• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1649-1654
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• 1991

In 1995 the VSOP satellite, which is called MUSES-B in Japan, will be launched under the VLBI Space Observatory Programme(VSOP) promoted by ISAS(Institute of Space and Astronautical Science) of Japan. We are now developing the GPS Receiver(GPSR) and On-board Orbit Determination System. This paper describes the GPS(Global Positioning System), VSOP, GPSR(GPS Receiver system) configuration and the results of the GPS system analysis. The GPSR consists of three GPS antennas and 5 channel receiver package. In the receiver package, there are two 16 bits microprocessing units. The power consumption is 25 Watts in average and the weight is 8.5 kg. Three GPS antennas on board enable GPSR to receive GPS signals from any NAVSTARs(GPS satellites) which are visible. NAVSATR's visibility is described as follows. The VSOP satellite flies from 1, 000 km to 20, 000 km in height on the elliptical orbit around the earth. On the other hand, the orbit of NAVSTARs are nearly circular and about 20, 000 km in height. GPSR can't receive the GPS signals near the apogee, because NAVSTARs transmit the GPS signals through the NAVSTAR's narrow beam antennas directed toward the earth. However near the perigee, GPSR can receive from 12 to 15 GPS signals. More than 4 GPS signals can be received for 40 minutes, which are related to GDOP(Geometric Dillusion Of Precision of selected NAVSTARs). Because there are a lot of visible NAVSTARs, GDOP is small near the perigee. This is a favorqble condition for GPSR. Orbit determination system onboard VSOP satellite consists of a Kalman filter and a precise orbit propagator. Near the perigee, the Kalman filter can eliminate the orbit propagation error using the observed data by GPSR. Except a perigee, precise onboard orbit propagator propagates the orbit, taking into account accelerations such as gravities of the earth, the sun, the moon, and other acceleration caused by the solar pressure. But there remain some amount of calculation and integration errors. When VSOP satellite returns to the perigee, the Kalman filter eliminates the error of the orbit determined by the propagator. After the error is eliminated, VSOP satellite flies out towards an apogee again. The analysis of the orbit determination is performed by the covariance analysis method. Number of the states of the onboard filter is 8. As for a true model, we assume that it is based on the actual error dynamics that include the Selective Availability of GPS called 'SA', having 17 states. Analytical results for position and velocity are tabulated and illustrated, in the sequel. These show that the position and the velocity error are about 40 m and 0.008 m/sec at the perigee, and are about 110 m and 0.012 m/sec at the apogee, respectively.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.35 no.6
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• pp.609-616
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• 2017

National Geographic Information Institute has established a plan that preoccupies UCPs (Unified Control Points) at 2~3km intervals in urban areas by considering the distance between existing UCPs by satellite images and aerial photographs in 2015. In this study, we discussed the method of selecting the locations of optimal UCPs by simulating GPS reception environment in candidate sites for UCPs using GIS. For this purpose, we selected new candidate sites for installing UCPs using satellite images and aerial photographs, and analyzed the GPS reception environment by calculating the visibility distance from buildings around UCPs using GIS skyline analysis. The number of and the arrangement of visible satellites that are capable of GPS satellite reception from the viewpoint of sky view were showed by GIS skyline analysis. Quality evaluation results of GPS observation data were compared with average PDOP calculated from hourly PDOP and TEQC in two points of Sungkyunkwan University during 8 hours. As a result of GPS reception environment using GIS, if the PDOP increases, the data acquisition rate is lowed, and the multipath error and the cycle slip are increased. Thus, this study verified that the quality of GPS observation data can be secured by constructing three-dimensional spatial information and simulating PDOP when preoccupying multiple UCPs using GIS.

• Journal of the Korean Society of Marine Environment & Safety
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• v.28 no.6
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• pp.1036-1043
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• 2022

This paper discusses about the development of a visual sensor that can be installed in an automatic mooring device to detect the berthing condition of a vessel. Despite controlling the ship's speed and confirming its location to prevent accidents while berthing a vessel, ship collision occurs at the pier every year, causing great economic and environmental damage. Therefore, it is important to develop a visual system that can quickly obtain the information on the speed and location of the vessel to ensure safety of the berthing vessel. In this study, a visual sensor was developed to observe a ship through an image while berthing, and to properly check the ship's status according to the surrounding environment. To obtain the adequacy of the visual sensor to be developed, the sensor characteristics were analyzed in terms of information provided from the existing sensors, that is, detection range, real-timeness, accuracy, and precision. Based on these analysis data, we developed a 3D visual module that can acquire information on objects in real time by conducting conceptual designs of LiDAR (Light Detection And Ranging) type 3D visual system, driving mechanism, and position and force controller for motion tilting system. Finally, performance evaluation of the control system and scan speed test were executed, and the effectiveness of the developed system was confirmed through experiments.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.26 no.4
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• pp.365-371
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• 1990

