• Journal of Institute of Control, Robotics and Systems
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• v.15 no.10
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• pp.1029-1038
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• 2009

This paper proposes a gain switching algorithm for joint position control of a hydraulic humanoid robot. Accurate position control of the lower body is one of the basic requirements for robust balance and walking control. Joint position control is more difficult for hydraulic robots than it is for electric robots because of an absence of reduction gear and better back-drivability of hydraulic joints. Backdrivability causes external forces and torques to have a large effect on the position of the joints. External ground reaction forces therefore prevent a simple proportional-derivative (PD) controller from realizing accurate and fast joint position control. We propose a state feedback controller for joint position control of the lower body, define three modes of state feedback gains, and switch the gains according to the Zero Moment Point (ZMP) and linear interpolation. Dynamic equations of hydraulic actuators were experimentally derived and applied to a robot simulator. Finally, the performance of the algorithm is evaluated with dynamic simulations.

• 한국전산유체공학회:학술대회논문집
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• 2010.05a
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• pp.326-334
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• 2010

In this study, we provide a comprehensive review of the CIP(Constrained Interpolation Pro file/Cubic Interpolated Propagation) method with a pressure-based algorithm that is known as a general numerical solver for soled liquid, gas and plasmas. And also we introduce a body-fitted grid system(Soroban grid) for computation of strongly nonlinear marine hydrodynamic problems such as slamming water on deck, wave impact by green water. This grid system can keep the third-order accuracy in time and space with the help of the CIP method. The grid system consists of the straight lines and grid points. In the 2-dimensional grid case, each grid points moving in these lines like abacus - Soroban in Japanese. The length of each line can be different and the number of grid points in each line can be different. Mesh generation and searching of upstream departure point are very simple and possible to mesh-free treatment. To optimize computation of free-surface and multi-fluid flows, We adopt the C-CUP method. In most of the earlier computations, the C-CUP method was used with a staggered-grid approach. Here, because of the mesh free nature of the Soroban grid, we use the C-CUP method with a collocated-grid approach.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.25 no.11
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• pp.1518-1526
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• 2001

In this paper, the mechanism of unsteady potential interaction and wake interaction in one stage axial turbine is numerically investigated at design point in two-dimensional viewpoint. The numerical technique used is the upwind scheme of Van-Leer's Flux Vector Splitting (FVS) and Cubic spline interpolation is applied on zonal interface between stator and rotor. The inviscid analysis is used to embody the influence of potential interaction only and viscous analysis is used to embody the influences of both potential interaction and wake interaction at the same time. The potential-flow disturbance from the stator into a rotor passage and the periodic blockage effect of rotor produce the unsteady pressure on the blade surface in inviscid analysis. After the wake is cut by rotor, two counterrotating votical patterns flanking the wake centerline in the passage are generated. So, these phenomena magnify the unsteady pressure in viscous analysis than that in inviscid analysis. The resulting unsteady forces on the rotor, generated by the combined interaction of the two effects by potential and wake interaction, are discussed.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.6
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• pp.1111-1116
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• 2009

For expression of contour lines in mobile GIS environments, the client needs to receive the numerical data with the topographical map from a server. At this point, a client can't get the entire raw data because of the mobile characteristics. The approach to get representative points and to make isogram by interpolation methods, has some problems. The approach requires huge computing overhead at the client and doesn't guarantee the correctness of the isogram. In this paper, a data structure, algorithm and implementation results for efficient transmission of contour information to a client which is constructed from elevation information at a server, are proposed.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2008.10a
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• pp.151-154
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• 2008

For expression of isogram in mobile GIS environments, the client needs to receive the value data with the topographical map from a server. At this point, a client can't get the entire raw data because of the mobile characteristics. The approach to get representative points and to make isogram by interpolation methods, has some problems. The approach requires huge computing overhead at the client and doesn't guarantee the correctness of the isogram. In this paper, a data structure, algorithm and implementation results for efficient transmission of contour information to a client which is constructed from a elevation information at a server, are proposed.

