• 한국축산시설환경학회지
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• 제13권3호
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• pp.179-186
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• 2007

The purpose of this study was kinematics analysis of the multi-joint robot manipulator for an automatic milking system. The multi-joint robot manipulator was consisted of one perpendicular link and four revolution links to attach simultaneously four teat cups to four teats of a milking cow. The local coordinates of each joints on the robot manipulator was given for kinematics analysis. The transformation of manipulator was able to be given by kinematics using Denavit-Hatenberg parameters. The value of inverse kinematics which was solved by two geometric solution methods. The kinematics solutions was verified by AutoCAD, MATLAB, simulation program was developed using Visual C++.

• 센서학회지
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• 제33권3호
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• pp.179-184
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• 2024

In the car industry, welding is a fundamental linking technique used for joining components, such as steel, molds, and automobile parts. However, accurate inspection is required to test the reliability of the welding components. In this study, we investigate the detection of weld beads using 2D image processing in an automatic recognition system. The sample image is obtained using a 2D vision camera embedded in a lighting system, from where a portion of the bead is successfully extracted after image processing. In this process, the soot removal algorithm plays an important role in accurate weld bead detection, and adopts adaptive local gamma correction and gray color coordinates. Using this automatic recognition system, geometric parameters of the weld bead, such as its length, width, angle, and defect size can also be defined. Finally, on comparing the obtained data with the industrial standards, we can determine whether the weld bead is at an acceptable level or not.

• Korean Journal of Geomatics
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• 제3권1호
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• pp.15-22
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• 2003

This study aims to construct a management system of road position information as part of the build-up to a maintenance and management system of highways. First, information on the positions of the roads were obtained by a real-time kinematic satellite surveying, and then the degree of accuracy was analyzed in comparison with the data of the existing design drawings. The linear coordinates of road center line obtained by using RTK GPS showed about 7.6-13.2cm errors in X and Y directions in the case of the national road No.2 section, and about 8.4-9.2cm errors in the case of local road No.1045 section. These errors were within the tolerance scope regulated by the TS survey, and could be practically used. In the case of vertical alignment, there were about 6.2cm errors in the Z direction in local road No.1045 section. Aerial photographs are normally used in producing numerical maps, and it can be practically used because the tolerance scope of the elevation control point is l0cm when the scale of aerial photographs is 1/1000. The management system of road position information, utilizing Object-Oriented Programming(OOP), was built having the data acquired in this way as the attribute data. The system developed in this way can enable us to spot the positions of road facilities, the target of management with ease, to easily update the data in case of changes in the positions of roads and road facilities, and to manage the positions of roads and road facilities more effectively.

• 한국측량학회지
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• 제9권2호
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• pp.1-8
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• 1991

정밀측지좌표의 계산, 탄도무기의 탄도계산 및 관성유도장치의 기준 방향설정 등에 영향을 주는 지오 이드형상은 지구 물리학 및 측지학에서 매우 중요하게 취급된다. 본 연구는 우리나라에 가장 적합한 지오이드 모델을 개발하는데 그 최종 목적이 있으며, 여러가지의 지오이드 결정 방법 중 가장 기초적이고 고전적인 천문측지 수준측량 및 곡면다항식 방법을 사용하여 표준오차 $\pm$0.49m 및$\pm$0.66m의 지역 지오이드를 얻을 수 있었으며, 최대 지오이드 경사는 약 22m~23m 정도임을 알 수 있었다.

• Structural Engineering and Mechanics
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• 제13권2호
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• pp.135-154
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• 2002

This paper presents the convected material frame approach to study the nonlinear behavior of inelastic frame structures. The convected material frame approach is a modification of the co-rotational approximation by incorporating an adaptive convected material frame in the basic definition of the displacement vector and strain tensor. In the formulation, each discrete element is associated with a local coordinate system that rotates and translates with the element. For each load increment, the corresponding strain-displacement and nodal force-stress relationships are defined in the updated local coordinates, and based on the updated element geometry. The rigid body motion and deformation displacements are decoupled for each increment. This modified approach incorporates the geometrical nonlinearities through the continuous updating of the material frame geometry. A generalized nonlinear function is used to derive the inelastic constitutive relation and the kinematic hardening is considered. The equation of motion is integrated by an explicit procedure and it involves only vector assemblage and vector storage in the analysis by assuming a lumped mass matrix of diagonal form. Several numerical examples are demonstrated in close agreement with the solutions obtained by the ANSYS code. Numerical studies show that the proposed approach is capable of investigating large deflection of inelastic planar structures and providing an excellent numerical performance.

