• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.197-203
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• 2005

This paper presents kinematic calibration of parallel manipulators with partial pose measurements using a device that measures a rotation of the end-effector along with its position. The device contains an LVDT, a biaxial inclinometer, and a rotary sensor and facilitates automation of the measurement procedure. The device is designed in a modular fashion and links of different lengths can be used. The additional kinematic parameters required for the measurement device are discussed, kinematic relations are derived, and cost function is established to perform calibration with the proposed device. The study is performed for a six degree-of-freedom(DOF) fully parallel HexaSlide Mechanism(HSM). Experimental results show significant improvement in the accuracy of the HSM.

• Journal of Drive and Control
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• v.19 no.4
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• pp.70-76
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• 2022

In this paper, we develops an unmanned test system for the purpose of realizing an actual forklift-based test-bed for the operation durability of the forklift mast. First, two robot actuators were applied to the lever to replace lever manipulation of the operator. For detecting the height of the fork and the tilt angle of the mast, the laser displacement sensor and the inclinometer were installed to the forklift. Next, the embedded control system was used to control the robot actuator with reference to test mode. Experimental evaluation verified that developed test system was effective and practical for the viewpoint of the repeatability of the test mode.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.23 no.11
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• pp.1364-1370
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• 2019

Tilt sensors are mainly used to measure the collapse of structures such as buildings, bridges and tunnels. Recently, due to the ease of use and low price, many tilt sensors using MEMS sensors have been used, but the measurement angle range is limited, and thus, they do not have high precision for 360 degree. This is due to the inherent offset and scale errors of MEMS sensors. In this paper, we proposed an algorithm for the calculation of precision angles to reduce the mechanical error of MEMS sensors, and produced a MEMS sensor module and a transmission module to compare the angle accuracy of sensor modules before calibration and the angle measurement accuracy after calibration. Experimental results show that the proposed technique has a precision of ± 0.015 degrees for all 360-degree.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.17 no.6
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• pp.153-172
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• 2018

Overloading of Commercial vehicles have been an important area of transportation as one of the main causes of pavement damage, bridge collapse, severe traffic accident, etc. In this study, we analyzed the effects of overweight prevention by analyzing overweight driving patterns and using weight sensors. First, we analyzed relevant literatures of overweight and surveyed the commercial weight sensors. Then we chose the typical type of overweight vehicles based of overweight enforcement data analysis. MEMs inclinometer weight sensor were installed to 10 test vehicles and data was collected by weight sensors and gps in real time. As a result of gross vehicle weight and axle weight analysis, it was found weight sensor could decrease overweight rate. However, since the number of samples of test vehicles is insufficient to represent the whole commercial vehicle, further studies are deemed possible through the extension test.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1615-1620
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• 2003

Kinematic calibration is a process whereby the actual values of geometric parameters are estimated so as to minimize the error in absolute positioning. Measuring all components of Cartesian posture, particularly the orientation, can be difficult. With partial pose measurements, all parameters may not be identifiable. This paper proposes a new device that can identify all kinematic parameters with partial pose measurements. Study is performed for a six degree-of-freedom fully parallel Hexa Slide manipulator. The device, however, is general and can be used for other parallel manipulators. The proposed device consists of a link with U joints on both sides and is equipped with a rotary sensor and a biaxial inclinometer. When attached between the base and the mobile platform, the device restricts the end-effector's motion to five degree-of-freedom and can measure position of the end-effector and one of its rotations. Numerical analyses of the identification Jacobian reveal that all parameters are identifiable. Computer simulations show that the identification is robust for the errors in the initial guess and the measurement noise. Intrinsic inaccuracies of the device can significantly deteriorate the calibration results. A measurement procedure is proposed and formulations of cost functions are discussed to prevent propagation of the inaccuracies to the calibration results.

