• Journal of the Korean Society for Precision Engineering
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• v.21 no.11
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• pp.130-139
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• 2004

The Casing Oscillator is a bore file Equipment for the all-casing process. All-casing process is a method of foundation work in construction yard to oscillate steel Casing in the ground. The existing Casing Oscillator has some problem like not boring horizontally with disturbance and not driving Casing othor angle except horizon. To solve problem, the new structure Casing Oscillator is presented and studied. The performance of Casing Oscillator is improved by kinematics analysis. The Casing Oscillator is similar to the parallel manipulator in structure. So we obtain Inverse kinematics solution of Casing Oscillator easily. But it is difficult to solve forward kinematics of Casing Oscillator. T his paper presents a novel pose description corresponding to the structure characteristics of parallel manipulators. Through analysis on geometry theory, we obtain a new method of the closed-form solution to the forward kinematics using Kinematic Inversion. The closed-form solution contains two different meanings -analytical and real-time. So we reach the goal of practical application and control. Closed-form forward kinematics solution is verified by an inverse kinematics analysis. It shows that the method has a practical value for real -time control and inverse kinematics servo control.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.2
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• pp.170-176
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• 2008

Anti roll bar model for real time multibody vehicle dynamics model has been proposed using kinematic constraint. Anti roll bar have been modeled by kinematic relationship, and mass properties are neglected. Relative angle of torsion bar spring is computed by constraint about drop-link using Newton-Raphson iteration, and then the torque of torsion bar spring can be computed with the angle and torsion spring stiffness. Finally anti roll bar force acting on both knuckle can be calculated. To validate the proposed method, half car simulations of McPherson strut suspension and full car simulations are also carried out comparing with the ADAMS vehicle model with anti roll bar. CPU times are also measured to see the real-time capabilities of the proposed method.

• Journal of Korean Society for Geospatial Information Science
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• v.10 no.1 s.19
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• pp.37-49
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• 2002

RTK-GPS(Real Time Kinematic GPS) surveying technique which allows centimeter level three-dimensional coordinates in real time has been recognized as a major advance in the science of GPS positioning. And no longer is it necessary to wait until post-processed results are computed after the surveying has been completed in field. The purpose of this study is to present the accuracy and effectiveness of the determinated parcel coordinate by RTK-GPS surveying technique, through the analysis and comparison of the surveying results both in Total Station and RTK-GPS.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.30 no.4
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• pp.389-396
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• 2012

As the demand on the precise positioning for the moving objects has been increased in the various industry field, many studies have been conducted to analyze real time kinematic technique and its practical usage. The main purpose of this study is to analyze the possibility of Network-RTK(VRS) in real-time kinematic positioning. So, the accuracy analysis has been conducted by comparing the Network-RTK(VRS) position with respect to the RTK position. As a result, Network-RTK(VRS) based on kinematic positioning has centimeter level of RMS in the ideal environment compared to RTK positioning. However, when the integer ambiguities was lost, the accuracy of Network-RTK was meter level. At that time, the quality value has been changed dramatically and shows big correlation with accuracy. When the position and height quality values are within 0.1m, the RMS of the horizontal and vertical position appears better than 10cm and 20cm, respectively. However, if the quality value is over 0.1m, the RMS increases to larger than a meter. Therefore, it is recommended to check the quality value when conducting Network-RTK(VRS) kinematic positioning to get the centimeter level accuracy.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1624-1627
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• 1997

The 6-DOF parallel manipulator is a closed-kindmatic chain robot manipulator that is capable of providing high structural rigidity and positional accuracy. Because of its advantage, the parallel manipulator have been widely used in many engineering applications such as vehicle/flight driving simulators, rogot maniplators, attachment tool of machining centers, etc. However, the kinematic analysis for the implementation of a real-time controller has some problem because of the lack of an efficient lagorithm for solving its highly nonliner forward kinematic equation, which provides the translational and orientational attitudes of the moveable upper platform from the lenght of manipulator linkages. Generally, Newton-Raphson method has been widely sued to solve the forward kinematic problem but the effectiveness of this methodology depend on how to set initial values. This paper proposes a hybrid method using genetic algorithm(GA) and Newton-Raphson method to solve forward kinematics. That is, the initial values of forward kinematics solution are determined by adopting genetic algorithm which can search grobally optimal solutions. Since determining this values, the determined values are used in Newton-Raphson method for real time calcuation.

