• 한국측량학회:학술대회논문집
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• 한국측량학회 2007년도 춘계학술발표회 논문집
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• pp.85-88
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• 2007

Sea level fluctuation present a direct influence to those who live near the coast. The importance of monitoring sea level is evident. Therefore, various techniques have been employed for sea level measurements such as the coastal water level gauges, satellite altimetry and GPS buoy. Especially, GPS buoys have been used to measure water levels, atmospheric parameter and other physical conditions in sea, tide correction, the altimeter range calibration, ocean environment. In this paper, we will mainly concentrate on the kinematic technique for GPS buoy to measure the sea level. A test was carried out to test the method proposed in this paper, which made use of a GPS buoy equipped to monitor the sea level in Busan. We have executed to analysis about applications of GPS buoy.

• 한국산업융합학회 논문집
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• 제21권1호
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• pp.37-44
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• 2018

In this work, a 4-DOF industrial robot system with three translational and one rotational motions which is widely used in palletizing applications is developed. In order for small robot manufacturing companies to develop their own robot systems for CNC machining and/or general automations, the analysis and design methods of a 4-DOF robot manipulator are presented and the development of a PC-based robot controller with EtherCAT are introduced. It is noted that the robot controller is developed by using Simulink Real-Time, which can provide an integrated environment of easier control algorithm development and data logging. Through position control and accuracy/repeatability measurement results, the developed robot prototype has comparable performances with commercial counterparts. In the future works, the advanced functions of industrial robots such as kinematic calibration, vibration suppression control, computed torque control, etc. will be investigated.

• 한국공작기계학회논문집
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• 제17권3호
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• pp.1-7
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• 2008

This paper describes the kinematics which is a new type of parallel manipulator, and the neural network is applied to solving the forward kinematics problem. The parallel manipulator called it as a Stewart platform has an easy and unique solution about the inverse kinematics. However, the forward kinematics is difficult to get a solution because of the lack of an efficient algorithm caused by its highly nonlinearity. This paper proposes the neural network scheme of an Newton-Raphson method alternatively. It is found that the neural network can be improved its accuracy by adjusting the offset of the obtained result.

• 대한공간정보학회지
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• 제18권1호
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• pp.11-20
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• 2010

지금까지 국내에서 개발된 분포형 강우-유출모형은 입력 자료의 구축에 많은 시간과 노력이 필요하며, 유출과정에서 운동역학적인 이론에 근거하여 물의 흐름을 수치해석으로 추적해 나가는데 많은 계산시간이 소요되는 단점이 있었다. 그래서 지금까지 분포형모형의 적용유역은 대부분 일정규모 이내의 유역에 국한되어 적용되어왔다. 하지만, 최근 유역관리 개념의 변화에 따라 통합유역관리의 필요성이 증대되면서 댐의 상.하류를 포함한 유역전체의 유출계산이 요구되었다. 본 논문은 자체개발한 GIS기반의 물리학적 분포형 강우-유출모형인 K-DRUM을 국내 대유역인 금강권수계 전체를 대상으로 모의하여 홍수유출시 대유역에 대하여 분포형모형의 실무에서의 적용 가능성을 검토하였다. GIS수문매개변수를 DEM, 토지피복도, 토양도 등의 기본 GIS자료들로부터 추출하여 모형의 입력인자로 사용하였으며, 초기 토양함수조건을 설정하는데 있어서 자동보정기법을 적용함으로써 기존의 시행착오법으로 인해 소요되는 시간과 부정확한 설정으로 인해 발생될 수 있는 문제점을 해결하였다. 태풍 "에위니아"를 대상으로 용담, 대청, 공주 지점에서의 유출량 모의 결과 체적오차백분율은 13.3~25.6%, 첨두유량오차백분율은 5.4~22.8%, 총유출량오차는 7.3~12.5%로 실무적용 가능성이 충분한 것으로 판단된다.

• 대한기계학회논문집A
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• 제22권2호
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• pp.372-379
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• 1998

A new 6 degrees-of-freedom micro stage, based on parallel mechanisms and actuated by using piezoelectric elements, has been developed for the application of micro positioning such as semiconductor manufacturing devices, high precision optical measurement systems, and high accurate machining. The micro stage structure consists of a base platform and an upper platform(stage). The base platform can effectively generates planar motion with yaw motion, while the stage can do vertical motion with roll and pitch motions with respect to the base platform. This separated structure has an advantage of less interference among actuators. The forward and inverse kinematics of the micro stage are discussed. Also, through linearization of kinematic equations about an operating point on the assumption that the configuration of the micro stage remains essentially constant throughout a workspace is performed. To maximize the workspace of the stage relative to fixed frame, an optimal design procedure of geometric parameter is shown. Hardware description and a prototype are presented. The prototype is about 150mm in height and its base platform is approximately 94mm in diameter. The workspace of the prototype is obtained by computer simulation. Kinematic calibration procedure of the micro stage and its results are presented.