• Bulletin of the Korean Space Science Society
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• 2008.10a
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• pp.35.3-36
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• 2008

The ground-based spacecraft simulator is a useful tool to realize various space missions and satellite formation flying in the future. Also, the spacecraft simulator can be used to develop and verify new control laws required by modern spacecraft applications. In this research, therefore, Hardware-in-the-loop (HIL) simulator which can be demonstrated the experimental validation of the theoretical results is designed and developed. The main components of the HIL simulator which we focused on are the thruster system to attitude control and automatic mass-balancing for elimination of gravity torques. To control the attitude of the spacecraft simulator, 8 thrusters which using the cold gas (N2) are aligned with roll, pitch and yaw axis. Also Linear actuators are applied to the HIL simulator for automatic mass balancing system to compensate for the center of mass offset from the center of rotation. Addition to the thruster control system and Linear actuators, the HIL simulator for spacecraft attitude control includes an embedded computer (Onboard PC) for simulator system control, Host PC for simulator health monitoring, command and post analysis, wireless adapter for wireless network, rate gyro sensor to measure 3-axis attitude of the simulator, inclinometer to measure horizontality and battery sets to independently supply power only for the simulator. Finally, we present some experimental results from the application of the controller on the spacecraft simulator.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1494-1499
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• 2003

Kinematic calibration is a process whereby the actual values of geometric parameters are estimated so as to minimize the error in absolute positioning. Measuring all components of Cartesian posture, particularly the orientation, can be difficult. With partial pose measurements, all parameters may not be identifiable. This paper proposes a new device that can be used to identify all kinematic parameters with partial pose measurements. Study is performed for a six degree-of-freedom fully parallel Hexa Slide manipulator. The device, however, is general and can be used for other parallel manipulators. The proposed device consists of a link with U joints on both sides and is equipped with a rotary sensor and a biaxial inclinometer. When attached between the base and the mobile platform, the device restricts the end-effector's motion to five degree-of-freedom and can measure position of the end-effector and one of its rotations. Numerical analyses of the identification Jacobian reveal that all parameters are identifiable. Computer simulations show that the identification is robust for the errors in the initial guess and the measurement noise.

• Journal of Astronomy and Space Sciences
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• v.26 no.1
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• pp.47-58
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• 2009

In this study, a Hardware-In-the-Loop (HIL) simulator using thrusters is developed to validate the spacecraft attitude system. To control the attitude of the simulator, eight cold gas thrusters are aligned with roll, pitch and yaw axis. Also linear actuators are applied to the HIL simulator for automatic mass balancing to compensate the center of mass offset from the center of rotation. The HIL simulator consists of an embedded computer (Onboard PC) for simulator system control, a wireless adapter for wireless network, a rate gyro sensor to measure 3-axis attitude of the simulator, an inclinometer to measure horizontal attitude, and a battery set to supply power for the simulator independently. For the performance test of the HIL simulator, a bang-bang controller and Pulse-Width Pulse-Frequency (PWPF) modulator are evaluated successfully. The maneuver of 68 deg. in yaw axis is tested for the comparison of the both controllers. The settling time of the bang -bang controller is faster than that of the PWPF modulator by six seconds in the experiment. The required fuel of the PWPF modulator is used as much as 51% of bang-bang controller in the experiment. Overall, the HIL simulator is appropriately developed to validate the control algorithms using thrusters.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.30 no.8
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• pp.133-140
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• 2002

In this paper, the structure of integrated navigation computer for experiment is proposed. It is designed for considering the real time processing and data storage capacity. It will be used in missile, aircraft, submarine system and experimental vehicle. The I/O device supports IMU, GPS, odometer, altimeter, depth sensor, inclinometer etc. And the main storage device uses the tape device. That can improve the system stability. Therefore it can be used in a high dynamic or shock environment. The embedded linux is used as an Operating System. For the real time capability, sensor data processing and algorithm processing units are seperated. The time synchronization is referenced by IMU data.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.20 no.12
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• pp.1308-1315
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• 2009

A full-polarimetric scatterometer(HPS: Hongik Polarimetric Scatterometer) for X-band is designed, fabricated, and verified using the theoretically well-known point-targets in this paper. The X-band full-polarimetric scatterometer consists of an OMT(Orthogonal-Mode Transducer)+horn antenna, the angle control part for the OMT+horn antenna, a transmitter/receiver with a network analyzer and a frequency-conversion circuitry, and a movable support of these parts. We use an inclinometer sensor to control the vertical and horizontal incidence angles. The full polarimetric data can be obtained because of the polarization switches and the OMT. The accuracy of the scatterometer system is verified by measuring the polarimetric RCS(Radar Cross Section) of one of the theoretically well-known point-targets, i.e., a corner reflector.