• Journal of Korean Society for Geospatial Information Science
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• v.13 no.1 s.31
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• pp.63-69
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• 2005

Interferometric Synthetic Aperture Radar(InSAR) is a rapidly evolving technique. Spectacular results obtained in various fields such as the monitoring of earthquakes, volcanoes, land subsidence and glacier dynamics, as well as in the construction of Digital Elevation Models(DEMs) of the Earth's surface and the classification of different land types have demonstrated its strength. As InSAR is a remote sensing technique, it has various sources of errors due to the satellite positions and attitude, atmosphere, and others. Therefore, it is important to validate its accuracy, especially for the DEM derived from Satellite SAR images. In this study, Real Time Kinematic(RTK) GPS and Kinematic GPS positioning were chosen as tools for the validation of InSAR derived DEM. The results showed that Kinematic GPS positioning had greater coverage of test area in terms of the number of measurements than RTK GPS. But tracking the satellites near and/or under trees md transmitting data between reference and rover receivers are still pending tasks in GPS techniques.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.855-868
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• 2004

There are several types of singularities in controlling robotic manipulators: kinematic singularity, algorithmic singularity, semi-kinematic singularity, semi-algorithmic singularity, and representation singularity. The kinematic and algorithmic singularities have been investigated intensively because they are not predictable or difficult to avoid. The problem with these singularities is an unnecessary performance reduction in non-singular region and the difficulty in performance tuning. Tn this paper, we propose a method of avoiding kinematic and algorithmic singularities by applying a task reconstruction approach while maximizing the task performance by calculating singularity measures. The proposed method is implemented by removing the component approaching the singularity calculated by using singularity measure in real time. The outstanding feature of the proposed task reconstruction method (TR-method) is that it is based on a local task reconstruction as opposed to the local joint reconstruction of many other approaches. And, this method has dynamic task priority assignment feature which ensures the system stability under singular regions owing to the change of task priority. The TR-method enables us to increase the task controller gain to improve the task performance whereas this increase can destabilize the system for the conventional algorithms in real experiments. In addition, the physical meaning of tuning parameters is very straightforward. Hence, we can maximize task performance even near the singular region while simultaneously obtaining the singularity-free motion. The advantage of the proposed method is experimentally tested by using the 7-dof spatial manipulator, and the result shows that the new method improves the performance several times over the existing algorithms.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.22 no.3
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• pp.217-223
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• 2004

In order to improve real-time positioning accuracy, a number of methods have been tested and one of those is the inverted RTK(Real-time kinematic) that gives a precise positioning by handling carrier phase measurements. For the inverted RTK positioning, it needs the L1 phase measurement at least for 1～2 minutes and the additional reference stations/communication system and a data processing server are required. The L1 code and carrier phase measurements for real-time application are used simultaneously and then Kalman filter is applied to estimate integer ambiguities. Double differenced integer ambiguities are resolved by utilizing the FARA(Fast Ambiguity Resolution Approach). In this paper, we propose the method to improve the positioning accuracy and performed the field tests for several baselines from DAEJ reference station in KAO(Korea Astronomy Observatory).

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.3
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• pp.339-352
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• 2001

The inverse kinematics problem of Stewart platform is straightforward, but no closed form solution of the forward kinematic problem has been presented. Since we need the real-time forward kinematic solution in MIMO control and the motion monitoring of the platform, it is important to acquire the 6 DOF displacements of the platform from measured lengths of six cylinders in small sampling period. Newton-Raphson method a simple algorithm and good convergence, but it takes too long calculation time. So we reduce 6 nonlinear kinematic equations to 3 polynomials using Nairs method and 3 polynomials to 2 polynomials. Then Newton-Raphson method is used to solve 3 polynomials and 2 polynomials respectively. We investigate operation counts and performance of three methods which come from the equation reduction and Newton-Raphson method, and choose the best method.

• Journal of Astronomy and Space Sciences
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• v.19 no.4
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• pp.377-384
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• 2002

We have developed Real-time Phase DAta processor(RPDAP) for GPS L1 carrie. And also, we tested the RPDAP's positioning accuracy compared with results of real time kinematic(RTK) positioning. While quality of the conventional L1 RTK positioning highly depend on receiving condition, the RPDAP can gives more stable positioning result because of different set of common GPS satellites, which searched by elevation mask angle and signal strength. In this paper, we demonstrated characteristics of the RPDAP compared with the L1 RTK technique. And we discussed several improvement ways to apply the RPDAP to precise real-time positioning using low-cost GPS receiver. With correcting the discussed weak points in new future, the RPDAP will be used in the field of precise real-time application, such as precise car navigation and precise personal location services.