• Journal of the Korean Society for Precision Engineering
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• v.18 no.11
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• pp.138-147
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• 2001

Alignment systems are frequently used under various semiconductor manufacturing environment. Particularly in PDP(Plasma Display Panel) manufacturing process, the alignment system is applied to the combining and sealing processes of the upper and lower glass panels of PDP, where these processes are performed in the vacuum chamber of high vacuum and high temperature. In this paper, the XYΘ-alignment stage is developed to align PDP panels. Because of high vacuum and high temperature environment, the alignment chamber has been designed to isolate the inner part of the alignment chamber from the outer environment of high vacuum and high temperature, in which every part of the alignment stage is inserted. As it is difficult to attach feedback sensors to the alignment stage in the alignment chamber, the alignment stage is implemented with the open loop algorithm, where the parallel link structure has been designed using step-motors and ball-screws for structural simplicity. The kinematic analysis is performed to drive the parallel link structure, based on the experiments of actuation-compensation of the alignment stage. For the error compensation, the hyperpatch model has been used to model the errors. From the experiments, the positional accuracy of the alignment stage can be improved significantly.

• Korean Journal of Applied Biomechanics
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• v.18 no.1
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• pp.137-146
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• 2008

The purpose of this study is to examine the causes of errors from EGR posture on the balance beam, which is bending flick-flack salto backward stretched national team players through kinematic analysis, and present training methods for them so as to provide scientifically useful information to coaches and athlete. Findings from this study are summarized below. The most important factors that affect the errors in boyd center position and speed change were the speed change of left and right body centers and the horizontal and vertical speed changes. The left and right acceleration changes were greater in failed posture than in successful posture. The horizontal and vertical accelerations in E3 and E5 were the key factors that affected the backward somersault and landing. The angular speed changes which varied between success and failure were notable in head and shoulder joints. In individual results. The section when the angular speeds of head and shoulder joint must be the greatest was E4. In this section, when the body is extending instantly in a bent posture, increasing the angular speeds of head, shoulder and hip joints can improve the duration of staying in the air and the rotation radius of a somersault.

• Journal of the Korea institute for structural maintenance and inspection
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• v.18 no.1
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• pp.174-182
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• 2014

To monitor the wind-induced responses of buildings, conventional real-time kinematic (RTK) methods based on two global positioning system (GPS) receivers (e.g., a reference and a rover) are widely applied. However, these methods can encounter problems such as difficulty in securing and maintaining a space for a reference station. With the recently developed virtual reference station (VRS)-RTK approach, the position of a structure can be measured using only a rover receiver. In this study, to evaluate the applicability of VRS-RTK methods in monitoring the lateral structural responses of frame structures, we performed free vibration tests on a one-story frame model (the first natural frequency of 1 Hz) and a three-story frame model (the first natural frequency of 0.85 Hz). To assess the reliability of the displacement and acceleration responses measured by the GPS, we performed a concurrent measurement using laser displacement sensors and an accelerometer. The accelerometer results were consistent with the GPS measurements in terms of the time history and frequency content. Furthermore, to derive an appropriate sampling rate for the continuous monitoring of buildings, the errors in the displacement responses were evaluated at different GPS sampling rates (5, 10, 20 Hz). The results indicate that as the sampling rate increased, the errors in the displacement responses decreased. In addition, in the three-story model, all modal components (first, second, and third modes) could be recorded at a sampling rate of 20 Hz.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.38 no.6
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• pp.521-531
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• 2020

QZSS (Quasi-Zenith Satellite System) provides the CLAS (Centimeter Level Augmentation Service) through the satellite's L6 band. CLAS provides correction messages called C-SSR (Compact - State Space Representation) for GPS (Global Positioning System), Galileo and QZSS. In this study, CLAS messages were received by using the AsteRx4 of Septentrio which is a GPS receiver capable of receiving L6 bands, and the messages were decoded to acquire C-SSR. In addition, Multi-GNSS (Global Navigation Satellite System) Code-PPP (Precise Point Positioning) was developed to compensate for GNSS errors by using C-SSR to pseudo-range measurements of GPS, Galileo and QZSS. And non-linear least squares estimation was used to estimate the three-dimensional position of the receiver and the receiver time errors of the GNSS constellations. To evaluate the accuracy of the algorithms developed, static positioning was performed on TSK2 (Tsukuba), one of the IGS (International GNSS Service) sites, and kinematic positioning was performed while driving around the Ina River in Kawanishi. As a result, for the static positioning, the mean RMSE (Root Mean Square Error) for all data sets was 0.35 m in the horizontal direction ad 0.57 m in the vertical direction. And for the kinematic positioning, the accuracy was approximately 0.82 m in horizontal direction and 3.56 m in vertical direction compared o the RTK-FIX values of VRS.

