• Journal of the Korea institute for structural maintenance and inspection
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• v.16 no.3
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• pp.11-22
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• 2012

In this study, problems of RTK (Real Time Kinematic)-GPS (Global Positioning System) and an accelerometer sensor when applied to structures were experimentally identified through a comparison between results of the displacement measurement using the RTK-GPS, the accelerometer, and LVDT (Linear variable differential transformer). Integrated displacement was calculated by the improved RTK-GPS and accelerometer on the frequency of observation and positioning accuracy. This integrated displacement was also compared with that of LVDT to check the validity of application and feasibility.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.10a
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• pp.565-567
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• 2018

The rover acquires its own position information using satellites signals provided by several satellites(at least four or more). For the present, GNSS systems are widely used in various fields. However, there are many factors that cause accuracy errors in positioning between rovers and GNSS satellites. Due to satellite time error, orbit error, ionospheric & convective refraction, multipath, etc., rover can't acquire precise position. Differential GPS(DGPS) and Real-Time Kinematic(RTK) have been developed as compensation techniques to reduce such errors. In this paper, we intend to develop a terminal with RTK technique to acquire precise position information of mobile station.

• Bulletin of the Korean Space Science Society
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• 2010.04a
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• pp.25.3-25.3
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• 2010

Our previous study used a bar-type reference mirror to measure the relative distance to the target surface. The target measurement accuracy was required to $1{\mu}m$ PV for aspheric optical surface up to 1m in diameter. Earlier system suffers from the reference surface deformation when the measuring part moves. In order to reduce the deformation, measuring part and the reference part separated from each order in the new design. This system utilizes a kinematic support assembly using invar flexure to minimize the reference surface deformation under gravity and vibration. The surface deformation requirement of reference mirror is defined as of $0.2{\mu}m$ under gravity and 40Hz vibration. The finite element results, shows reference mirror deformation of $0.164{\mu}m$. The first resonance mode was computed to analysis 46.05Hz for reference part and 43.44Hz for measuring part. Thesis satisfies the frequency requirement.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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• pp.306-309
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• 2005

This parer describes the tracking control simulation of 6-DOF shaking table with a bell crank structure, which converts the direction of reciprocating movements. For the Joint coordinate-based control which uses lengths of each actuator, the trajectory conversion process inverse kinematics is performed. Applying the Newton-Euler approach, the dynamic equation of the shaking table is derived. To cope with nonlinear problems, time-delay control(TDC) is considered, which has been noted for its exceptional robustness to parameter uncertainties and disturbance, in addition to steady-state accuracy and computational efficiency. If the nominal model is equal to the real system, joint coordinate-based control can be very efficient. However, manufacturing tolerances installation errors and link offsets contaminate the nominal values of the kinematic parameters used in the kinematic model of the shaking table. To compensate differences between the nominal model and the real system. the joint coordinate-based control using acceleration feedback in the Cartesian coordinate space is proposed.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.12
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• pp.1267-1271
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• 2014

There have been many autonomous robot calibration methods which form closed loop structures through the various attached sensors and mechanical fixtures. Single point calibration among them has been used for on-site calibration due to its convenience of implementation. The robot can reach a single point with infinitely many configurations so that single point calibration algorithm can be set up and easily implemented relative to the other methods. However, it is not still easy to drive the robots' sharp edge to its corresponding edge of the fixture. This is error-prone process. In this paper, we propose a 3 dimensional small displacement measuring sensor and a robot calibration algorithm based on this sensor. This method relieves the difficulty of matching two edges in the single point calibration and improves the resulting robot accuracy. Simulated study is carried out on a Hyundai HA06 robot to show the effectiveness of the proposed method over the single point calibration. And also, the resulting robot accuracy is compared with that from 3D laser tracker based calibration to show the dependency of robot accuracy on range of the workspace where the measurement data are collected.

