• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.20 no.6
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• pp.778-784
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• 2011

This paper presents the study on orientations interpolation of 6-axis articulated robot using quaternion. In this paper, we propose a control algorithm between given two orientations of 6-axis articulated robot by using a quaternion with spherical linear interpolation. In order to study the quaternion interpolation, We created Inverse kinematics program and Interpolation program using LabVIE$^{(R)}$. The rotation angle of each axis were calculated using both euler orientations interpolation program and quaternion orientations interpolation program. The proposed control algorithm is shown to be effective in terms of motor angles and torques when compared to a conventional Euler angle interpolation, by using both LabVIEW$^{(R)}$ and RecurDyn$^{(R)}$.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.15 no.6
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• pp.1-7
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• 2006

This paper presents the study in the development of optimal working method for an outer-hull preprocessing robot using a quaternion. The out-hull preprocessing robot consists of feathering and cleaning parts. This robot should be controlled correctly for feathering work because it is to be worked on a curved plate that can result in the errors of orientation. In this paper, we propose a control algorithm between given two orientations of the out-hull preprocessing robot by using a quaternion with spherical linear interpolation. The proposed control algorithm is shown to be effective in terms of motor angles and torques when compared to a conventional Euler angle interpolation, by using both $MATLAB^{\circledR}$ and $VisualNastran4D^{\circledR}$.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.321-322
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• 2011

• The Korean Journal of Ecology
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• v.19 no.5
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• pp.403-416
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• 1996

Global natural vegetation mapping (GNVM) system was developed for estimating potential forest area of the globe. With input of monthly mean temperature and monthly precipitation observed at weather stations, the system spherically interpolates them into 1°×1°grid points on a blobe, converts them into vegetation types, and produces a potential vegetation map and a potenital vegetation area. The spherical interpolation was based on negative exponential function fed from the constant radius stations with oval weighing method which is latitudinally elongated weighing in temperature and longitudinally elongated weighing in precipitation. The temperature values were corrected for altitude by applying a linear lapse-rate (0.65℃ / 100m) with reference to a built-in digital terrain map of the globe. The vegetation classification was based upon Koppen’s sKDICe. The potential forest area is estimated for 6.96 Gha (46.24％) of the global land area (15.05 Gha).

• The Journal of the Acoustical Society of Korea
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• v.27 no.7
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• pp.333-341
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• 2008

In this paper, a new interpolation model for the head related transfer function (HRTF) was proposed. In the method herein, we assume that the impulse response of the HRTF for each azimuth angle is given by linear interpolation of the time-delayed neighboring impulse responses of HRTFs. The time delay of the HRTF for each azimuth angle is given by sum of the sound wave propagation time from the ears to the sound source, which can be estimated by using azimuth angle, the physical shape of the underlying head and the distance between the head and sound source, and the refinement time yielding the minimum mean square error. Moreover, in the proposed model, the interpolation intervals were not fixed but varied, which were determined by minimizing the total number of HRTFs while the synthesized signals have no perceptual difference from the original signals in terms of sound location. To validate the usefulness of the proposed interpolation model, the proposed model was applied to the several HRTFs that were obtained from one dummy-head and three human heads. We used the HRTFs that have 5 degree azimuth angle resolution at 0 degree elevation (horizontal plane). The experimental results showed that using only $30\sim40%$ of the original HRTFs were sufficient for producing the signals that have no audible differences from the original ones in terms of sound location.

• Journal of Biosystems Engineering
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• v.29 no.1
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• pp.65-70
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• 2004

This study was carried out to verify and predict the soil informations such as the contents of organic matter(OM) and Mg and pH of the soil. The predictability of spacial variation in the paddy field was examined by analyzing the various soil information. The prediction models for the OM pH, and Mg, were developed using inverse distance weighted (IDW), triangulated irregular network(TIN) and Kriging model. The determination of coefficients of linear and spherical Kriging models were 0.756 and 0.578, respectively, and were very low in comparison with other soil information. For IDW and TIN model, the determination of coefficients were 1.000 and hence the performance of the models was found to be excellent. The developed models were validated using unknown soil sample obtained In 2000 and 2001. From the analysis of relationship between the measured pH and predicted 0.9353. For prediction of Mg, the determination of coefficient is more than 0.8. Since the determination of coefficients of developed models for OM were relatively low, it may be difficult to predict the content of OM using the developed models. For further study, the additional works to enhance the performance of the prediction models for soil information are required.