• Journal of Mechanical Science and Technology
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• v.20 no.5
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• pp.602-611
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• 2006

This paper proposes a locomotion pattern and a control method for biped robots with curved soles. First, since the contact point of a supporting leg may arbitrarily move back and forth on the ground, we derived the desired trajectory from a model called the Moving. Inverted Pendulum Model (MIPM) where the Zero Moment Point (ZMP) exists at the supporting point and can be moved intentionally. Secondly, a biped robot with curved soles is an under-actuated system since the supporting point contacting with a point on the ground has no actuator during the single supporting phase. Therefore, this paper proposes a computed-torque control for this under-actuated system using decoupled dynamic equations. A series of computer simulations with a 7-DOF biped robot with curved soles shows that the proposed walking pattern and control method are effective and allow the biped robot to walk fast and stably, and move more like human beings. Also, it is shown that the curved sole shape has superior energy consumption compared to flat soles, and greater efficiency in ascending and descending the stairs.

• Journal of the Korean Society of Industry Convergence
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• v.26 no.4_2
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• pp.687-696
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• 2023

In recent construction sites, digital maps obtained through drone photogrammetry have garnered increasing attention as indispensable tools for effective construction site management. the strategic placement of Ground Control Points (GCPs) is crucial in drone photogrammetry. Nevertheless, the manual labor and time-intensive nature of GCP surveying pose significant challenges. The purpose of this study is to design the concept of automated GCPs survey technology for enhancing drone photogrammetry efficiency in construction sites. As a result, the productivity of the automated method was analyzed as 118,894.7㎡/hr. It is over 25% productivity improvement compared to traditional methods. In future studies, economic analysis of automated methods should be studied.

• Proceedings of the KSR Conference
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• 2007.05a
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• pp.1023-1026
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• 2007

CBTC (Communication Based Train Control) is a railroad system, using wireless communication for data transmission between on-board units and ground units, that makes ground computer periodically collect position and speed data from each train and transmits the preceding train's distance data up to speed limit point so as to make on-board control unit control the optimum train speed. Due to the fact that wireless communication system for train control employs only limited frequency band and output frequency, a number of ground communication units should be installed at track-side; also a running train should carry out Handover function which maintains the communication by accessing a new communication channel of the adjacent on-board communication units in accordance with the output of received radio wave. Especially CBTC is largely dependent on Handoff function between ground communication units. Therefore, this paper provides the method of identification of hazard between ground communication units and on board units.

• Proceedings of the KSRS Conference
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• 2004.10a
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• pp.452-455
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• 2004

MSC (Multi-Spectral Camera) system is a remote sensing instrument to obtain high resolution ground image. EOS (Electro-Optic System) for MSC mainly consists of PMA (Primary Mirror Assembly), SMA (Secondary Mirror Assembly), HSTS (High Stability Telescope Structure) and DFPA (Detector Focal Plane Assembly). High performance of EOS makes it possible for MSC system to provide high resolution and high quality ground images. Temperature of the EOS needs to be controlled to be in a specific range in order not to have any thermal distortion which can cause performance degradation. It is controlled by full redundant CPU based electronics. The validity of thermistor readings can be checked because a few thermistors are installed on each control point on EOS. Various kinds of thermal control logics are used to prevent 'Single Point Failure'. Control logic has a few set of database in order not to be corrupted by SEU (Single Event Upset). Even though the thermal control logic is working automatically, it can also be monitored and controlled by ground-station operator. In this paper, various ways of thermal control logic for EOS in MSC will be presented, which include thermal control mode and logic, redundancy design and status monitoring and reporting scheme.

• Proceedings of the KSRS Conference
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• 1998.09a
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• pp.207-212
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• 1998

It is not easy to identify a ground control point (GCP) or even locate its vicinity from a SAR image. Although simulated SAR images may be useful to interpret mountain areas, they are not useful in flat areas because they do not show ground coverage or key features such as rivers, lakes and roads. In this study, we developed a method to simulate SAR images integrating geographical features to DEM to facilitate to locate ground control features from SAR images.