• 한국측량학회지
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• 제27권1호
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• pp.677-682
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• 2009

개정된 측량법에 의해 2010년부터 모든 위치정보좌표는 세계측지계 좌표를 기준으로 하여야 하며 이를 위해 국토지리정보원을 중심으로 세계측지계로의 전환을 위한 기술적 제도적 기반을 마련하였다. 하지만 여러 저해요인으로 인해 현재 지방자치단체별 전환실적이 상대적으로 미흡한 실정이다. 본 연구에서는 세계측지계로의 전환에 필요한 요소 중 좌표변환방법 및 절차에 대한 분석을 통해 보다 유연성 있는 변환방법을 제시하였으며 기존의 좌표변환절차 중 효율적 인 좌표변환을 위한 보완방안을 제공하였다. 이를 위해 국가변환계수를 이용한 기존의 변환방법보다 효율적인 Affine변환의 유용성 여부를 분석하였으며 기준점의 허용오차 분석을 통해 공통점에 존재하는 비상사점의 판별 기준을 제시하였다. 또한 구성과 및 신성과가 혼재하는 지역에서의 효율적인 세계측지계 좌표변환 방법 및 세계측지계 변환에 필요한 공통점의 적절한 수량을 제시하였다.

• Bulletin of the Korean Chemical Society
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• 제24권6호
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• pp.717-722
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• 2003

The structure, force field and vibrational spectra of triphenylene are studied by $B3LYP/6-31G^*$(5d) level of theory. The results are compared to those of the related system, phenanthrene. The scale factors in nonredundant local coordinates obtained after fitting the DFT frequencies to the experimental numbers of phenanthrene-$d_0 and -d_{10}$ are transferred to predict the spectra and assignment of triphenylene for in-plane modes. The frequencies based on scaling methodology due to Lee et al. are also obtained. These frequencies are compared with the predicted numbers based on scale factors from phenanthrene. Probable assignment for out-of-plane modes is proposed based on simple scaling of Scott and Radom (scale factor 0.9614) as well as by scaling methodology by Lee et al.

• 대한기계학회논문집
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• 제18권6호
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• pp.1496-1502
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• 1994

The influences of spring position and spring stiffness on the critical force of a cantilevered beam subjected to a follower force are investigated. The spring attatched to the beam is assumed to be a translational one and can be located at arbitrary positions of the beam as it has not been assumed so far. The effects of transeverse shear deformation and rotary intertia of the beam are also included in this analysis. The charateristic equation for the system is derived and a finite element model of the beam using local coordinates is formulated through extended Hamilton's principle. It is found that when the spring is located at position less than that of 0.5L, the flutter type instability only exists. It is shown that the spring position approaches to the free end of the beam from its midpoint, instability type is changed from flutter to divergence through the jump phenomina according to the increase of spring stiffness.

• 한국자동차공학회논문집
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• 제4권4호
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• pp.9-17
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• 1996

This paper develops a sequential updating method of the Euler parameter generalized coordinates for the machine kinematics and dynamics, The Newton's method is slightly modified so as to utilize the Jacobian matrix with respect to the virtual rotation instead of this with repect to the Euler parameters. An intermediate variable is introduced and the modified Newton's method solves for the variable first. Relational equation of the intermediate variable is then solved for the Euler parameters. The solution process is carried out efficiently by symoblic inversion of the relational equation of the intermediate variable and the iteration equation of the Euler parameter normalization constraint. The proposed method is applied to a kinematic and dynamic analysis with the Generalized Coordinate Partitioning method. Covergence analysis is performed to guarantee the local convergence of the proposed method. To demonstrate the validity and practicalism of the proposed method, kinematic analysis of a motion base system and dynamic analysis of a vehicle are carried out.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2002년도 Proceedings of International Symposium on Remote Sensing
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• pp.169-174
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• 2002

In this paper, we suggest a new spatial information system called video GIS where video is used for spatial data construction and is integrated with map. We develop a prototype system of video GIS and apply it to roadside facility management. The main functions supported by the suggested system are data collection, coordinate calculation and conversion, data construction, analysis, searching, and browsing. The stereo images and corresponding position data are collected by a vehicle named 4S-Van that has GPS, IMU, and cameras. The 3-D coordinates of the objects in the images, such as road sign, signal lamp, and building, can be calculated and constructed from the collected data. The spatial objects are displayed on both image and map, and can be searched and browsed, which enables visual and realistic browsing and management of spatial objects. Compared to conventional field survey used in roadside facility management, the method enables faster, easier, and more efficient construction of spatial data. The suggested video GIS can be applied not only to roadside facility management but also to many similar projects of central or local governments that are related to GIS.