• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1999년도 제14차 학술회의논문집
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• pp.137-140
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• 1999

A lot of researcher have proposed a method of kernel identifying nonlinear system by use of Wiener kernels[6-7] or Volterra kernel[5] and so on. In this research, the authors proposed a method of identifying Volterra kernels for nonlinear system by use of pseudorandom M-sequence in which a crosscorrelation function between input and output of a nonlinear system is taken[4]. we can be applied to an MISO nonlinear system or a system which depends on its input amplitude[2]. But, there exist many systems in which it is difficult to determine a Volterra kernel having the same time coordinate on the crosscorrelation function. In those cases, we have to estimate Volterra kernel by using its neighboring points[4]. In this paper, we propose a new method for not estimating but obtaining Volterra kernel having the same time coordinate using calculation between the neighboring points. Some numerical simulations show that this method is effective for obtaining higher order Volterra kernel of nonlinear control systems.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.184-187
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• 1997

Coordinate measuring machines(CMMs) are used to obtain the dimensional information with micron accuracy. This paper is concerned with the development of the horizontal arm type coordinate measuring machine using open architecture controller. The coordinate measuring machine considered in this paper consists of three orthogonal axes in the x, y and z directions. Open architecture controller IS used to implement a measuring system which can be fulfill to various needs of endusers of coordinate measuring machines. The open architecture controller presented here is embodied in personal computers. The programs and man-machine interfaces(MM1) are developed for various measuring conditions. Through the computer simulation based on the mathematical models of the coordinate measuring machine, control parameters are optimally tuned.

• Korean Journal of Geomatics
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• 제3권1호
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• pp.7-14
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• 2003

For GIS to land and sea in Korea, GIS on land was almost completed with big cities by NGIS(National Geographic Information System) business. However, MGIS(Marine Geographic Information System) being constructed by the National Oceanographic Research Institute is still constructing geography information and definition of attribute information and real condition. We are being studied on research to get maximized the ripple effect linking GPS and Navigation techniques on GIS. GPS in accuracy is divided into navigation and precise surveying equipment. Now, GPS technology has been developed very much and low price GPS equipments are introducing. But expense on GPS equipment is high yet. Therefore, GPS equipment for navigation is used on cheap GPS equipment in a car or ship. In this paper, the author used algorithm to convert ellipsoid coordinate between WGS84 and Bessel ellipsoid and to analyze map projection between BESSEL ellipsoid and UTM plane coordinate system. And the author developed ship navigation system with cheap GPS equipment using algorithm of ellipsoid conversion and map projection. The author proposed the necessity on constructing MGIS to manage many ships.

• 한국정밀공학회지
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• 제20권4호
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• pp.103-111
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• 2003

The Denavit-Hartenberg symbolic notation provides the framework for the convenient and systematic method for the robot manipulator kinematics, but is limited its use to the lower pair mechanism or to the single loop mechanisms. The Sheth-Uicker notation is its revised and generalized version to be extended fur the entire domain of the link mechanism including the higher pairs. This paper proposes the method that uses the Sheth-Uicker notation fur the robot kinematics modeling. It uses the instantly coincident coordinate system and the closed loop chain fur the coordinate transformation. It enables us to model the velocity kinematics of the robot that has the complex structures such as the ternary links and the wheels in a systematic and rational way. As an implementation of the proposed method, the Jacobian matrices were obtained for not only the robot with two legs and a torso, but a manipulator on a mobile platform.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2014년도 춘계학술대회
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• pp.447-450
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• 2014

본 논문에서는 갤럭시노트를 사용하여 PC에 대한 무선 태블릿 장치의 효율적으로 구현하는 방안을 제시하였다. 무선 태블릿 장치는 갤럭시 노트, 스타일러스 펜과 블루투스 신호를 직렬 통신신호로 변환하는 장치로 구성된다. 무선 태블릿 장치는 스타일러스 펜이 가리키는 좌표정보를 PC로 전송하기 위해 블루투스 통신을 사용한다. 자체 개발한 윈도우 마우스 필터 드라이버는 전송받은 좌표를 X, Y값으로 분리한 후에 변환된 좌표값으로 윈도우 응용 프로그램이 동작하는 동안 마우스 포인터의 위치를 제어한다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.934-937
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• 2003

