• Title/Summary/Keyword: Coordinates System

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A compliant control method for cooperating two arms with asymetric kinematic structures (비대칭 구조를 갖는 두 협조 로봇의 컴플라이언스 제어방법)

  • 여희주;서일홍
    • Journal of the Korean Institute of Telematics and Electronics B
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    • v.33B no.7
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    • pp.40-50
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    • 1996
  • An unified compliant control algorithm to regulate the force by dual arms is proposed, where tow arms are treated as one arm in a kinematic viewpoint. The force error calculated form the information of two force/torque sensors attached to the end of each arm is transferred to minimum actuator coordinates, and then is distributed to total system actuator coordinates. The position adjustment at the total actuator coordinates is computed based on the effective computed based on the effective compliance matrix with respect to total actuator coordinates, which is obtained by coordinate transformation between the task coordinates and the total actuator coordinates. An experiment is carried out for dual arms with asymmetric kinematic structure to control an interaction force between manipulators and the environment. The performances of the proposed control algorithm are experimentally compared to those of dual arms employing master/slave scheme. The proposed compliant control algorithm not only ouperforms other algorithms, but also can be treated as an unified approach n the sense that it can be applied to arbitrary dual arm systems with general kinematic structures.

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An Object Representation System Using Virtual Space Coordinates

  • Ban, Kyeong-Jin;Kim, Jong-Chan;Kim, Eung-Kon
    • Journal of information and communication convergence engineering
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    • v.8 no.4
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    • pp.411-415
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    • 2010
  • Conventional Augmented Reality has used data gloves or markers for smooth interaction between objects and background. This causes inconvenience of use and lower immersion. To build up immersion in Augmented Reality, additional input devices must be removed. For this purpose, accurate recognition of space coordinates is needed even with no attachment of markers. This paper proposes a method to create virtual space coordinates for interaction without wearing additional input devices so as to improve immersion in Augmented Reality. The acquired image was projected to 2D space and vanishing lines were extracted to calculate the virtual space coordinates. Then the sizes of the inserted objects were varied in accordance with the size of the virtual coordinates area based on the image projected onto the 2D coordinates. This resulted in improved immersion. This method can increase the efficiency of object creation by excluding the use of a 3D modeler for creation of 3D objects.

Acquiring Precise Coordinates of Ground Targets through GCP Geometric Correction of Captured Images in UAS (무인 항공 시스템에서 촬영 영상의 GCP 기하보정을 통한 정밀한 지상 표적 좌표 획득 방법)

  • Namwon An;Kyung-Mee Lim;So-Young Jeong
    • Journal of the Korea Institute of Military Science and Technology
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    • v.26 no.2
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    • pp.129-138
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    • 2023
  • Acquiring precise coordinates of ground targets can be regarded as the key mission of the tactical-level military UAS(Unmanned Aerial System) operations. The coordinates deviations for the ground targets estimated from UAV (Unmanned Aerial Vehicle) images may depend on the sensor specifications and slant ranges between UAV and ground targets. It has an order of several tens to hundreds of meters for typical tactical UAV mission scenarios. In this paper, we propose a scheme that precisely acquires target coordinates from UAS by mapping image pixels to geographical coordinates based on GCP(Ground Control Points). This scheme was implemented and tested from ground control station for UAS. We took images of targets of which exact location is known and acquired the target coordinates using our proposed scheme. The experimental results showed that errors of the acquired coordinates remained within an order of several meters and the coordinates accuracy was significantly improved.

Replaceable battery electric car's battery location coordinates image processing techniques for obtaining verification (배터리 교체형 전기자동차의 배터리 위치좌표 획득을 위한 영상처리기술 검증)

  • Kim, Eung-Pil;Jung, Won-Jae;Kim, Jeoung-Youn;Park, Jun-Seok;Kim, Tae-Hee
    • Journal of The Institute of Information and Telecommunication Facilities Engineering
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    • v.11 no.2
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    • pp.52-57
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    • 2012
  • In this paper describe configuration about QCM system for image processing device. It presents that QCM's image processing board video from the camera recognized by the PLC's battery removable exact location coordinates to the robot image processing technology to deliver. In addition, QCM video image processing technology for improved data reliability is described. In this paper define the landmarks of battery for obtaining the location coordinates and verify battery the location coordinates acquisition process from field tests of the QCM/QTPE-BUS Battery Exchange System.

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Dynamic Analysis of Flexible Mechanical System (폐쇄계를 포함하는 탄성 기계시스템의 동역학적 해석)

  • 안덕환;이병훈
    • Transactions of the Korean Society of Mechanical Engineers
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    • v.19 no.1
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    • pp.271-276
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    • 1995
  • This paper presents a systematic method for the dynamic analysis of flexible mechanical systems containing closed kinematic loops. Kinematics between pairs of contiguous flexible bodies is described with the joint coordinates and the deformation modal coordinates. The cut-joint constraint equations associated with the closed kinematic loops are derived, simply using the geometric conditions. The equations of motions are initially written in terms of the joint and modal coordinates using the velocity transformation technique. Lagrange multipliers associated with the cut-joint constraints for closed-loop systems are then eliminated systematically using the generalized coordinate partitioning method, resulting to a minimal set of equations of motion.

