• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2007.04a
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• pp.85-88
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• 2007

Sea level fluctuation present a direct influence to those who live near the coast. The importance of monitoring sea level is evident. Therefore, various techniques have been employed for sea level measurements such as the coastal water level gauges, satellite altimetry and GPS buoy. Especially, GPS buoys have been used to measure water levels, atmospheric parameter and other physical conditions in sea, tide correction, the altimeter range calibration, ocean environment. In this paper, we will mainly concentrate on the kinematic technique for GPS buoy to measure the sea level. A test was carried out to test the method proposed in this paper, which made use of a GPS buoy equipped to monitor the sea level in Busan. We have executed to analysis about applications of GPS buoy.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.1
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• pp.37-44
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• 2018

In this work, a 4-DOF industrial robot system with three translational and one rotational motions which is widely used in palletizing applications is developed. In order for small robot manufacturing companies to develop their own robot systems for CNC machining and/or general automations, the analysis and design methods of a 4-DOF robot manipulator are presented and the development of a PC-based robot controller with EtherCAT are introduced. It is noted that the robot controller is developed by using Simulink Real-Time, which can provide an integrated environment of easier control algorithm development and data logging. Through position control and accuracy/repeatability measurement results, the developed robot prototype has comparable performances with commercial counterparts. In the future works, the advanced functions of industrial robots such as kinematic calibration, vibration suppression control, computed torque control, etc. will be investigated.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.17 no.3
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• pp.1-7
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• 2008

This paper describes the kinematics which is a new type of parallel manipulator, and the neural network is applied to solving the forward kinematics problem. The parallel manipulator called it as a Stewart platform has an easy and unique solution about the inverse kinematics. However, the forward kinematics is difficult to get a solution because of the lack of an efficient algorithm caused by its highly nonlinearity. This paper proposes the neural network scheme of an Newton-Raphson method alternatively. It is found that the neural network can be improved its accuracy by adjusting the offset of the obtained result.

• Journal of Korean Society for Geospatial Information Science
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• v.18 no.1
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• pp.11-20
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• 2010

The distributed rainfall-runoff model which is developed in the country requires a lot of time and effort to generate input data. Also, it takes a lot of time to calculate discharge by numerical analysis based on kinematic wave theory in runoff process. Therefore, most river basins using the distributed model are of limited scale, such as small river basins. However, recently, the necessity of integrated watershed management has been increasing due to change of watershed management concept and discharge calculation of whole river basin, including upstream and downstream of dam. Thus, in this study, the feasibility of the GIS based physical distributed rainfall-runoff model, K-DRUM(K-water hydrologic & hydraulic Distributed RUnoff Model) which has been developed by own technology was reviewed in the flood discharge process for the Geum River basin, including Yongdam and Daecheong Dam Watersheds. GIS hydrological parameters were extracted from basic GIS data such as DEM, land cover and soil map, and used as input data of the model. Problems in running time and inaccuracy setting using the existing trial and error method were solved by applying an auto calibration method in setting initial soil moisture conditions. The accuracy of discharge analysis for application of the method was evaluated using VER, QER and Total Error in case of the typhoon 'Ewiniar' event. and the calculation results shows a good agreement with observed data.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.22 no.2
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• pp.372-379
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• 1998

A new 6 degrees-of-freedom micro stage, based on parallel mechanisms and actuated by using piezoelectric elements, has been developed for the application of micro positioning such as semiconductor manufacturing devices, high precision optical measurement systems, and high accurate machining. The micro stage structure consists of a base platform and an upper platform(stage). The base platform can effectively generates planar motion with yaw motion, while the stage can do vertical motion with roll and pitch motions with respect to the base platform. This separated structure has an advantage of less interference among actuators. The forward and inverse kinematics of the micro stage are discussed. Also, through linearization of kinematic equations about an operating point on the assumption that the configuration of the micro stage remains essentially constant throughout a workspace is performed. To maximize the workspace of the stage relative to fixed frame, an optimal design procedure of geometric parameter is shown. Hardware description and a prototype are presented. The prototype is about 150mm in height and its base platform is approximately 94mm in diameter. The workspace of the prototype is obtained by computer simulation. Kinematic calibration procedure of the micro stage and its results are presented.

