• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2004.04a
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• pp.275-281
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• 2004

Geodetic surveying using precise GPS equipment are used without analysis with a statistical verification of GPS observed value and it was preformed by necessity to integration projection of digital topographic map and nautical Chart for integration geographic information system construction. The purpose of this study proposes method that improve accuracy of GPS observed value and direction that integrally manage digital topographic map and electronic nautical chart in analyzing the boundary line error between digital topographic map and nautical Chart. For improvement of the precision of GPS observed value, the author studied precision-analysis of GPS observed value by geometric strength and variance factor in 3 control points used in GPS network adjustment. This study compare the whole boundary point error When producing EDM measurement using this GPS observation results and setting digital topographic map and nautical chart by these boundary.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.1
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• pp.24-30
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• 2016

The accuracy of small and low-cost CCD cameras is insufficient to provide data for precisely tracking unmanned aerial vehicles (UAVs). This study shows how a quad rotor UAV can hover on a human targeted tracking object by using data from a CCD camera rather than imprecise GPS data. To realize this, quadcopter UAVs need to recognize their position and posture in known environments as well as unknown environments. Moreover, it is necessary for their localization to occur naturally. It is desirable for UAVs to estimate their position by solving uncertainty for quadcopter UAV hovering, as this is one of the most important problems. In this paper, we describe a method for determining the altitude of a quadcopter UAV using image information of a moving object like a walking human. This method combines the observed position from GPS sensors and the estimated position from images captured by a fixed camera to localize a UAV. Using the a priori known path of a quadcopter UAV in the world coordinates and a perspective camera model, we derive the geometric constraint equations that represent the relation between image frame coordinates for a moving object and the estimated quadcopter UAV's altitude. Since the equations are based on the geometric constraint equation, measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the quadcopter UAV. The Kalman filter scheme is applied for this method. Its performance is verified by a computer simulation and experiments.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.16 no.5
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• pp.108-114
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• 2007

A new cutting force estimating approach and machining state monitoring examples are presented which uses a cylindrical displacement sensor built into the spindle. To identify the tool-spindle system dynamics with frequency up to 2 kHz, a home-built electro-magnetic exciter is used. The result is used to build an algorithm to extract the dynamic cutting force signal from the spindle error motion; because the built-in spindle sensor signal contains both spindle-tool dynamics and tool-workpiece interactions. This sensor is very sensitive and can measure broadband signal without affecting the system dynamics. The main characteristic is that it is designed so that the measurement is irrelevant to the geometric errors by covering the entire circumferential area between the target and sensor. It is also very simple to be installed. Usually the spindle front cover part is copied and replaced with a new one with this sensor added. It gives valuable information about the operating condition of the spindle at any time. It can be used to monitor cutting force and chatter vibration, to predict roughness and to compensate the form error by overriding spindle speed or feed rate. This approach is particularly useful in monitoring a high speed machining process.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2013.04a
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• pp.454-459
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• 2013

For the purpose of rapid development and superior design quality assurance, sophisticated finite element model for SOM(Spatial Optical Modulator) piezo actuator of MOEMS device has been developed and evaluated for the accuracy of dynamics and residual stress analysis. Parametric finite element model is constructed using ANSYS APDL language to increase the design and analysis performance. Geometric dimensions, mechanical material properties for each thin film layer are input parameters of FE model and residual stresses in all thin film layers are simulated by thermal expansion method with psedu process temperature. $6^{th}$ mask design samples are manufactured and $1^{st}$ natural frequency and 10V PZT driving displacement are measured with LDV. The results of experiment are compared with those of the simulation and validate the good agreement in $1^{st}$ natural frequency within 5% error. But large error over 30% occurred in 10V PZT driving displacement because of insufficient PZT constant $d_{31}$ measurement technology.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.355-360
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• 2002