Adaptive control with neural network for a magnetic levitation system

  • Hao, Shuang-Hui;Yang, Zi-Jiang;Tsuji, Teruo
    • 제어로봇시스템학회:학술대회논문집
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    • 1994.10a
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    • pp.195-200
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    • 1994
  • This paper presents a nonlinear adaptive control approach to a 4-point attraction magnetic levitation system using the local coordinates transformation and neural network. Based on local coordinates transformations, the magnetic levitation system can be represented in a state magnetic levitation system can be represented in a state space from of a 4-input 4-output. Neural networks which are defined in the new coordinates are used to learn the nonlinear functions of the system which are defined in the new coordinats also. The parameters of the neural networks are updated in an on-line manner according to an augmented tracking error. The simulation results are reported in this paper.

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Geodetic Survey Campaigns and Maintenance Plan for KASS Reference Station Antenna Coordinates

  • Hwanho, Jeong;Hyunjin, Jang;Youngsun, Yun;ByungSeok, Lee
    • Journal of Positioning, Navigation, and Timing
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    • v.12 no.1
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    • pp.83-89
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    • 2023
  • The Korea Augmentation Satellite System (KASS) system is a Satellite Based Augmentation System (SBAS) under development to provide APV-I SBAS service in the Republic of Korea. The KASS ground segment generates correction and integrity information for GPS measurements of KASS users using the accurate positions of KASS Reference Station (KRS) antenna phase centers. For this reason, the accuracy of KRS reference points through geodetic survey campaigns is one of the important factors for providing the KASS service in compliance with the required navigation performance. In order to obtain accurate positions, two geodetic survey campaigns were performed at several reference points, such as Mark, Center of Mast at Ground Level (CMGL), and Center of Hole in Top Plate (CHTP), of each KRS site using three different survey methods, the Virtual Reference Station (VRS), Flächen Korrektur Parameter (FKP), and raw data post-processing methods. By comparing and analyzing the results, the computed coordinates of the reference points were verified and Antenna Phase Center (APC) positions were calculated using KRS Antenna Reference Point (ARP) data, and the first KASS Site Acceptance Test (SAT#1) was performed successfully using the verified APC coordinates. After the first site survey activities, the KASS operators should maintain the coordinates with the required performance such that the overall KASS navigation performance commitment is guaranteed during the lifetime of 15 years. Therefore, the maintenance plan for the KRS antenna coordinates should be developed before the commissioning of KASS operation planned after 2023. Therefore, this paper presents a geodetic survey method selected for the maintenance activities and provides the rationale for using this method.

A study on the DGPS data errors correction through real-time coordinates conversion using the vision system (비젼 시스템을 이용한 DGPS 데이터 보정에 관한 연구)

  • Mun, Seong-Ryong;Chae, Jung-Su;Park, Jang-Hun;Lee, Ho-Soon;Rho, Do-Hwan
    • Proceedings of the KIEE Conference
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    • 2003.07d
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    • pp.2310-2312
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    • 2003
  • This paper describes a navigation system for an autonomous vehicle in outdoor environments. The vehicle uses vision system to detect coordinates and DGPS information to determine the vehicles initial position and orientation. The vision system detects coordinates in the environment by referring to an environment model. As the vehicle moves, it estimates its position by conventional DGPS data, and matches up the coordinates with the environment model in order to reduce the error in the vehicles position estimate. The vehicles initial position and orientation are calculated from the coordinate values of the first and second locations, which are acquired by DGPS. Subsequent orientations and positions are derived. Experimental results in real environments have showed the effectiveness of our proposed navigation methods and real-time methods.

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A Linearization Method for Constrained Mechanical System (구속된 다물체시스템의 선형화에 관한 연구)

  • Bae, Dae-Sung;Yang, Seong-Ho;Seo, Jun-Seok
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.27 no.8
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    • pp.1303-1308
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    • 2003
  • This research proposes an implementation method of linearized equations of motion for multibody systems with closed loops. The null space of the constraint Jacobian is first pre-multiplied to the equations of motion to eliminate the Lagrange multiplier and the equations of motion are reduced down to a minimum set of ordinary differential equations. The resulting differential equations are functions of ail relative coordinates, velocities, and accelerations. Since the coordinates, velocities, and accelerations are tightly coupled by the position, velocity, and acceleration level constraints, direct substitution of the relationships among these variables yields very complicated equations to be implemented. As a consequence, the reduced equations of motion are perturbed with respect to the variations of all coordinates, velocities, and accelerations, which are coupled by the constraints. The position, velocity and acceleration level constraints are also perturbed to obtain the relationships between the variations of all relative coordinates, velocities, and accelerations and variations of the independent ones. The perturbed constraint equations are then simultaneously solved for variations of all coordinates, velocities, and accelerations only in terms of the variations of the independent coordinates, velocities, and accelerations. Finally, the relationships between the variations of all coordinates, velocities, accelerations and these of the independent ones are substituted into the variational equations of motion to obtain the linearized equations of motion only in terms of the independent coordinate, velocity, and acceleration variations.

Construction of System Jacobian in the Equations of Motion Using Velocity Transformation Technique (속도변환법을 이용한 운동방정식의 시스템자코비안 구성)

  • Lee, Jae-Uk;Son, Jeong-Hyeon;Kim, Gwang-Seok;Yu, Wan-Seok
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.25 no.12
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    • pp.1966-1973
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    • 2001
  • The Jacobian matrix of the equations of motion of a system using velocity transformation technique is derived via variation methods to apply the implicit integration algorithm, DASSL. The concept of generalized coordinate partitioning is used to parameterize the constraint set with independent generalized coordinates. DASSL is applied to determine independent generalized coordinates and velocities. Dependent generalized coordinates, velocities, accelerations and Lagrange multipliers are explicitly retained in the formulation to satisfy all of the governing kinematic and dynamic equations. The derived Jacobian matrix of a system is proved to be valid and accurate both analytically and through solution of numerical examples.