• Earthquakes and Structures
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• v.12 no.3
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• pp.297-307
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• 2017

Evaluation on the sidesway seismic collapse capacity of the widely used low- and medium-height structures is meaningful. These structures with such type of collapse are recognized that behave as inelastic deteriorating single-degree-of-freedom (SDOF) systems. To incorporate the deteriorating effects, the hysteretic loop of the nonlinear SDOF structural model is represented by a tri-linear force-displacement relationship. The concept of collapse capacity spectra are adopted, where the incremental dynamic analysis is performed to check the collapse point and a normalized ground motion intensity measure corresponding to the collapse point is used to define the collapse capacity. With a large amount of earthquake ground motions, a systematic parameter study, i.e., the influences of various ground motion parameters (site condition, magnitude, distance to rupture, and near-fault effect) as well as various structural parameters (damping, ductility, degrading stiffness, pinching behavior, accumulated damage, unloading stiffness, and P-delta effect) on the structural collapse capacity has been performed. The analytical formulas for the collapse capacity spectra considering above influences have been presented so as to quickly predict the structural collapse capacities.

• Journal of the Korea Computer Graphics Society
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• v.1 no.2
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• pp.201-212
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• 1995

This paper presents a new method of dynamics-based synthesis of bipedal, especially human, walking. The motion of the body at a time point is determined by ground reaction force and torque under the support foot and joint torques of the body at that time point. Motion synthesis involves specifying conditions that constrain ground reaction force and torque, and joint torques so that a given desired motion may be achieved. There are conditions on a desired motion which end-users can think of easily, e.g. the goal position and orientation of the swing foot for a single step and the time period of a single step. In this paper, we specify constraints on the motion of the support foot, which end-users would find difficult to specify. They are constraints which enforce non-sliding, non-falling, and non-spinning the support foot. They are specified in terms of joint torques and ground reaction force and torque. To satisfy them, both joint torques and ground reaction force and torque should be determined appropriately. The constraints on the support foot themselves do not give any good clues as to how to determine ground reaction force and torque. For that purpose, we specify desired trajectories of the application point of vertical ground reaction force (ground pressure) and the application point of horizontal ground reaction (friction) force. The application points of vertical pressure and friction force are good control variables, because they are indicators to kinds of walking motions to synthesize. The synthesis of a bipedal walking motion, then, consists of finding a trajectory of joint torques to achieve a given desired motion, so that the constraints are satisfied under the condition of the prescribed center of pressure and center of friction. Our approach is distinguished from many other approaches, e.g. the inverted-pendulum approach, in that it captures and formulates dynamics of the support foot and reasonable constraints on it.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.37 no.4
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• pp.211-218
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• 2019

The Ministry of Land, Infrastructure and Transport is planning to launch CAS-500 (Compact Advanced Satellite 500) 1 and 2 in 2019 and 2020. Satellite image information collected through CAS-500 can be used in various fields such as global environmental monitoring, topographic map production, analysis for disaster prevention. In order to utilize in various fields like this, it is important to get the location accuracy of the satellite image. In order to establish the precise geometry of the satellite image, it is necessary to establish a precise sensor model using the GCP (Ground Control Point). In order to utilize various fields, step - by - step automation for orthoimage construction is required. To do this, a database of satellite image GCP chip should be structured systematically. Therefore, in this study, we will analyze various techniques for automatic GCP extraction for precise geometry of satellite images.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.5
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• pp.436-443
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• 2011

Recognition of structures in urban environments is a fundamental ability for unmanned ground vehicles. In this paper we propose the geometrical featured voxel which has not only 3-D coordinates but also the type of geometrical properties of point cloud. Instead of dealing with a huge amount of point cloud collected by range sensors in urban, the proposed voxel can efficiently represent and save 3-D urban structures without loss of geometrical properties. We also provide an urban structure classification algorithm by using the proposed voxel and machine learning techniques. The proposed method enables to recognize urban environments around unmanned ground vehicles quickly. In order to evaluate an ability of the proposed map representation and the urban structure classification algorithm, our vehicle equipped with the sensor system collected range data and pose data in campus and experimental results have been shown in this paper.

• Proceedings of the KIEE Conference
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• 1995.07b
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• pp.754-757
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• 1995

This system can detect a ground fault point or a bad insulated line by measuring a power plant DC feeder insulation resistance at the uninterruptible power status. And when the power plant DC feeder with low frequency AC signal has a ground fault, this measuring system can keep recording of its ground fault current and phase checked by Z.C.T. Therefore the power plant could protect a unexpected service interruption.