• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.20 no.9
• /
• pp.2854-2865
• /
• 1996

The concept of variable-geometry truss structure(VGTS) is introduced as a class of actively controlled adaptive structure. VGTS can purposefully vary its geometric configurations by changing the lengths of some members of the structure. General kinematics and inverse kinematics of a statically determinate VGTS(variable geometry truss structure) are studied. The solution technique is based on the Jacobian matrix obtained via joint equilibrium equations. Pseudoinverse control method is applied to resolve the redundancy of a large VGTS. two types of actuator layout of octahedral type VGTS, VG truss and Stewart platform, are compared. Introducing the concept of performance index, Stewart platform based layout was found to has less consumption energy and manipulation time. A functional VGTS model with 3 octahedral modules is designed and manufactured for the labaratory demonstration. Six vertically located length-variable members are used to create general 6 d.o.f. motions.

• Journal of KIBIM
• /
• v.8 no.1
• /
• pp.15-23
• /
• 2018

Geometry control of precast members is the most important technology for modular construction. In this paper, image-based modeling and rendering (IBMR) technology was adopted for 3D modeling of precast elements. It is necessary to use match-casting method for precast post-tensioned column assembly. Preassembly using 3D models created by image processing can minimize construction error. Augmented reality devices are used to check the geometry of the segment. Laboratory-scale tests were performed. The proposed process has been applied to the real precast bridge pier segments.

• Journal of Mechanical Science and Technology
• /
• v.20 no.12
• /
• pp.2034-2042
• /
• 2006

In this study, a complete 3D surface reconstruction method is proposed based on the concept that the vertices, of surface model can be completely matched to the unstructured point cloud. In order to generate the initial mesh model from the point cloud, the mesh subdivision of bounding box and shrink-wrapping algorithm are introduced. The control mesh model for well representing the topology of point cloud is derived from the initial mesh model by using the mesh simplification technique based on the original QEM algorithm, and the parametric surface model for approximately representing the geometry of point cloud is derived by applying the local subdivision surface fitting scheme on the control mesh model. And, to reconstruct the complete matching surface model, the insertion of isolated points on the parametric surface model and the mesh optimization are carried out. Especially, the fast 3D surface reconstruction is realized by introducing the voxel-based nearest-point search algorithm, and the simulation results reveal the availability of the proposed surface reconstruction method.

• Proceedings of the Korean Institute of Building Construction Conference
• /
• 2014.11a
• /
• pp.69-70
• /
• 2014

For the curved concrete track construction of 2018 winter Olympic sliding center in Pyeongchang, in this study proposed the digital fabrication technology using CNC. This method can control the 3D geometries of the curved concrete structure based on the digital design. Conventional method generates the construction errors because this method fabricates many temporary zig bar using 1:1 full size drawing for install frozen pipes and sets up each zig bars at the construction site. Propose method is effective to ensure the precise fabrication and construction of zig bars. Also this method can eliminate errors of the frozen pipes position and curved concrete construction.

• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.11
• /
• pp.1080-1087
• /
• 2009

This paper presents an algorithm to acquire 3D geometric information using a virtual plane method. The method to measure 3D information on the plane is easy, because it's not concerning value on the z-axis. A plane can be made by arbitrary three points in the 3D space, so the algorithm is able to make a number of virtual planes from feature points on the target object. In this case, these geometric relations between the origin of each virtual plane and the origin of the target object coordinates should be expressed as known homogeneous matrices. To include this idea, the algorithm could induce simple matrix formula which is only concerning unknown geometric relation between the origin of target object and the origin of camera coordinates. Therefore, it's more fast and simple than other methods. For achieving the proposed method, a regular pin-hole camera model and a perspective projection matrix which is defined by a geometric relation between each coordinate system is used. In the final part of this paper, we demonstrate the techniques for a variety of applications, including measurements in industrial parts and known patches images.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.51 no.9
• /
• pp.208-214
• /
• 2014

Vehicle dynamic states used in various advanced driving safety systems are influenced by road geometry. Among the road geometry information, the vehicle pitch angle influenced by road slope and acceleration-deceleration is essential parameter used in pose estimation including the navigation system, advanced adaptive cruise control and others on sag road. Although the road slope data is essential parameter, the method measuring the parameter is not commercialized. The digital map including the road geometry data and high-precision DGPS system such as DGPS(Differential Global Positioning System) based RTK(Real-Time Kinematics) are used unusually. In this paper, low-cost cascade extended Kalman filter(CEKF) based road slope estimation method is proposed. It use cascade two EKFs. The EKFs use several measured vehicle states such as yaw rate, longitudinal acceleration, lateral acceleration and wheel speed of the rear tires and 3 D.O.F(Degree Of Freedom) vehicle dynamics model. The performance of proposed estimation algorithm is evaluated by simulation based on Carsim dynamics tool and T-car based experiment.