In this paper, authors use a stereo vision system based on the visual model of human and establish inexpensive method that recognizes moving distance using characteristic points around the robot. With the stereovision. the changes of the coordinate values of the characteristic points that are fixed around the robot are measured. Self-displacement and self-localization recognition system is proposed from coordination reconstruction with those changes. To evaluate the proposed system, several characteristic points that is made with a LED around the robot and two cheap USB PC cameras are used. The mobile robot measures the coordinate value of each characteristic point at its initial position. After moving, the robot measures the coordinate values of the characteristic points those are set at the initial position. The mobile robot compares the changes of these several coordinate values and converts transformation matrix from these coordinate changes. As a matrix of the amount and the direction of moving displacement of the mobile robot, the obtained transformation matrix represents self-displacement and self-localization by the environment.

• 한국의류산업학회지
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• 제11권5호
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• pp.709-719
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• 2009

Since the beginning of time people had been using color to mark territory and decorate their surroundings. Color was taken for granted today as an intrinsic part of every waking moment. In modern age, color education was very important curriculum of art and design. In general, color expressed by hue, value and chroma but used the tone on the design spot, therefore the tone concept education was very important to color education. In this study I planned the usable "Systematic Color Coordinate System 180" for general color education on hue and tone color system and manufactured the color papers, color chart and color code based on the system. "Systematic Color Coordinate System 180" was attached the Munsell notation and common color names which could reappear the colors when needed.

• 한국측량학회지
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• 제34권2호
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• pp.171-183
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• 2016

Small-scale maps currently used are made by scanning and editing printed maps and its shortcoming is accumulated errors at the time of editing and low accuracy. TM projection method is used but its accuracy varies. In addition, small-scale maps are made without consideration of usability and compatibility with other scale maps. Therefore, it is necessary to suggest projection and coordinates system improvement methods in consideration of usability and compatibility between data. The results of this study reveal that in order to make the optimum small-scale map, projection that fits the purpose of map usage in each scale, coordinate system and neat line composition should be selected in consideration of interrelation and compatibility with other maps. Conic projection should be used to accurately illustrate the entire country, but considering usability and compatibility with other maps, traversing cylindrical projection should be used instead of conic projection. For coordinates system of the small-scale map, Universal Transverse Mercator (UTM-K) based on the World Geodetic System should be used instead of conventional longitude and latitude coordinate system or Transverse Mercator.

• Journal of Electrical Engineering and Technology
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• 제11권2호
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• pp.508-518
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• 2016

In this paper, we propose a method combining an accelerometer with a cross structured light system to estimate the golf green slope. The cross-line laser provides two laser planes whose functions are computed with respect to the camera coordinate frame using a least square optimization. By capturing the projections of the cross-line laser on the golf slope in a static pose using a camera, two 3D curves’ functions are approximated as high order polynomials corresponding to the camera coordinate frame. Curves’ functions are then expressed in the world coordinate frame utilizing a rotation matrix that is estimated based on the accelerometer’s output. The curves provide some important information of the green such as the height and the slope’s angle. The curves estimation accuracy is verified via some experiments which use OptiTrack camera system as a ground-truth reference.

• 센서학회지
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• 제28권1호
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• pp.30-35
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• 2019

Inertial measurement units (IMUs) are widely used for wearable motion-capturing systems in the fields of biomechanics and robotics. When the IMUs are combined with optical motion sensors (hereafter, OPTs) for their complementary capabilities, it is necessary to align the coordinate system orientations between the IMU and OPT. In this study, we compare the application of two coordinate transformation-based orientation alignment methods between two coordinate systems. The first method (M1) applies angular velocity coordinate transformation, while the other method (M2) applies gyroscopic angle coordinate transformation. In M1 and M2, the angular velocities and angles, respectively, are acquired during random movement for a least-square algorithm to determine the alignment matrix between the two coordinate systems. The performance of each method is evaluated under various conditions according to the type of motion during measurement, number of data points, amount of noise, and the alignment matrix. The results show that M1 is free from drift errors, while drift errors are present in most cases where M2 is applied. Thus, this study indicates that M1 has a far superior performance than M2 for the alignment of IMU and OPT coordinate systems for motion analysis.