• Spatial Information Research
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• v.13 no.1 s.32
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• pp.19-29
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• 2005

In this study, Real Time Kinematic GPS(RTK GPS) was conducted twice at the same site in two different seasons, respectively to check the possibility of it as the mapping tool, and how the factor affecting the accuracy of it. As a result, most parts of a small garden except f3r the worst environments surrounded with lots of tree canopy and several buildings were mapped using RTK GPS even in spring, full of a green foliage and winter as well. However, the mapping accuracy and the availability of RTK GPS were not so high. The study showed that it is recommended in RTK GPS mapping to utilize Total Station, etc. in the worst urban environments unable to track the satellite signals with ease.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.2
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• pp.40-49
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• 2003

Ferrule is widely used as fiber optic connecters. In fiber-optic communications. the shape accuracy such as coaxiality and cylindricity of ferrule affects insertion loss. When coaxial grinding of ferrule supported by two pin. pin alignment and chucking accuracy are very important. In this research, the kinematic behavior of the ferrule centers are investigated in the case where the ferrule is chucked with the cone-shaped center pins and bail centers, With homogeneous coordinate transformation and numerical analysis, the obtained results are as follows: In the case of cone-type center, the alignment errors between center pins alone do not affect the rotation accuracy of ferrule. The alignment errors between center holes cause sinusoidal displacement of ferrule. And the maximum displacement of ferrule centers is proportional to the center pin angle. In the case of ball-type center, the displacements of ferrule centers has similar pattern as cone-type center, and the alignment errors art proportional to ball diameters.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.16 no.2
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• pp.195-202
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• 1998

In this study, we utilized various type of GPS observation measurements to get a camera projection center of the aerial triangulation and consequently to determine which type is acceptable. For the accuracy and the error analysis, comparison between a projection center from the conventional model adjustment and the result determined by the kinematic DGPS positioning which is fitted to the conventional model adjustment using 3D conformal transformation method has been made. The camera projection center is located within a $\pm{2m}$ for C/A code range measurements, $\pm{14cm}$ for L1 phase measurements and $\pm{10cm}$ for L1/L2 phase measurements with $1\sigma$. In this way, the accuracy of the camera projection center by the bundle block adjustment can be predicted.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.38 no.6
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• pp.663-670
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• 2020

In the present study, we assessed the accuracy of aerial triangulation using a UAV (Unmanned Aerial Vehicle) capable of network RTK (Real-Time Kinematic) survey in a disaster situation that may occur in a semi-urban area mixed with buildings. For a reliable survey of check points, they were installed on the roofs of buildings, and static GNSS (Global Navigation Satellite System) survey was conducted for more than four hours. For objective accuracy assessment, coded aerial targets were installed on the check points to be automatically recognized by software. At the instance of image acquisition, the 3D coordinates of the UAV camera were measured using VRS (Virtual Reference Station) method, as a kind of network RTK survey, and the 3-axial angles were achieved using IMU (Inertial Measurement Unit) and gimbal rotation measurement. As a result of estimation and update of the interior and exterior orientation parameters using Agisoft Metashape, the 3D RMSE (Root Mean Square Error) of aerial triangulation ranged from 0.153 m to 0.102 m according to the combination of the image overlap and the angle of the image acquisition. To get higher aerial triangulation accuracy, it was proved to be effective to incorporate oblique images, though it is common to increase the overlap of vertical images. Therefore, to conduct a UAV mapping in an urgent disaster site, it is necessary to acquire oblique images together rather than improving image overlap.

• Korean Journal of Applied Biomechanics
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• v.25 no.4
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• pp.431-440
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• 2015

Objective : The purpose of this study was to investigate the relations between accuracy score and the motions which are performed in PyeongWon Poomsae, thereby developing objectivity in accuracy evaluations for Poomsae competitions. Method : The subjects were six male Poomsae players (age: $21.2{\pm}1.17yrs$, height: $173.4{\pm}3.95cm$, weight: $67.7{\pm}7.65kg$). A three-dimensional motion analysis was performed on the subjects using six high-speed cameras (60 frames/sec) and subjects' performed motions were evaluated by 5 evaluators. The entire Pyeong Poomsae was divided into 13 events and 9 phases; there were three pairs of symmetric phases among them: front kick & turning side kick phases (3PH, 3-1PH), arm motion & stance phases (4PH, 4-1PH), side kick with Hakdari-stance phases (5PH, 5-1PH). Performance time, change and range of COM, height of vertex, and foot of side kicks were analysed. The Data was analysed utilizing correlation analysis. Results : There was a positive correlation between accuracy score and the difference between right and left range of COM (X direction) at 4PH (r=0.921, p=0.009). Conclusion : The results of our study indicate that it is necessary to consider some of objective criterion such as performance time, COM range, and symmetrical movements in accuracy evaluations of Poomsae competitions.