In this paper, the authors calculate GDOP(Geometric Dilution of Precision) with the mast and slave transmitting stations at the past and present and simulation positions in the 9970 chain and 5970 chain of the loran C system, and analyzed variations of the GDOP and effective ranges in accordance with the shifting of transmitting stations. The results obtained are as follows; 1) The line 3.0 of equi-GDOP map that the Z slave station of 9970 chain is Guam island is falled on with line 2.0 of it's map that it is Yap island approximately, and units of GDOP of calculating with Guam island are increased then them with Yap island on the south parts of mast station. 2) If the control right of Z slave station of 9970 chain could be not transfered to japan and be closed on account of the territorial problems, the units of GDOP to calculate without it's station at any positions are very increased and the accuracy is down on the south parts of mast station. The line 5.0 of it's map is falled on with line 2.0 in case of Yap island, its Z station, and line 3.0 in case of Guam island with Z slave station approximately. 3) The X slave station of 9970 chain and 5970 chain are required rearrangement for the purpose of accurating position fix and expending service area in view of propagation route of wave and arrangement of transmitting station.

• Korean Journal of Optics and Photonics
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• v.4 no.1
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• pp.15-21
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• 1993

This paper describes the design and development of a KrF excimer laser stepper and discusses the detailed system parameters and characterization data obtained from the performance test. We have developed a deep UV step-and-repeat system, operating at 248 nm, by retrofitting a commercial modules such as KrF excimer laser, precision wafer stage and fused silica illumination and 5X projection optics of numerical aperture 0.42. What we have developed, to the basic structure, are wafer alignment optics, reticle alignment system, autofocusing/leveling mechanisms and environment chamber. Finally, all these subsystem were integrated under the control of microprocessor-based controllers and computer. The wafer alignment system comprises the OFF-AXIS and the TTL alignment. The OFF-AXIS alignment system was realized with two kinds of optics. One is the magnification system with the image processing technique and the other is He-Ne laser diffraction type system using the alignment grating on the wafer. 'The TTL alignment system employs a dual beam inteferometric method, which takes advantages of higher diffraction efficiency compared with other TTL type alignment systems. As the results, alignment accuracy for OFF-AXIS and TTL alignment system were obtained within 0.1 $\mu\textrm{m}$/ 3 $\sigma$ for the various substrate on the wafers. The wafer focusing and leveling system is modified version of the conventional systems using position sensitive detectors (PSD). This type of detection method showed focusing and leveling accuracies of about $\pm$ 0.1 $\mu\textrm{m}$ and $\pm$ 0.5 arcsec, respectively. From the CD measurement, we obtained 0.4 $\mu\textrm{m}$ resolution features over the full field with routine use, and 0.3 $\mu\textrm{m}$ resolution was attainable under more strict conditions.

• Korean Journal of Optics and Photonics
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• v.32 no.2
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• pp.49-54
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• 2021

In this paper, we design and construct the equipment to manufacture large-diameter optical fiber end caps, which are the core parts of high-power fiber lasers, and we fabricate large-diameter optical fiber end caps using the home-made equipment. This equipment consists of a CO2 laser as a fusion-splice heat source, a precision stage assembly for transferring the position of a large-diameter optical fiber and an end cap, and a vision system used for alignment when the fusion splice is interlocked with the stage assembly. The output of the laser source is interlocked with the stage assembly to control the output, and the equipment is manufactured to align the polarization axis of the large-diameter polarization-maintaining optical fiber with the vision system. Optical fiber end caps were manufactured by laser fusion splicing of a large-diameter polarization-maintaining optical fiber with a clad diameter of 400 ㎛ and an end cap of 10×5×2 ㎣ (W×D×H) using home-made equipment. Signal-light insertion loss, polarization extinction ratio, and beam quality M2 of the fabricated large-diameter optical fiber end caps were measured to be 0.6%, 16.7 dB, and 1.21, respectively.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.39 no.6
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• pp.541-548
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• 2021

Recently, multispectral cameras are being actively utilized in various application fields such as agriculture, forest management, coastal environment monitoring, and so on, particularly onboard UAV's. Resultant multispectral images are typically georeferenced primarily based on the onboard GPS (Global Positioning System) and IMU (Inertial Measurement Unit)or accurate positional information of the pixels, or could be integrated with ground control points that are directly measured on the ground. However, due to the high cost of establishing GCP's prior to the georeferencing or for inaccessible areas, it is often required to derive the positions without such reference information. This study aims to provide a means to improve the georeferencing performance of a multispectral camera images without involving such ground reference points, but instead with the simultaneously onboard high resolution RGB camera. The exterior orientation parameters of the drone camera are first estimated through the bundle adjustment, and compared with the reference values derived with the GCP's. The results showed that the incorporation of the images from a high resolution RGB camera greatly improved both the exterior orientation estimation and the georeferencing of the multispectral camera. Additionally, an evaluation performed on the direction estimation from a ground point to the sensor showed that inclusion of RGB images can reduce the angle errors more by one order.