• Journal of Korean Society of Forest Science
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• v.81 no.4
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• pp.337-345
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• 1992

In this research, a kinematic wave model was applied for the runoff analysis, Regulation of streamflow was estimated by the calibration of roughness coefficient as a parameter. The data analyzed were obtained from Ananomiya and Shirasaka experimental basins at Tokyo University Forest in Aichi. Estimation methods and characteristics of roughness coefficient as a evaluation method of hydrological function of forest are summarized as follows ; 1. Roughness coefficient($N_s$) indicates the resistance of hillslope to the flowing water of surface runoff. There exists an hypothesis that resistance of hillslope to flowing water increase with the growth forest and development of the $A_o$ layer. 2. Roughness coefficient($N_s$) was estimated by the parameter when the stream direct runoff was calculated by using the kinematic wave. 3. Secular change of '$N_s$' in ananomiya has a curve which has an upper limit and increases exponentially near the limit. The curve quickly increased from 1935 to 1945 when results of afforestation for erosion control were thought to be effective. On the other hand, slight increase of '$N_s$' in Shirasaka indicates that there was not such a big change in the surface of soil layer. 4. The increase of '$N_s$' was related with decrease of direct runoff and increase of base flow. It was recognized that the rate of direct runoff decreased with the improvement of forest physiognomy and the rate of base flow was increased. But absolute value of water runoff per one storm decreased in chronological order.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.12
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• pp.2146-2155
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• 1997

This paper presents the Wire Parallel Mechanism for robot pose measurement which can be used to robot calibration. It is constructed with six parallel links using wire. The position and orientation of the end effector of a robot are calculated from the wire length that measured by the encoder. The unique solution is obtained from a Newton-Raphson method and geometric configuration of the mechanism, also the method to estimate a measuring space is presented. Through the simulations, it is verified that the proposed mechanism can measure a robot pose, and has a large measuring space. In conclusion, it can be used effectively in a robot pose measurement with little cost and effort.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.2
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• pp.223-229
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• 2017

Recently, robotic bin-picking tasks have drawn considerable attention, because flexibility is required in robotic assembly tasks. Generally, stereo camera systems have been used widely for robotic bin-picking, but these have two limitations: First, computational burden for solving correspondence problem on stereo images increases calculation time. Second, errors in image processing and camera calibration reduce accuracy. Moreover, the errors in robot kinematic parameters directly affect robot gripping. In this paper, we propose a method of correcting the bin-picking error by using trinocular vision system which consists of two stereo cameras andone hand-eye camera. First, the two stereo cameras, with wide viewing angle, measure object's pose roughly. Then, the 3rd hand-eye camera approaches the object, and corrects the previous measurement of the stereo camera system. Experimental results show usefulness of the proposed method.

• Water Engineering Research
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• v.2 no.1
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• pp.49-61
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• 2001

A grid-based KIneMatic wave soil-water EROsion and deposition Model(KIMEROM) that predicts temporal variation and spatial distribution of sediment transport in a watershed was developed. This model uses ASCII-formatted map data supported from the regular gridded map of GRASS (U.S. Army CERL, 1993)-GIS(Geographic Information Systems), and generates the distributed results by ASCII-formatted map data. For hydrologic process, the kinematic wave equation and Darcy equation were used to simulated surface and subsurface flow, respectively (Kim, 1998; Kim et al., 1998). For soil erosion process, the physically-based soil erosion concept by Rose and Hairsine (1988) was used to simulate soil-water erosion and deposition. The model adopts single overland flowpath algorithm and simulates surface and subsurface water depth, and sediment concentration at each grid element for a given time increment. The model was tested to a 162.3 $\textrm{km}^2$ watershed located in the tideland reclaimed ares of South Korea. After the hydrologic calibration for two storm events in 1999, the results of sediment transport were presented for the same storm events. The results of temporal variation and spatial distribution of overland flow and sediment areas are shown using GRASS.

• Proceedings of the Korea Water Resources Association Conference
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• 2001.05a
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• pp.25-34
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• 2001

A grid-based KIneMatic wave soil-water EROsion and deposition Model (KIMEROM) that predicts temporal variation and spatial distribution of sediment transport in a watershed was developed. This model uses ASCII-formatted map data supported from the regular gridded map of GRASS (U.S. Army CERL, 1993)-GIS (Geographic Information Systems), and generates the distributed results by ASCIIl-formatted map data. For hydrologic process, the kinematic wave equation and Darcy equation were used to simulate surface and subsurface flow, respectively (Kim, 1798; Kim et al., 1993). For soil erosion process, the physically-based soil erosion concept by Rose and Hairsine (1988) was used to simulate soil-water erosion and deposition. The model adopts sing1e overland flowpath algorithm and simulates surface and subsurface water depth, and sediment concentration at each grid element (or a given time increment. The model was tested to a 162.3 km$^2$ watershed located in the tideland reclaimed area of South Korea. After the hydrologic calibration for two storm events in 1999, the results of sediment transport were presented for the same storm events. The results of temporal variation and spatial distribution of overland flow and sediment areas are shown using GRASS.