• Journal of Drive and Control
• /
• v.16 no.3
• /
• pp.51-58
• /
• 2019

The objective of this study was to investigate a simulation technology for the AM field based on ANSYS Inc.. The introduction of metal 3D printing AM process, and the examining of the present status of AM process simulation software, and the AM process simulation processor were done in the previous study (part 1). This present study (part 2) examined the use of the AM process simulation processor, presented in Part 1, through direct execution of Topology Optimization, Ansys Workbench, Additive Print and Additive Science. Topology Optimization can optimize additive geometry to reduce mass while maintaining strength for AM products. This can reduce the amount of material required for additive and significantly reduce additive build time. Ansys Workbench and Additive Print simulate the build process in the AM process and optimize various process variables (printing parameters and supporter composition), which will enable the AM to predict the problems that may occur during the build process, and can also be used to predict and correct deformations in geometry. Additive Science can simulate the material to find the material characteristic before the AM process simulation or build-up. This can be done by combining specimen preparation, measurement, and simulation for material measurements to find the exact material characteristics. This study will enable the understanding of the general process of AM simulation more easily. Furthermore, it will be of great help to a reader who wants to experience and appreciate AM simulation for the first time.

• Proceedings of the KSRS Conference
• /
• 2005.10a
• /
• pp.182-185
• /
• 2005

Satellite cameras are calibrated before launch in detail and in general, but it cannot be guaranteed that the geometry is not changing during launch and caused by thermal influence of the sun in the orbit. Modem satellite imaging systems are based on CCD-line sensors. Because of the required high sampling rate the length of used CCD-lines is limited. For reaching a sufficient swath width, some CCD-lines are combined to a longer virtual CCD-line. The images generated by the individual CCD-lines do overlap slightly and so they can be shifted in x- and y-direction in relation to a chosen reference image just based on tie points. For the alignment and difference in scale, control points are required. The resulting virtual image has only negligible errors in areas with very large difference in height caused by the difference in the location of the projection centers. Color images can be related to the joint panchromatic scenes just based on tie points. Pan-sharpened images may show only small color shifts in very mountainous areas and for moving objects. The direct sensor orientation has to be calibrated based on control points. Discrepancies in horizontal shift can only be separated from attitude discrepancies with a good three-dimensional control point distribution. For such a calibration a program based on geometric reconstruction of the sensor orientation is required. The approximations by 3D-affine transformation or direct linear transformation (DL n cannot be used. These methods do have also disadvantages for standard sensor orientation. The image orientation by geometric reconstruction can be improved by self calibration with additional parameters for the analysis and compensation of remaining systematic effects for example caused by a not linear CCD-line. The determined sensor geometry can be used for the generation? of rational polynomial coefficients, describing the sensor geometry by relations of polynomials of the ground coordinates X, Y and Z.

• Journal of Korea Society of Industrial Information Systems
• /
• v.12 no.1
• /
• pp.46-53
• /
• 2007

NC (Numerical Control) code for the tool path needs to be generated efficiently for machining of free form pockets with arbitrary wall geometry on a three axis CNC machine. The unified rough and finish cut algorithm and the tool motion is graphically simulated in Part 1. In this paper, a grid based 3D navigation algorithm simulated in Part 1 for generating NC tool path data for both linear interpolation and a combination of linear and circular interpolation for three-axis CNC milling of general pockets with sculptured bottom surfaces is experimentally performed and verified.

• Proceedings of the Korea Concrete Institute Conference
• /
• 2003.11a
• /
• pp.301-304
• /
• 2003

Nowadays, hydration heat analysis using FEM is common in thermal crack control of concrete structure. Many kinds of general FEM programs for hydration heat analysis are used in practice. But there are some problems in this using. In this study hydration heat analysis of wall according to placement length are performed. In this results we could get two conclusions. First, general structures like wall having general geometry and construction condition have similar behavior. So it is not necessary to analysis thermal crack in every case. Second, the results of 2D analysis is possible to be applied instead of those of 3D analysis because the results of 2D analysis is similar to 3D analysis in long wall having about 15~18m or over length at 3m height.