To calibrate a non-redundantly actuated parallel mechanism, one can find actual kinematic parameters by means of geometrical constraint of the mechanism's kinematic structure and measurement values. However, the calibration algorithm for a non-redundant case does not apply fur a redundantly actuated parallel mechanism, because the angle error of the actuating joint varies with position and the geometrical constraint fails to be consistent. Such change of joint angle error comes from constraint torque variation with each kinematic pose (meaning position and orientation). To calibrate a redundant parallel mechanism, one therefore has to consider constraint torque equilibrium and the relationship of constraint torque to torsional deflection, in addition to geometric constraint. In this paper, we develop the calibration algorithm fir a redundantly actuated parallel mechanism using these three relationships, and formulate cost functions for an optimization algorithm. As a case study, we executed the calibration of a 2-DOF parallel mechanism using the developed algorithm. Coordinate values of tool plate were measured using a laser ball bar and the actual kinematic parameters were identified with a new cost function of the optimization algorithm. Experimental results showed that the accuracy of the tool plate improved by 82% after kinematic calibration in a redundant actuation case.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.601-604
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• 1994

This paper describes an effective method to estimate a position of an automous vehicle equipped with a single CCD-camera along indoor passageways. Using the sequential image data from the self-movement of the vehicle, the position is estimated by integrating the approximated motion parameters. The detection of the yaw angle that is one of the motion parameter is difficult in general, e.g. slip or error for noise, therefore the different detection is presented, which is, without shaft encoders, based on a projection function for 2D-image data and a cross-correlation function so as to be robust for noise. The approximated geometric function to estimate the position is used to reduce the computational effort. To verify the effectiveness of the method, the analysis and the computational results are shown through the simulations. Furthermore, the experimental results by using the test vehicle for the real indoor passageway are shown.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2010-2014
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• 2005

Object detection and parameter estimation in point cloud data is a relevant subject to robotics, reverse engineering, computer vision, and sport mechanics. In this paper a software is presented for fully-automatic object detection and parameter estimation in unordered, incomplete and error-contaminated point cloud with a large number of data points. The software consists of three algorithmic modules each for object identification, point segmentation, and model fitting. The newly developed algorithms for orthogonal distance fitting (ODF) play a fundamental role in each of the three modules. The ODF algorithms estimate the model parameters by minimizing the square sum of the shortest distances between the model feature and the measurement points. Curvature analysis of the local quadric surfaces fitted to small patches of point cloud provides the necessary seed information for automatic model selection, point segmentation, and model fitting. The performance of the software on a variety of point cloud data will be demonstrated live.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.51 no.2
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• pp.87-93
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• 2002

Accurate acquisition of surface geometries such as machined surfaces, biological surfaces, and deformed parts have been very important technique in scientific study and engineering, especially for system design, manufacturing and inspection. Two-camera method keeps accuracy more than double than mechanical method. In this paper, a new method is studied to acquire 3D geometric data of the small object such as a die in stone model. When the devices, cameras, laser beam and object are in a perfect plane, the calculation is measured by position error 0.025[mm] within. But this paper shows that arbitrarily positioned system can also be used to obtain 3D data. Also, this paper present a method to generate coping surface data with which CAM system can do for milling work.

• Journal of Technologic Dentistry
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• v.24 no.1
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• pp.73-81
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• 2002

Accurate acquisition of surface geometries such as machined surfaces, biological surfaces, and deformed parts have been very important technique in scientific study and engineering, expecially for system design, manufacturing and inspection. Two camera method is relatively simple with an acceptable accuracy. In this paper, a new method is studied to acquire 3D geometric data of the small object such as a die in stone model. When the devices, cameras, laser beam and object are in a perfect plane, the calculation becomes very simple with less error. But this paper shows that arbitrarily positioned system can also be used to obtain 3D data.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1615-1620
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• 2003

Kinematic calibration is a process whereby the actual values of geometric parameters are estimated so as to minimize the error in absolute positioning. Measuring all components of Cartesian posture, particularly the orientation, can be difficult. With partial pose measurements, all parameters may not be identifiable. This paper proposes a new device that can identify all kinematic parameters with partial pose measurements. Study is performed for a six degree-of-freedom fully parallel Hexa Slide manipulator. The device, however, is general and can be used for other parallel manipulators. The proposed device consists of a link with U joints on both sides and is equipped with a rotary sensor and a biaxial inclinometer. When attached between the base and the mobile platform, the device restricts the end-effector's motion to five degree-of-freedom and can measure position of the end-effector and one of its rotations. Numerical analyses of the identification Jacobian reveal that all parameters are identifiable. Computer simulations show that the identification is robust for the errors in the initial guess and the measurement noise. Intrinsic inaccuracies of the device can significantly deteriorate the calibration results. A measurement procedure is proposed and formulations of cost functions are discussed to prevent propagation of the inaccuracies to the calibration results.