• Proceedings of the KIEE Conference
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• 1988.07a
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• pp.905-908
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• 1988

In recent, Kalman filter technique has been much used as one of technique for tracking of the moving target. But some problem are still remained to be resolved. For example, when Kalman filter technique is applied to nonlinear system, the technique is nonoptimal estimator. Therefore, extended Kalman filter is proposed to reduce modeling error for nonlinear system. In this study, an extended Kalman filter in Cartesian coordinates is described for moving target, when the radar sensor measures range, azimuth and elevation angle in polar coordinates. And an approximate gain computation algorithm is proposed. In this approach, Kalman gains are computed for three uncoupled filter and multiplied by a Jacobian transformation determined from the measured target position and orientation.

• Architectural research
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• v.8 no.1
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• pp.47-56
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• 2006

In this research, the analysis of post-buckling behavior of tapered columns has been performed under a combined load of uniformly distributed axial load along the length and concentric axial load at free end by solving the nonlinear differential equation with the differential transformation technique. The buckling load at various slopes at free end of column is calculated and the results of the analysis using the differential transformation technique is verified with those of previous studies. It is also shown through the results that the buckling load of sinusoidal tapered columns is largest, the linear is second largest, and the parabolic is small in the all ranges of slopes at free end and the deflection of parabolic tapered columns in the x coordinates is largest, the sinusoidal is second largest, and the linear is smallest in the range of slope 0 to 140 degrees at free end. However, when the range of the slope is 160 to 176 degrees at the free end, the deflection of sinusoidal tapered columns in the x coordinates is largest, the linear is second largest, and the parabolic is smallest. In addition, for the linear tapered column, the buckling load increases along with the flexural stiffness ratio. Also, for the parabolic and the sinusoidal tapered column, the buckling loads increase and decrease as the flexural ratios increase in the range of flexural stiffness ratio n = 1.0 to n = 2.0. Through this research, it is verified that the differential transformation technique can be applied to solve the nonlinear differential equation problems, such as analysis of post-buckling behavior of tapered columns. It is also expected that the differential transformation technique apply to various more complicated problems in future.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.2
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• pp.190-196
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• 2000

A hybrid position/force control scheme to regulate the force and position by dual arms is proposed where two arms are treated as one rm in a kinematic viewpoint. The force error calculated from the information of two force/torque sensors attached to the end of each arm is transferred to minimum configuration space coordinates and then is distributed to total system joint coordinates, The position adjustment at the total con-figuration coordinates is computed based on the effective compliance matrix with respect to total joint coordinates which is obtained by coordinate transformation between the task coordinates and the total joint coordinates. The proposed scheme is applied to sawing task. When the trajectory of the saw is planned to follow a line in a horizontal plane 2 position parameters are to be controlled(i.e., two translational positions) Also a certain level of contact force has to be controlled along the vertical direction(i.e. minus z-direction) not to loose the contact with the object to be sawn. We experimentally show that the performance of the velocity and force response are satisfactory. The proposed hybrid control scheme can be applied to arbitrary two cooperating arm system regardless of their kinematic structure and the number of actuated joints.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 1999.06a
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• pp.317-324
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• 1999

The present work is an attempt to calculate the steady state pressure and perturbed pressure of herringbone grooved journal bearings. A generalized coordinate system is introduced to handle the complex bearing geometry. The coordinates are fitted to the groove boundary and the Reynold's equation is transformed to be fitted to this coordinates system using the Gauss divergence theorem. This method makes it possible to deal with an arbitrary configuration of a lubricated surface. The characteristics of finite herringbone grooved journal are well calculated using this method.

• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.15-18
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• 2003

This paper presents an adaptive control scheme for parking or regulating a nonholonomic mobile robot of an unicycle type with parameter uncertainty. The kinematics can be described with Brockett's nonholonomic integrator. The control law is designed in cylindrical coordinates together with the estimation law for the uncertain parameters such that the controlled signals converge to zero while guaranteeing the boundedness of the estimation errors. The effectiveness of the proposed scheme is demonstrated using simulations.

• Journal of the Optical Society of Korea
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• v.5 no.3
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• pp.90-92
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• 2001

Direct and inverse mathematical operators of stereo transformation (stereo operators) are studied in this paper. The stereo operators install a one-to-one correspondence between three dimensional coordinates of any point in space and the stereo coordinates which can be displayed on the screen under the given conditions, i.e. stereo vision base and the position of viewer. The stereo operators can be applied to the analyses of stereoscopic image distortions when the stereo vision base and the position of viewer are changed.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• v.9 no.1
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• pp.816-819
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• 2005

This paper proposes a coordinate correction technique using the transformation of 3D parabolic coordinate function and BP(Back Propagation) neural network in order to solve space distortion problem caused by using catadioptric camera. Although Catadioptric camera can obtain omni-directional image at all directions of 360 degrees, it makes an image distorted because of an external form of lens itself. Accordingly, To obtain transformed ideal distance coordinate information from distorted image on 3 dimensional space, we use coordinate transformation function that uses coordinates of a focus at mirror in the shape of parabolic plane and another one which projected into the shape of parabolic from input image. An error of this course is modified by BP neural network algorithm.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2007.04a
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• pp.47-50
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• 2007

Since world coordinate system is entirely used because of the revision of land surveying law, it is needed that transformation of coordinates of geo-spatial information established by korea coordinate system to be performed. It is required, however, to have a plan for transformation of world coordinate system because the coordinate system is not unified due to the geo-spatial information system using dualistic control data of both old and new data of korea coordinate system. For this purpose, in this study, I have calculated coordinate transformation coefficient per control data of korea coordinate system and proposed a plan of transforming a dualistic coordinate system which is based on control data of korea coordinate system effectively into world coordinate system through verification of accuracy of transformation per control data.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.202-204
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• 2006

In this paper, the detection scheme of the spatial coordinates based on stereo camera for a Transformation algorithm of an Leg-wheel Hexapod Robot is proposed. Robot designed as can have advantages that do transfer possibility fast mobility in flat topography and uneven topography through walk that use wheel drive. In the proposed system, using the disparity data obtained from the left and right images captured by the stereo camera system and the perspective transformation between a 3-D scene and an image plane, depth information can be detected. Robot uses construed environmental data and transformation algorithm, decide wheel drive and leg waik, and can calculate width of street and regulate width of robot.

• Korean Journal of Crystallography
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• v.7 no.2
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• pp.196-200
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• 1996

The transformation processes from unit cell data, Miller indices and atomic coordinates of non-standard space groups to the ones of the standard space groups in monoclinic system and the calculation processes of their standard deviations have been shown and computerized. The computer programs can be applied to all the seven crystal systems.