• Journal of Biosystems Engineering
• /
• v.31 no.6 s.119
• /
• pp.489-499
• /
• 2006

Since the application of chemicals in confined spaces under the canopy of an orchard is hazardous work, it is needed to develop an autonomous guidance system for an orchard sprayer. The autonomous guidance system developed in this research could steer the vehicle by tracking an overhead guidance rail, which was installed on an existing frame structure. The autonomous guidance system consisted of an 80196 kc microprocessor, an inclinometer, two interface circuits of actuators for steering and ground speed control, and a fuzzy control algorithm. In addition, overhead guidance rails for both straight and curved paths were devised, and a trolley was designed to move smoothly along the overhead guidance rails. Evaluation tests showed that the experimental vehicle could travel along the desired path at a ground speed of 30 $\sim$ 50 cm/s with a RMS error of 5 cm and maximum deviation of less than 12 cm. Even when the vehicle started with an initial offset or a deflected heading angle, it could move quickly to track the desired path after traveling 2 $\sim$ 3 m. The vehicle could also complete turns with a curvature of 1 m. However, at a ground speed of 50 cm/s, the vehicle tended to over-steer, resulting in a zigzag motion along the straight path, and tended to turn outward from the projected line of the guidance rail.

• Journal of the Korean association of regional geographers
• /
• v.10 no.2
• /
• pp.389-406
• /
• 2004

with the increasing popularity of regional studies, the importance of regional data has been recognized dramatically in recent years. However, due to potential problems from the intrinsic characteristics of aggregate regional data for the research, and incompatible regional units between source and target regional data units, the method for reorganizing the regional data units for a given research analysis should be required. In this regard, the purpose of this research is to review the significant interpolation methods for reorganizing the data units and, based on it, to propose the population weighted interpolation method. For the first purpose, areal weighted interpolation method, pycnophylactic method, dasymetric method, area-to-point method were reviewed. The proposed population-weighted interpolation method was applied to the case study of population census regional data in Erie County, NY, compared with areal weighted interpolation method, pycnophylactic method in terms of several statistical characteristics.

• Magazine of the Korean Society of Agricultural Engineers
• /
• v.31 no.4
• /
• pp.111-122
• /
• 1989

A multiple box model which is suitable for the prediction of water quality in shallow lakes with active mixing is a water quality model expected to be used widely in estuary reservoir. In this study, a multiple box water quality model for estuary reservoirs (MBQER) was developed arid the applicability of the MBQER was tested by applying data obtained from Asan-estuary reservoir. The results of this study can be summarized as follows. 1. The MBQER, dynamic water quality model, was developed to estimate 10-day water qualities of estuary reservoirs. For the proper analysis and the application of hydraulics needed to build a model, lake hydraulics was simplified by condisering only hydrological inflow and lake mixing currents. The box division in the MBQER is longitudinal one dimension for upper and middle part, and two layers for lower part of the reservoir. 2. The methods of box division for the multiple box model were ekamined and applied to Asan-estuary reservoir. For determining the number of boxes, Pe number and Pk number were used. In case of three boxes, the error by the model simplification would be estimated about 5 % Therefore, in Asan reservoir, the proper number of boxes was three. 3. The MBQER was calibrated and verified using measured data in Asan-estuary reservoir from 1986 to 1988. The Root Mean Squares(RMS) for the differences between measured data and simulated results by the MBQER were 1.10$^{\circ}$C C for water temperature, 75.8mg/1 for salinity, 0.082mg/1 for total-phosphorus showing good estimations. 4. Through the simulation of water temperature and salinity by the MBQER, the exchange flow and the mixing coefficients for the estuary lake were determined. As a result of simulation, the horizontal mixing coefficients in Asan-estuary reservoir were in the range of 1.07X 105 to 1.12X 105 cm$^2$/sec and vertical mixing coefficient was 2.90X 10-1 cm$^2$/sec.

