• Journal of the Korean Society for Precision Engineering
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• v.21 no.11
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• pp.99-109
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• 2004

This paper proposes precision evaluation method for the positioning error of three-DOF translational parallel mechanism. The proposed method uses conventional CMM as metrology equipment to measure the position of end-effector. In order to obtain accurate measurement data from CMM, the transform relationship between the coordinate system of the parallel mechanism and the CMM coordinate system must be identified. For this purpose, a new coordinate referencing (or coordinate system identification) technique is presented. By using this technique accurate coordinate transformation relationships are efficiently established. According to these coordinate transformation relationships, an equation to calculate error components at any arbitrary position of the end-effector is derived. In addition, mathematical fitting models to represent the position error components in the two-dimensional workspace of the parallel mechanism are also constructed based on response surface methodology. The proposed error evaluation method proves its effectiveness through the experimental results and its application to real three-DOF parallel mechanism.

• Proceedings of the IEEK Conference
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• 2000.06d
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• pp.210-213
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• 2000

In the closed range space, the parallel two CCD cameras are used to acquire a pair of stereo image. The acquired stereo image are computed with Wavelet Transform repeatedly and including the low frequency component, the image size of those are reduced. It is the pyramid structure. The optimum matching point is searched to the pixel. Then appling the optimum matching point to DLT, it extract the three - dimensional surface coordinate from a stereo image. The direct linear transformation(DLT) method is used to calibrate the stereo camera compute the coordinate on a three dimensional space. To find the parameters for the DLT method, 30 control points which marked on the cylinder type object are used. To improve the matching algorithm, the paper select the pyramid structure for Wavelet Transform. The acquired disparity information is used to represent the really three-dimensional surface coordinate.

• Spatial Information Research
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• v.11 no.4
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• pp.481-491
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• 2003

This study aims at generating a continuous map by coordinates transformation between cadastral maps with different surveying origins. The continuous cadastral map is useful in various fields of GIS. For this purpose, an experimental study was conducted at Osan-Si, Kyonggi Province in cooperation with related institutions. In this study, three control point zone, large, medium, and small zone were to!;ted. For each control point, the currently used data were compared with the data at the surveyed time. About coordinate transformation method, we tested Helmert, Affine, and Polynomial methods which are the most representative among 2-dimensional coordinate transformations. These three transformation methods were evaluated according to variation of transformed parcel shape and agreement with neighboring areas. As the result of the evaluation, Affine transformation in large zone is the most appropriate coordinate transformation method fer Osan-Si.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.37 no.3
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• pp.189-198
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• 2019

In photogrammetry, single photo resection is a method of determining exterior orientation parameters corresponding to a position and an attitude of a camera at the time of taking a photograph using known interior orientation parameters, ground coordinates, and image coordinates. In this study, we proposed a single photo resection algorithm that determines the exterior orientation parameters of the camera using cosine law and linear equation-based three-dimensional coordinate transformation. The proposed algorithm first calculated the scale between the ground coordinates and the corresponding normalized coordinates using the cosine law. Then, the exterior orientation parameters were determined by applying linear equation-based three-dimensional coordinate transformation using normalized coordinates and ground coordinates considering the calculated scale. The proposed algorithm was not sensitive to the initial values by using the method of dividing the longest distance among the combinations of the ground coordinates and dividing each ground coordinates, although the partial derivative was required for the nonlinear equation. In addition, since the exterior orientation parameters can be determined by using three points, there was a stable advantage in the geometrical arrangement of the control points.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.2
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• pp.145-152
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• 2009

SGBEM(Symmetric Galerkin Boundary Element Method)-FEM alternating method has been proposed by Nikishkov, Park and Atluri. In the proposed method, arbitrarily shaped three-dimensional crack problems can be solved by alternating between the crack solution in an infinite body and the finite element solution without a crack. In the previous study, the SGBEM-FEM alternating method was extended further in order to solve elastic-plastic crack problems and to obtain elastic-plastic stress fields. For the elastic-plastic analysis the algorithm developed by Nikishkov et al. is used after modification. In the algorithm, the initial stress method is used to obtain elastic-plastic stress and strain fields. In this paper, elastic-plastic J integrals for three-dimensional cracks are obtained using the method. For that purpose, accurate values of displacement gradients and stresses are necessary on an integration path. In order to improve the accuracy of stress near crack surfaces, coordinate transformation and partitioning of integration domain are used. The coordinate transformation produces a transformation Jacobian, which cancels the singularity of the integrand. Using the developed program, simple three-dimensional crack problems are solved and elastic and elastic-plastic J integrals are obtained. The obtained J integrals are compared with the values obtained using a handbook solution. It is noted that J integrals obtained from the alternating method are close to the values from the handbook.

