• Journal of Cadastre & Land InformatiX
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• v.52 no.2
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• pp.53-65
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• 2022

According to the advancement of the GNSS satellite positioning system, the module of hardware and operation software reflecting accuracy and economical efficiency is implemented in the user sector including the multi-channel GNSS receiver, the multi-frequency external antenna and the mobile app (App) base public positioning analysis software etc., and the multichannel GNSS RTK positioning of the active configuration method (DIY, Do it yourself) is possible according to the purpose of user. Especially, as the infrastructure of multi-GNSS satellite is expanded and the potential of expansion of utilization according to various modules is highlighted, interest in the utilization of multi-channel low-cost GNSS receiver module is gradually increasing. The purpose of this study is to review the multi-channel low-cost GNSS receivers that are appearing in the mass market in various forms and to analyze the utilization plan of the "address information facility investigation project" of the Ministry of Public Administration and Security by constructing the multi-channel low-cost GNSS positioning module based RTK survey system (hereinafter referred to as "multi-channel GNSS RTK module positioning system"). For this purpose, we constructed a low-cost "multi-channel GNSS RTK module positioning system" by combining related modules such as U-blox's F9P chipset, antenna, Ntrip transmission of GNSS observation data and RTK positioning analysis app through smartphone. Kinematic positioning was performed for circular trajectories, and static positioning was performed for address information facilities. The results of comparative analysis with the Static positioning performance of the geodetic receivers were obtained with 5 fixed points in the experimental site, and the good static surveying performance was obtained with the standard deviation of average ±1.2cm. In addition, the results of the test point for the outline of the circular structure in the orthogonal image composed of the drone image analysis and the Kinematic positioning trajectory of the low cost RTK GNSS receiver showed that the trajectory was very close to the standard deviation of average ±2.5cm. Especially, as a result of applying it to address information facilities, it was possible to verify the utility of spatial information construction at low cost compared to expensive commercial geodetic receivers, so it is expected that various utilization of "multi-channel GNSS RTK module positioning system"

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.2
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• pp.218-222
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• 2014

In this paper, we introduce an autonomous calibration method for a 2D laser displacement sensor (e.g. laser vision sensor and laser range finder) by matching a single point on a flat structure. Many arc welding robots install a 2D laser displacement sensor to expand their application by recognizing their environment (e.g. base metal and seam). In such systems, sensing data should be transformed to the robot's coordinates, and the geometric relation (i.e. rotation and translation) between the robot's coordinates and sensor coordinates should be known for the transformation. Calibration means the inference process of geometric relation between the sensor and robot. Generally, the matching of more than 3 points is required to infer the geometric relation. However, we introduce a novel method to calibrate using only 1 point matching and use a specific flat structure (i.e. circular hole) which enables us to find the geometric relation with a single point matching. We make the rotation component of the calibration results as a constant to use only a single point by moving a robot to a specific pose. The flat structure can be installed easily in a manufacturing site, because the structure does not have a volume (i.e. almost 2D structure). The calibration process is fully autonomous and does not need any manual operation. A robot which installed the sensor moves to the specific pose by sensing features of the circular hole such as length of chord and center position of the chord. We show the precision of the proposed method by performing repetitive experiments in various situations. Furthermore, we applied the result of the proposed method to sensor based seam tracking with a robot, and report the difference of the robot's TCP (Tool Center Point) trajectory. This experiment shows that the proposed method ensures precision.

• Journal of Biosystems Engineering
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• v.7 no.1
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• pp.17-32
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• 1982

The binders introduced in Korea were originally designed to be used for Japonica-type varieties which have relatively long stem and are highly resistant to shattering. In order to use it for Tongil varieties which are short and easy to be shattered, mechanical modifications are necessary to reduce a grain loss incurred during binder operation. This study was intended to investigate analytically and experimentally the major sources of grain losses caused by three kinds of binders now introduced in Korea. Actual modification for each of three binders was done and experimentally compared to see if any improvement on grain loss was achieved. The results obtained in this study are summarized as follows; 1. It was required that the power transmission of binder should have a shifting mechanism so that velocities of pick-up and traveling units could be changed independently as desired according to the Japonica-type and Tongil varieties. In other words, the desired velocity of traveling unit should be obtained by shifting the transmission and the velocity of pick-up unit should be selected by reaping clutch according to the variety independent of the velocity of traveling unit as shown in Fig. 6. 2. To reduce grain loss it was desired that the moving parts of the pick-up unit should have the lowest possible velocities in harvesting Tongil varieties, unless the reduction of the speed be hindered the conveyance of the material. Based on the study, it was concluded that the velocities of pick-up unit be reduced by about 35% of those of the existing units. 3. It was found that the lug at the upper rotating section of pick-up case gave a severe impact on the ears of rice to increase grain loss. The optimum design of pick-up case to protect the ears from the protruding part of the lug was recommended by the result of analysis of the trajectory of the end-point of lug at the position. 4. It was proved analytically and experimentally that pick-up unit at the lower-rotating part was the other important source of grain loss in pick-up and divider assembly. In order to reduce a grain loss incurred by lugs at their lower-rotating section, it was suggested to improve it by (1) widening the space between right and left lower-rotating section, (2) shortening the length of lugs, (3) enlargement of the angle between the pick-up case and ground-level, and (4) attaching guard to right and left dividers so that the rotating lug could not give a high impact to the paddy hill. 5. Pick-up and divider assembly of the original binder of three models studied was modified according to the suggestions that were given by the preliminary study. Field test showed that the modified binders were able to reduce grain losses by about 0.4-0.7 percentage points compared to those without modification.

• Explosives and Blasting
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• v.30 no.2
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• pp.29-42
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• 2012

Variables influencing the free face movement due to rock blasting include the physical and mechanical properties, in particular the discontinuity characteristics, explosive type, charge weight, burden, blast-hole spacing, delay time between blast-holes or rows, stemming conditions. These variables also affects the blast vibration, air blast and size of fragmentation. For the design of surface blasting, the priority is given to the safety of nearby buildings. Therefore, blast vibration has to be controlled by analyzing the free face movement at the surface blasting sites and also blasting operation needs to be optimized to improve the fragmentation size. High-speed digital image analysis enables the analyses of the initial movement of free face of rock, stemming optimality, fragment trajectory, face movement direction and velocity as well as the optimal detonator initiation system. Even though The high-speed image analysis technique has been widely used in foreign countries, its applications can hardly be found in Korea. This thesis aims at carrying out a fundamental study for optimizing the blast design and evaluation using the high-speed digital image analysis. A series of experimentation were performed at two large surface blasting sites with the rock type of shale and granite, respectively. Emulsion and ANFO were the explosives used for the study. Based on the digital images analysis, displacement and velocity of the free face were scrutinized along with the analysis fragment size distribution. In addition, AUTODYN, 2-D FEM model, was applied to simulate detonation pressure, detonation velocity, response time for the initiation of the free face movement and face movement shape. The result show that regardless of the rock type, due to the displacement and the movement velocity have the maximum near the center of charged section the free face becomes curved like a bow. Compared with ANFO, the cases with Emulsion result in larger detonation pressure and velocity and faster reaction for the displacement initiation.