• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.22 no.3
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• pp.217-223
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• 2004

In order to improve real-time positioning accuracy, a number of methods have been tested and one of those is the inverted RTK(Real-time kinematic) that gives a precise positioning by handling carrier phase measurements. For the inverted RTK positioning, it needs the L1 phase measurement at least for 1～2 minutes and the additional reference stations/communication system and a data processing server are required. The L1 code and carrier phase measurements for real-time application are used simultaneously and then Kalman filter is applied to estimate integer ambiguities. Double differenced integer ambiguities are resolved by utilizing the FARA(Fast Ambiguity Resolution Approach). In this paper, we propose the method to improve the positioning accuracy and performed the field tests for several baselines from DAEJ reference station in KAO(Korea Astronomy Observatory).

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.913-916
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• 1990

In this paper, attempts have been made to control AC synchronous servo motor used as actuators of joints of the FARA robot with high dynamic performance and precise positioning. The AC synchronous servo motors used in FARA robots have resolves as position sensors. Resolver to digital converters are used in order to obtain the information of rotor speed and position from resolver outputs. The proposed joint position control system consists of four speed controller and one position controller. Analog methods are used in the position controller, while digital methods are used in the position controller. For precise position control, PID control algorithm and interpolation functions are executed in two 16 bit microprocessors with sampling rate 2ms. Experimental results show that the proposed joint position control system can be effectively applied to industrial robots in order to obtain high dynamic performance and precise positioning. The proposed joint position control system is being used in the control of FARA robots of Samsung Electronics.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.714-717
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• 1992

An intelligent robot control system is developed, which is based on extensible hardwares and softwares. The system could be used to test advanced and complex real time application programs to avoid constraints on present robot control system in executing a complex or precise algorithms, due to the limitation of hardware and software. In this paper we used the RCCL(Robot Control C Library) on SUN4 as a supervisory system that plays the path planning and man-machine interface. And we used VxWORKS as a real time OS on a VME bus CPU equiped with some interface boards. Two systems were connected through the Ethernet network. We used the 4 axis manipulator, FARA, developed by Samsung Electronics Co.

• Journal of Sasang Constitutional Medicine
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• v.18 no.3
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• pp.49-56
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• 2006

1. Objectives We are going to develope 3D Face Recognition Apparatus to analyse the facial characteristics of the Sasangin. In the process, we should identify a Hardware Error Analysis of this Apparatus. 2. Methods We verified The resolution, the repetition ability, the Flatness and the Cylindericity of 3D Face Recognition Apparatus by measuring a triangular pyramid, an exact square pillar and a cylinder. 3. Results and Conclusions In this test, The resolution of 3D-FARA was $0.0368mm{\times}0.0594mm{\times}0.2748mm(X{\times}Y{\times}Z)$, the repetition ability was 0.1187mm, the Flatness was 0.17188mm. the Flatness of triangular pyramid was 1.39034mm and the Cylindericity of cylinder was 3.1306mm. In conclusion, If we use 3D-FARA, It is necessary to complement the site of top of the nose and the outline of face, which is likely to occur hardware error, by using software invention or attaching the Land mark to subject.

• Korean Journal of Logic
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• v.16 no.2
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• pp.189-231
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• 2013

The purpose of this paper is to show that Williamson's counterexamples and Fara's paradox do not conclusively refute supervaluationism. I will achieve this purpose on the basis of local validity. In general, people regard supervaluational validity as global validity. And D-introduction, which is premise of Williamson's counterexamples and Fara's paradox, is justified only if we assume global validity. But it cannot correctly grasp supervaluational semantics, especially semantic character of D-operator. So I will show that validity of supervaluationism is local and define global validity by local validity. Strategy of this paper is to protect supervaluationism against Williamson's counterexamples and Fara's paradox by minimal modification of supervaluationism and to prove that supervaluational logic is not revisionary and weak for solving the sorites paradox.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.724-727
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• 1997

In this paper, we developed a Windows 95 version Off-Line Programming System which can simulate a Robot model in 3D Graphic space. 4 axes SCARA Robot (especially FARA SM5)was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the OLP system in the Windows 95's GUI environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D Graphics.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.565-570
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• 1999

In this paper, we developed a windows 95 version Off-Line Programming system which can simulate a Robot model in 3D Graphics space. 4axes SCARA Robot (especially FARA SM5) was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the OLP system in the Windows 95's GUI environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by silicon Graphics, Inc. were utilized for 3D Graphics.

• Tunnel and Underground Space
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• v.25 no.3
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• pp.221-230
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• 2015

This study examined and analyzed several mine management software programs developed in domestic and oversea countries. In the oversea countries, many companies have developed and commercialized mine management softwares such as Dispatch, $Cat^{(R)}$ $MineStar^{TM}$ and FARA. These softwares provide many functionalities including real-time machine tracking, machine assignment optimization, productivity management, equipment health monitoring and remote control. For the domestic cases, this study reviewed two software programs (i.e., GEMISIMS, Truck-Shovel fleet optimization) developed by several researchers because there is no mine management software currently commercialized in Korea. In addition, this paper reports the two cases at the Jwaneng mine in Botswana and at the Robinson mine in United States where mine management software programs are used to support mine operations.

• Journal of Sasang Constitutional Medicine
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• v.18 no.3
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• pp.57-63
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• 2006

1. Objectives The Face is an important standard for the classification of Sasang Contitutions. Now We are developing 3D Face Automatic Recognition Apparatus to analyse the facial characteristics. This apparatus show us 3D image of man's face and measure facial figure. We should examine accuracy of position recognition in 3D Face Automatic Recognition Apparatus. 2. Methods We took a photograph of Face status with Land Mark 8 times using Face Automatic Recognition Apparatus. Each taking-photo, We span Face statusby 10 degree. At last time, We took a photograph of Face status's lateral face. And We analysed Error Averige of Distance between seven Land Marks. So We examined the accuracy of position recognition in 3D Face Automatic Recognition Apparatus at indirectly in degree changing of Face status. 3. Results and Conclusions According to degree change of Face status, Error Averige of Distance between Seven Land Marks is 0.1848mm. In conclusion, We assessed that accuracy of position recognition in 3D Face Automatic Recognition Apparatus is considerably good in spite of degree changing of Face status

• Journal of the Korean Society of Industry Convergence
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• v.17 no.1
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• pp.27-34
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• 2014

This paper proposes a new approach to the designed of visual feedback control system based on visual servoing method. The main focus of this paper is presented how it is effective to use many features for improving the accuracy of the visual feedback control of industrial articulated robot for assembling and inspection of parts. Some rank conditions, which relate the image Jacobian, and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. The effectiveness of redundant features is verified by the real time experiments on a SCARA type robot(FARA) made in samsung electronics company.