• Journal of Bio-Environment Control
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• v.23 no.2
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• pp.158-166
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• 2014

This experiment has investigated suitable methods to improve precision water content monitoring of coconut coir substrates to control irrigation by frequency domain reflectometry(FDR) sensors. Specifically, water content changes and variations were observed at different sensing distances and positions from the irrigation dripper location, and different spaces between the FDR sensors with or without noise filters. Commercial coconut coir substrates containing different ratios of dust and chips(10:0, 7:3, 5:5, 3:7) were used. On the upper side and the side of the substrates, a FDR sensor was used at 5, 10, 20, 30cm distances respectively from the irrigation dripper point, and water content was measured by time after the irrigation. In the glass beads, sensors were installed with or without noise filtering. Closer sensing distance had a higher water content increasing rate, regardless of different coir substrate ratios. There were no differencies of water content increasing rates in 10:0 and 3:7 substrates between the upper side and the side. Whereas, 7:3 and 5:5 substrates showed higher increasing rates on the upper side measurements. Substrates with higher ratios of chip(3:7) had lower increasing rates than others. And, with noise filters, the exatitude of measurement was improved because the variation and deviation were reduced. Therefore, in coconut coir with FDR sensors, an efficient water content measurment to control irrigations can be achieved by installing sensors closer to an irrigation point and upper side of substrates with noise filters.

• Journal of Bio-Environment Control
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• v.22 no.3
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• pp.284-290
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• 2013

This study analyzed the geometric, compressive, cutting and friction properties of oriental melons in order to design a gripper capable of soft handling and a cutter for cutting oriental melon vine among the end effector of oriental melon as a preliminary step for developing the end effector of the robot capable of harvesting oriental melons in protected cultivation. As a result, the average length, diameter at the midpoint, weight, volume and roundness of the oriental melons were 108 mm, 70 mm, 188 g, 333 mL and 3.8 mm. Nonlinear regression analysis was performed on the equation $W=L^a{\times}D_2^b$ with variation of the length (L) and diameter (D2) of the weight (W) of the oriental melons. As a result, it was shown that there was a correlation between a of 2.0279 and b of -0.9998 as a constant value. The average diameter of the oriental melon vine was 3.8 mm, and most vines were distributed within a radius of 5 mm from the center. The average yield value, compressive strength and hardness of the oriental melons were $36.5N/cm^2$, $185.7N/cm^2$ and $636.7N/cm^2$, respectively. The average cutting force and shear strength of the oriental melon vines were $2.87{\times}10^{-2}\;N$ and $5.60N/cm^2$, respectively. The maximum friction coefficient of the oriental melons was rubber of 0.609, followed by aluminium of 0.393, stainless steel of 0.177 and teflon of 0.079. It was considered possible to apply it to the size of the gripper and cutter, turning radius, dynamics of drive motor and selection of materials and their quality in light of the position error and safety factor according to the movement when designing end effector based on the analyzed data.

• Korean Journal of Heritage: History & Science
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• v.51 no.2
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• pp.138-153
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• 2018

The purpose of this study was to analyze , which was made in the late Joseon Dynasty to specify the vegetation landscape of the Donhwamun Gate area in Changdeokgung Palace. The study results can be summarized as below. First, based on "Jieziyuan Huazhuan(芥子園畵傳)", the introductory book of tree expression delivered from China in the 17th century, allowed the classification criteria of the trees described in the picture to be established and helped identify their types. As a result of the classification, there were 10 species and 50 trees in the Donhwamun Gate area of . Second, it was possible to measure the real size of the trees described in the picture through the elevated drawing scale of . The height of the trees ranged from a minimum of 4.37 m to a maximum of 22.37 m. According to the measurement results, compared to the old trees currently living in Changdeokgung Palace, the trees described in the picture were found to be produced in almost actual size without exaggeration. Thus, the measured height of the trees turned out to be appropriate as baseline data for reproduction of the vegetation landscape. Third, through the Rubber Sheeting Transformation of , it was possible to make a ground plan for the planting of on the current digital topographic map. In particular, as the transformed area of was departmentalized and control points were added, the precision of transformation improved. It was possible to grasp the changed position of planting as well as the change in planting density through a ground plan of planting of . Lastly, it was possible to produce a three-dimensional vegetation landscape model by using the information of the shape of the trees and the ground plan for the planting of . Based on the three-dimensional model, it was easy to examine the characteristics of the three-dimensional view of the current vegetation via the view axis, skyline, and openness to and cover from the adjacent regions at the level of the eyes. This study is differentiated from others in that it verified the realism of and suggested the possibility of ascertaining the original form of the vegetation landscape described in the painting.