• Proceedings of the KOSOMBE Conference
• /
• v.1997 no.05
• /
• pp.123-126
• /
• 1997

We present a method for the estimation of 3D solid angle assessment of the acetabular coverage of the femoral head in 3D space. At first, femoral head and acetabulum is segmented from the original CT scan images. The slice thickness is 1.5mm and the number of slices is usually 30-40 to cover the entire acetabulum. The superior half of the femoral head is modeled as part of a sphere. Thus, the axial cross sections of the upper half of the femoral head are also modeled as circles. A set of points from each outline image of femoral head is fitted recursively into a circle by minimizing root-mean-square (RMS) error. With these fitted circles, a center point of the femoral head model is evaluated. This is a reference point for calculating the solid angle of the acetabular inner surface. Next, the tangent lines connecting from a set of points of the acetabular edge to the center of the fitted sphere are obtained. The lines pass through the unit sphere whose center is the same as that of the femoral head. With the points on the unit sphere, we calculate area and estimate the solid angle. Based on this solid angle, the deformity of the acetabulum is analyzed. In case of normal subject, the solid angle is about 4.3 (rad) and acetabular coverage is 68%.

• Journal of Astronomy and Space Sciences
• /
• v.34 no.1
• /
• pp.45-54
• /
• 2017

This study examines the scale unique instruments used for astronomical observation during the Joseon dynasty. The Small Simplified Armillary Sphere (小簡儀, So-ganui) and the Sun-and-Stars Time-Determining Instrument (日星定時儀, Ilseong-jeongsi-ui) are minimized astronomical instruments, which can be characterized, respectively, as an observational instrument and a clock, and were influenced by the Simplified Armilla (簡儀, Jianyi) of the Yuan dynasty. These two instruments were equipped with several rings, and the rings of one were similar both in size and in scale to those of the other. Using the classic method of drawing the scale on the circumference of a ring, we analyze the scales of the Small Simplified Armillary Sphere and the Sun-and-Stars Time-Determining Instrument. Like the scale feature of the Simplified Armilla, we find that these two instruments selected the specific circumference which can be drawn by two kinds of scales. If Joseon's astronomical instruments is applied by the dual scale drawing on one circumference, we suggest that 3.14 was used as the ratio of the circumference of circle, not 3 like China, when the ring's size was calculated in that time. From the size of Hundred-interval disk of the extant Simplified Sundial in Korea, we make a conclusion that the three rings' diameter of the Sun-and-Stars Time-Determining Instrument described in the Sejiong Sillok (世宗實錄, Veritable Records of the King Sejong) refers to that of the middle circle of every ring, not the outer circle. As analyzing the degree of 28 lunar lodges (lunar mansions) in the equator written by Chiljeongsan-naepyeon (七政算內篇, the Inner Volume of Calculation of the Motions of the Seven Celestial Determinants), we also obtain the result that the scale of the Celestial-circumference-degree in the Small Simplified Armillary Sphere was made with a scale error about 0.1 du in root mean square (RMS).

• Proceedings of the KIEE Conference
• /
• 2006.10c
• /
• pp.178-180
• /
• 2006

In general, camera calibration has to be gone ahead necessarily to estimate a position and an orientation of the object exactly using a camera. Autonomous land system in order to run a vehicle autonomously needs a camera calibration method appling a camera and various road environment. Camera calibration is to prescribe the confrontation relation between third dimension space and the image plane. It means to find camera calibration parameters. Camera calibration parameters using the paved road and the unpaved road are estimated. The proposed algorithm has been detected through the image processing after obtaining the paved road and the unpaved road. There is able to detect easily edges because the road lanes exist in the raved road. Image processing method is two. One is a method on the paved road. Image is segmentalized using open, dilation, and erosion. The other is a method on the unpaved road. Edges are detected using blur and sharpening. So it has been made use of Hough transformation in order to detect the correct straight line because it has less error than least-square method. In addition to, this thesis has been used vanishing point' principle. an algorithm suggests camera calibration method using Hough transformation and vanishing point. When the algorithm was applied, the result of focal length was about 10.7[mm] and RMS errors of rotation were 0.10913 and 0.11476 ranges. these have the stabilized ranges comparatively. This shows that this algorithm can be applied to camera calibration on the raved and unpaved road.