• Proceedings of the KIPE Conference
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• 1998.10a
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• pp.615-619
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• 1998

Active power filter is a kind of device used for compensating instantaneous reactive and harmonic current in three-phase circuits. An essential technology that determines the behavior of an active power filter is the method of detecting the distorted current. Using three-dimensional space vectors, this paper describes a simple method for detecting the distorted current without any coordinate transformation. The effectiveness of the novel method is verified by the theoretical analysis and simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.12
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• pp.1145-1151
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• 2013

Kinematic modeling is a prerequisite for motion planning and the control of mobile robots. In this paper, we proposed a new method of kinematic modeling for a type of mobile robot based on differential motion transformation. The differential motion implies a small translation and rotation in three-dimensional space in a small time interval. Thus, transformation of the differential motion gives the velocity relationship, i.e., Jacobian between two coordinate frames. Since the theory of the differential motion transformation is well-developed, it is useful for the systematic velocity kinematic modeling of mobile robots. In order to show the validity for application of the differential motion transformation, we obtained velocity kinematic models for a type of exemplar mobile robot including spherical ballbots.

• Progress in Medical Physics
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• v.11 no.1
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• pp.49-57
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• 2000

New method about the dose optimization problem in radiation treatment was researched. Since all conditions are more complex and there are more relevant variables, the solution of three-dimensional treatment planning is much more complicate than that of current two-dimensional one. There(ore, in this study, as a method to solve three-dimensional dose optimization problem, the considered variables was minized and researched by reducing the domain that solutions can exist and pre-determining the important beam parameters. First, the dangerous beam range that passes critical organ was found by coordinate transformation between linear accelerator coordinate and patient coordinate. And the beam size and rotation angle for rectangular collimator that conform tumor at arbitrary beam position was also determined. As a result, the available beam position could be reduced and the dependency on beam size and rotation angle, that is very important parameter in treatment planning, totally removed. Therefore, the resultant combinations of relevant variables could be greatly reduced and the dose optimization by objective function can be done with minimum variables. From the above results, the dose optimization problem was solved for the two-dimensional radiation treatment planning useful in clinic. The objective function was made by combination of dose gradient, critical organ dose and dose homogeniety. And the optimum variables were determined by applying step search method to objective function. From the dose distributions by optimum variables, the merit of new dose optimization method was verified and it can be implemented on commercial radiation treatment planning system with further research.

• Proceedings of the Korean Society For Composite Materials Conference
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• 2002.05a
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• pp.57-60
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• 2002

The stiffness model has been proposed to predict elastic constants of twisted yarn composites. The model is based upon the unit cell structure, the coordinate transformation, and the volume averaging of compliance constants for constituent materials. For the correlation of analytic results with experiments, composite samples of various yarn twist angle were tested. The samples were fabricated by the RTM process using glass yarns and epoxy resin. The correlations of elastic constants showed relatively good agreements. The model provides the predictions of the three-dimensional engineering constants, which are valuable input data for the analytic characterization of textile composites made of twisted yarn.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.11
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• pp.1757-1764
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• 1997

The geometric and elastic models based on the unit cell have been proposed to predict the geometric characteristics and the engineering constants of plain and satin woven composites. In the geometric model, length and inclined angle of the yarn crimp and the fiber volume fraction of woven composites have been predicted. In the elastic model, the coordinate transformation has been utilized to transform the elastic constants of the yarn crimp to those of woven composites, and the effective elastic constants have been determined from the volume averaging of the constituent materials. Good correlations between the model predictions and the experimental results of carbon/epoxy and glass/epoxy woven composites have been observed. Based on the model, the effect of various geometric parameters and materials on the three-dimensional elastic properties of woven composites can be identified.