• Journal of Korean Society for Geospatial Information Science
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• v.4 no.2 s.8
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• pp.173-180
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• 1996

In a grid based data transformation, the different gridding methods provide different interpretations of scattered data because each method calculate grid node values using a different weighted mathematical algorithms. Therefore, it is necessary to review the interpolated characteristics of some gridding methods according to search distance, search area and search options before determing the best method with a data set. For this, in this paper, six different gridding methods with the same search conditions are applied to a scattered data obtained from sterro-plotter. The interpolated characteristics of the scattered geographic data considered through comparison of coincidence between the data point and the grid node being interpolated. And also, shows the real application of gridding methods through calculating volumes and creating cross sections.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.10
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• pp.40-49
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• 1995

This paper presents the performance and problems in analysis method and testing system of Electronic Speckle Pattern Interferometry (ESPI) method, in measuring two - dimensional in-plane displacement. The anyalysis result of measurement by ESPE is quite comparable to that tof measurement by strain gauge method. This implies that the method of ESPE is a very effective tool in non-contact two-dimensional in-plane strain analysis. But there is a controversal point, measurment error. This error is discussed to be affected not by ESPE method itself, but by its analysis scheme of the interference fringe, where the first-order interpolation has been applied to the points of strain measured. In this case, it is turned out that the more errors would be occurred in the large interval of fringe. And so this paper describes a computer method for drawing when the height is available only for some arbitrary collection of points. The method is based on a distance-weighted, last- squares approximation technique with the weight varying with the distance of the data points.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.9 no.2
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• pp.103-113
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• 1991

The accuracy of input coordinates of ground control points and check points affects great influences to the results of ground coordinate computation in using SPOT digital image data. The original SPOT images displayed on CRT are not usually adequate for identifying the object features and determining the point positioning. Hence, appropriate image processing techniques such as contrast enhancement, subpixel interpolation, edge enhancement, and spatial filtering are needed. In this study, the principles of digital image processing needed for accurate three dimensional positioning and spectral characteristic analysis are investigated. The algorithms for the actual applications are developed and programmed. And using the developed image processing software, some SPOT P-mode and XS-mode images are merged into the SPOT P＋XS, the high-resolution color composite image.

• Proceedings of the KSRS Conference
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• 1998.09a
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• pp.70-75
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• 1998

The comparison of Topex/Poseidon sea surface heights and Tide Gauge sea levels was studied in the South Indian Ocean after Topex/Poseidon mission of about 3 years (11- 121 cycles) from January 1993 through December 1995. The user's handbook (AVISO) for sea surface height data process was used in this study Topex/Poseidon sea suface heights ($\zeta$$^{T/P}$), satellite data at the point which is very closed to Tide Gauge station, were chosen in the same latitude of Tide Gauge station. These data were re-sampled by a linear interpolation with the interval of about 10 days, and were filtered by the gaussian filter with a 60 day-window. Tide Gauge sea levels ($\zeta$$^{Argos}$, $\zeta$$^{In-situ}$ and $\zeta$$^{Model}$), were also treated with the same method as satellite data. The main conclusions obtained from the root-mean-square and correlation coefficient were as follows: 1) to Produce Tide Gauge sea levels from bottom pressure, in-situ data of METEO-FRANCE showed very good values against to the model data of ECMWF and 2) to compare Topex/Poseidon sea surface heights of Tide Gauge sea levels, the results of the open sea areas were better than those of the coast and island areas.

• Journal of Korean Society for Geospatial Information Science
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• v.17 no.1
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• pp.71-78
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• 2009

In general, it is necessary to establish the dedicated GPS base station at the central point of the survey area in GPS/INS aerotriangulation. Although this base station is needed to achieve the required survey accuracy, there are some difficulties in practical operation. To tackle these difficulties and to achieve the effective GPS/INS aerotriangulation, the GPS data of CORS was interpolated and used in stead of those of the usual ground base station. Through this study, it was found that the interpolated CORS data was accurate enough to substitute dedicated GPS base station in GPS/INS aerotriangulation.