• Journal of Positioning, Navigation, and Timing
• /
• v.6 no.4
• /
• pp.159-166
• /
• 2017

The position of autonomous driving vehicle is basically acquired through the global positioning system (GPS). However, GPS signals cannot be received in tunnels. Due to this limitation, localization of autonomous driving vehicles can be made through sensors mounted on them. In particular, a 3D Light Detection and Ranging (LIDAR) system is used for longitudinal position error correction. Few feature points and structures that can be used for localization of vehicles are available in tunnels. Since lanes in the road are normally marked by solid line, it cannot be used to recognize a longitudinal position. In addition, only a small number of structures that are separated from the tunnel walls such as sign boards or jet fans are available. Thus, it is necessary to extract usable information from tunnels to recognize a longitudinal position. In this paper, fire hydrants and evacuation guide lights attached at both sides of tunnel walls were used to recognize a longitudinal position. These structures have highly distinctive reflectivity from the surrounding walls, which can be distinguished using LIDAR reflectivity data. Furthermore, reflectivity information of tunnel walls was fused with the road surface reflectivity map to generate a synthetic reflectivity map. When the synthetic reflectivity map was used, localization of vehicles was able through correlation matching with the local maps generated from the current LIDAR data. The experiments were conducted at an expressway including Maseong Tunnel (approximately 1.5 km long). The experiment results showed that the root mean square (RMS) position errors in lateral and longitudinal directions were 0.19 m and 0.35 m, respectively, exhibiting precise localization accuracy.

• Korean Journal of Agricultural Science
• /
• v.42 no.1
• /
• pp.63-71
• /
• 2015

Path planning is an essential part for traveling and mowing of autonomous lawn mower tractors. Objectives of the paper were to analyze operation patterns by a skilled farmer, to extract and optimize waypoints, and to demonstrate generation of formatted planned path for autonomous lawn mower tractors. A 27-HP mower tractor was operated by a skilled farmer on grass fields. To measure tractor travel and operation characteristics, an RTK-GPS antenna with a 6-cm RMS error, an inertia motion sensing unit, a gyro compass, a wheel angle sensor, and a mower on/off sensor were mounted on the mower tractor, and all the data were collected at a 10-Hz rate. All the sensor data were transferred through a software program to show the status immediately on the notebook. Planned path was generated using the program parameter settings, mileage and time calculations, and the travel path was plotted using developed software. Based on the human operation patterns, path planning algorithm was suggested for autonomous mower tractor. Finally path generation was demonstrated in a formatted file and graphic display. After optimizing the path planning, a decrease in distance about 13% and saving of the working time about 30% was achieved. Field test data showed some overlap, especially in the turning areas. Results of the study would be useful to implement an autonomous mower tractor, but further research needs to improve the performance.

• Journal of the Korean Society for Precision Engineering
• /
• v.30 no.3
• /
• pp.324-330
• /
• 2013

This paper describes a novel method to surface large optics mirror with an extremely high hardness, which could replace the high cost of the repetitive off-line measurement steps and the large ultra-precision grinding machine with ultra-positioning control of 10 nm resolution. A lot of diamond pellet to be attached on the convex aluminum base consists of a grinding tool for the concave large mirror, and the tool was pressured down on the large mirror blank. The tool motion at an interval on the spiral path was controlled with each feed rate as the dwell time in the conventional computer-controlled polishing. The shape to be surfaced was measured directly by a touch probe on the machine without any separation of the mirror blank. Total 40 iterative steps of the surfacing and measurement could demonstrate the form error of RMS $7.8{\mu}m$, surface roughness of Ra $0.2{\mu}m$ for the mirror blank with diameter of 1 m and spherical radius of curvature of 5400 mm.

• Design & Manufacturing
• /
• v.1 no.1
• /
• pp.7-11
• /
• 2007

The fabrication of precision optical components by deterministic CNC grinding is an area of great current interest. Replacement of the traditional, craftsman driven, optical fabrication process is essential to reduce costs and increase process flexibility and reliability. Moreover, CNC grinding is well suited to the fabrication of complex shapes such as aspheres, making it possible to design optical systems with fewer components and reduced weight. Current technology is capable of producing surfaces with less than 2 microns peak to valley error, 50 nm rms surface roughness, and less than 1 micron subsurface damage. Bound abrasive tools, in which the abrasive particles are fixed in a second (matrix) material, play an important part in achieving this performance. In this paper, the factors affecting the ultra-fine surface roughness and profile accuracy of machined surfaces of aspheric parts has been analyzed experimentally and theoretically and on ultra-precision aspheric grinding system and precise adjusting mechanism have been designed and manufactured. In the paper we report the results of experiments and modeling performed to examine the effects of machinability, occurring during grinding of optical surfaces, on the tool surface profile. Profiles of machined surface were measured by using SEM. In order to optimize grinding conditions of aspheric lens processing, we performed experiments by design of experiments.