• 한국산림과학회지
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• 제81권4호
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• pp.337-345
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• 1992

산지유역은 대부분이 수원대(水源帶)이고 수자원상 중요한 위치를 차지하고 있기 때문에 수자원의 확보와 홍수재해의 경감을 위해 삼림의 유량조절기능과 우수유출(雨水流出)에 미치는 삼림의 영향을 정량적으로 해석할 필요가 있다. 본 논문은 유출해석모델로 Kinematic wave법을 채용했다. 그리고 모델의 조변수(助變數)(parameter)로서 사면조도계수(斜面組度係數)를 동정(calibration)에 의해 추정해서 그 값으로 삼림의 이수기능(理水機能)을 평가할 수가 있었다. 본 논문에 사용한 수문자료(水文資料)는 동경대학(東京大學) 애지(愛知)연습림의 두 시험유역에서 관측한 자료이다. 삼림이 수기능의 평가방법으로서 제안한 조도계수의 추정방법과 그 결과를 요약하면 다음과 같다. 1. 조도계수($N_s$)는 산복사면의 표면유(表面流)의 유수저항(流水抵抗)을 나타낸다. 즉 삼림의 성장과 함께 $A_o$층(層)의 발달에 의해 우수(雨水)의 유하(流下)가 방해를 받는다. 2. Kinematic wave법(法)에 의한 모델실험에 의하여 하도(河道)의 직접유출량(直接流出量)을 계산할 때 조변수로서 사면 조도계수의 값을 추정할 수가 있었다. 3. 혈궁유역(穴宮流域)에서의 조도계수는 지수함수적으로 일정치에 점근(漸近)하면서 증대하는 곡선상에 있고, 치산 조림의 성과가 나타나기 시작한 1940년대 전후의 급격한 증대가 특징적이다. 한편 백판유역(白坂流域)에서는 직선적으로 미증(微增)경향이 있는 것으로 지표의 상태에는 거의 변화가 없었던 것이 추찰(推擦)된다. 4. 조도계수값의 증대는 직접유출량의 감소 및 기저유츨량(基底流出量)의 증대와 직접적인 관련이 있었다. 임상(林相)의 양호화(良好化)와 함께 한 강우에 대한 직접유출량의 비율은 상대적으로 감소하고, 기저유출량의 비율이 증가하는 경향이 인정되었다. 그러나 한 강우에 대한 유출량의 절대량은 경년적(經年的)으로 감소해 가는 경향이 있었다.

• 대한기계학회논문집A
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• 제21권12호
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• pp.2146-2155
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• 1997

This paper presents the Wire Parallel Mechanism for robot pose measurement which can be used to robot calibration. It is constructed with six parallel links using wire. The position and orientation of the end effector of a robot are calculated from the wire length that measured by the encoder. The unique solution is obtained from a Newton-Raphson method and geometric configuration of the mechanism, also the method to estimate a measuring space is presented. Through the simulations, it is verified that the proposed mechanism can measure a robot pose, and has a large measuring space. In conclusion, it can be used effectively in a robot pose measurement with little cost and effort.

• 한국생산제조학회지
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• 제26권2호
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• pp.223-229
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• 2017

Recently, robotic bin-picking tasks have drawn considerable attention, because flexibility is required in robotic assembly tasks. Generally, stereo camera systems have been used widely for robotic bin-picking, but these have two limitations: First, computational burden for solving correspondence problem on stereo images increases calculation time. Second, errors in image processing and camera calibration reduce accuracy. Moreover, the errors in robot kinematic parameters directly affect robot gripping. In this paper, we propose a method of correcting the bin-picking error by using trinocular vision system which consists of two stereo cameras andone hand-eye camera. First, the two stereo cameras, with wide viewing angle, measure object's pose roughly. Then, the 3rd hand-eye camera approaches the object, and corrects the previous measurement of the stereo camera system. Experimental results show usefulness of the proposed method.

• Water Engineering Research
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• 제2권1호
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• pp.49-61
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• 2001

A grid-based KIneMatic wave soil-water EROsion and deposition Model(KIMEROM) that predicts temporal variation and spatial distribution of sediment transport in a watershed was developed. This model uses ASCII-formatted map data supported from the regular gridded map of GRASS (U.S. Army CERL, 1993)-GIS(Geographic Information Systems), and generates the distributed results by ASCII-formatted map data. For hydrologic process, the kinematic wave equation and Darcy equation were used to simulated surface and subsurface flow, respectively (Kim, 1998; Kim et al., 1998). For soil erosion process, the physically-based soil erosion concept by Rose and Hairsine (1988) was used to simulate soil-water erosion and deposition. The model adopts single overland flowpath algorithm and simulates surface and subsurface water depth, and sediment concentration at each grid element for a given time increment. The model was tested to a 162.3 $\textrm{km}^2$ watershed located in the tideland reclaimed ares of South Korea. After the hydrologic calibration for two storm events in 1999, the results of sediment transport were presented for the same storm events. The results of temporal variation and spatial distribution of overland flow and sediment areas are shown using GRASS.

• 한국수자원학회:학술대회논문집
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• 한국수자원학회 2001년도 학술발표회 논문집(I)
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• pp.25-34
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• 2001

A grid-based KIneMatic wave soil-water EROsion and deposition Model (KIMEROM) that predicts temporal variation and spatial distribution of sediment transport in a watershed was developed. This model uses ASCII-formatted map data supported from the regular gridded map of GRASS (U.S. Army CERL, 1993)-GIS (Geographic Information Systems), and generates the distributed results by ASCIIl-formatted map data. For hydrologic process, the kinematic wave equation and Darcy equation were used to simulate surface and subsurface flow, respectively (Kim, 1798; Kim et al., 1993). For soil erosion process, the physically-based soil erosion concept by Rose and Hairsine (1988) was used to simulate soil-water erosion and deposition. The model adopts sing1e overland flowpath algorithm and simulates surface and subsurface water depth, and sediment concentration at each grid element (or a given time increment. The model was tested to a 162.3 km$^2$ watershed located in the tideland reclaimed area of South Korea. After the hydrologic calibration for two storm events in 1999, the results of sediment transport were presented for the same storm events. The results of temporal variation and spatial distribution of overland flow and sediment areas are shown using GRASS.