower and virtual reference approaches. This scheme gives a formation constraint representation that is independent of the number of vehicles in the formation and the resulting control algorithm is scalable. One of the most important features in controller design is the ability of the controller to globally and exponentially stabilize the formation errors defined by the formation constraints. The proposed controller is based on feedback linearization, and the formation errors are shown to be globally and exponentially stable in the sense of Lyapunov.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.712-715
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• 1997

In image jacobian based visual servoing, generally, inverse jacobian should be calculated by complicated coordinate transformations. These are required excessive computation and the singularity of the image jacobian should be considered. This paper presents a visual servoing to control the pose of the robotic manipulator for tracking and grasping 3-D moving object whose pose and motion parameters are unknown. Because the object is in motion tracking and grasping must be done on-line and the controller must have continuous learning ability. In order to estimate parameters of a moving object we use the kalman filter. And for tracking and grasping a moving object we use a fuzzy inference based reinforcement learning algorithm of dynamic recurrent neural networks. Computer simulation results are presented to demonstrate the performance of this visual servoing

• Journal of the Korean Society for Precision Engineering
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• v.4 no.4
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• pp.25-35
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• 1987

This paper deals with the design of the digital controller for DC servo motor, and it is implemented for the cartesian coordinate 4 axes manipulator. A design method of the controller is adopted an algorithm using the digital position locked loop(DPLL) method and the linear PID control for the smooth motion. To simplify the hardware configuration of control system, 8279 keyboard/display controller, Z-80 CTC counter and 8255 PPI are used. Therefore the design method to control each motor as real-time is presented. To show effectiveness of the design, the PWM circuit and frequency/voltage converter are applied for the velocity control of robot system. When the proposed controller is applied to the 4-axes manipulator, it reveals that the error probabilities of X, Y and Z axis as 0.033%, 0.023% and 0.028% respectively.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.3
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• pp.525-530
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• 2010

Installation of FACTS(Flexible AC Transmission System) device can maximize utilization of existing power facilities and reliability of power system. STATCOM has excellent characteristics in operating cost, maintaining facilities, loss and so on. However, STATCOM has a disadvantage of facility cost over capacity. So it is effective to coordinate STATCOM and existing external bank(capacitor and reactor) and OLTC(On Load Tap Changer). This paper mainly proposes coordinative control method between STATCOM installed within substation and other reactive power resources including Shunt Reactors and Shunt Capacitors and OLTC for voltage stability improvement. The proposed coordinative control method is developed for the STATCOM of Mi-gum substation and the simulation results of EMTP/RV model show the effectiveness of the proposed method.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.13 no.3
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• pp.260-269
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• 1988

Conventional torque and position control scheme is developed to control a robot manipulator using the knowing mass of links of load. This paper presents a torque and position control method which performs under unknown mass of links or load. This method takes full advantage of known parameters and servo error in joint coordinate space. We illutrate the theory with some simulations and show that the results is effective.

• Proceedings of the KIEE Conference
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• 1989.11a
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• pp.346-350
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• 1989

This paper concerned about a study on the position control of KED-1 robot manipulator using PID self-tuning controller. For two joint manipulator KED-1, KED-1 manipulator is translated into kinematics to control each joints in joint space seheme. Angle displacements of joint coordinate are transformed into reference angle velocity of each subsystem through trajectory planning. Also, time sharing technique is used to control KED-1 manipulator. A series of simulation and experiment are performed for each joint in show the valid of proposed algorithm.

• Journal of Communications and Networks
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• v.14 no.4
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• pp.461-466
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• 2012

Any future heterogeneous overlay network system must be able to support ubiquitous access across multiple wireless networks. To coordinate these diverse network environments, one challenging task is a call admission decision among different types of network. In this paper, we propose a new call admission control scheme to provide quality of service (QoS) while ensuring system efficiency. Based on the interplay between network structure and dynamics, we estimate the network's QoS level and adjust the service price adaptively with the aim of maximizing the network performance. A simulation shows that the proposed scheme can approximate an optimized solution while ensuring a well-balanced network performance in widely different network environments.