• Journal of Positioning, Navigation, and Timing
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• v.4 no.1
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• pp.33-41
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• 2015

Compact Network Real-Time Kinematic (RTK) is a method that combines compact RTK and network RTK, and it can effectively reduce the time and spatial de-correlation errors. A network RTK user receives multiple correction information generated from reference stations that constitute a network, calculates correction information that is appropriate for one's own position through a proper combination method, and uses the information for the estimation of the position. This combination method is classified depending on the method for modeling the GPS error elements included in correction information, and the user position accuracy is affected by the accuracy of this modeling. Among the GPS error elements included in correction information, tropospheric delay is generally eliminated using a tropospheric model, and a combination method is then applied. In the case of a tropospheric model, the estimation accuracy varies depending on the meteorological condition, and thus eliminating the tropospheric delay of correction information using a tropospheric model is limited to a certain extent. In this study, correction information modeling accuracy performances were compared focusing on the Low-Order Surface Model (LSM), which models the GPS error elements included in correction information using a low-order surface, and a modified LSM method that considers tropospheric delay characteristics depending on altitude. Both of the two methods model GPS error elements in relation to altitude, but the second method reflects the characteristics of actual tropospheric delay depending on altitude. In this study, the final residual errors of user measurements were compared and analyzed using the correction information generated by the various methods mentioned above. For the performance comparison and analysis, various GPS actual measurement data were collected. The results indicated that the modified LSM method that considers actual tropospheric characteristics showed improved performance in terms of user measurement residual error and position domain residual error.

• Proceedings of the KSRS Conference
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• 2007.10a
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• pp.90-94
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• 2007

The conventional single-reference station positioning is affected by systematic errors such as ionospheric and tropospheric delay, so that the rover must be located within 10 km from the reference station in order to acquire centimeter-level accuracy. The medium-range real-time kinematic has been proven feasible and can be used for high precision applications. However, the longer of the baseline, the more of the time for resolving the integral ambiguity is required. This is due to the fact that systematic errors can not be eliminated effectively by double-differencing. Recently, network approaches have been proposed to overcome the limitation of the single-reference station positioning. The real-time systematic error modeling can be achieved with the use of GPS network. For expanding the effective range and decreasing the density of the reference stations, Land Survey Bureau, Ministry of the Interior in Taiwan set up a national GPS network. In order to obtain the high precision positioning and provide the multi-goals services, a GPS network including 66 stations already been constructed in Taiwan. The users can download the corrections from the data center via the wireless internet and obtain the centimeter-level accuracy positioning. The service is very useful for surveyors and the high precision coordinates can be obtained real time.

• Journal of Positioning, Navigation, and Timing
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• v.13 no.3
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• pp.221-235
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• 2024

Errors included in Global Navigation Satellite System (GNSS) measurements degrade the performance of user position estimation but can be mitigated by spatial correlation properties. Augmentation systems providing correction data can be broadly categorized into State Space Representation (SSR) and Observation Space Representation (OSR) methods. The satellite-based cm-level augmentation service based on the SSR broadcasts correction data via satellite signals, unlike the traditional Real-Time Kinematic (RTK) and Network RTK methods, which use OSR. To provide a large amount of correction data via the limited bandwidth of the satellite communication, efficient message structure design considering service area, correction generation, and broadcast intervals is necessary. For systematic message design, it is necessary to analyze the influence of error components included in GNSS measurements. In this study, errors in satellite orbits, satellite clocks for GPS, Galileo, BeiDou, and QZSS satellite constellations ionospheric and tropospheric delays over one year were analyzed, and their spatial decorrelations and linear modeling characteristics were examined.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.4
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• pp.63-68
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• 2018

The establishment of Ground Control Points (GCPs) in UAV-Photogrammetry is a working process that requires the most time and expenditure. Recently, the rapid developments of navigation sensors and communication technologies have enabled Unmanned Aerial Vehicles (UAVs) to conduct photogrammetric mapping without using GCP because of the availability of new methods such as RTK (Real Time Kinematic) and PPK (Post Processed Kinematic) technology. In this study, an experiment was conducted to evaluate the potential of RTK-UAV mapping with no GCPs compared to that of non RTK-UAV mapping. The positioning accuracy results produced by images obtained simultaneously from the two different types of UAVs were compared and analyzed. One was a RTK-UAV without GCPs and the other was a non RTK-UAV with different numbers of GCPs. The images were taken with a Canon IXUS 127 camera (focal length 4.3mm, pixel size $1.3{\mu}m$) at a flying height of approximately 160m, corresponding to a nominal GSD of approximately 4.7cm. As a result, the RMSE (planimetric/vertical) of positional accuracy according to the number of GCPs by the non-RTK method was 4.8cm/8.2cm with 5 GCPs, 5.4cm/10.3cm with 4 GCPs, and 6.2cm/12.0cm with 3 GCPs. In the case of non RTK-UAV photogrammetry with no GCP, the positioning accuracy was decreased greatly to approximately 112.9 cm and 204.6 cm in the horizontal and vertical coordinates, respectively. On the other hand, in the case of the RTK method with no ground control point, the errors in the planimetric and vertical position coordinates were reduced remarkably to 13.1cm and 15.7cm, respectively, compared to the non-RTK method. Overall, UAV photogrammetry supported by RTK-GPS technology, enabling precise positioning without a control point, is expected to be useful in the field of spatial information in the future.

• International Journal of Precision Engineering and Manufacturing
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• v.4 no.2
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• pp.30-38
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• 2003

This paper proposed PID controller for torch slider and PD controller for motor right wheel. to control the motion of two-wheeled welding mobile robot with seam tracking sensor touched on welding line. The motion control is realized in the view of keeping constant welding velocity and precise seam tracking even though the target welding line is on straight line or curved line. The position and direction of the body of the mottle robot are controlled by using signal errors between seam tracking sensor and body positioning sensor attached on the end of torch slider and body side of the mobile robot, respectively. In turning motion, the body and the torch slider are controlled by using the kinematic model related with two motions of body turning and torch sliding. The straight locomotion is controlled according to eleven control patterns obtained from displacements between two sensors of the seam tracking sensor and the body positioning sensor. The effectiveness is proven through the experimental results fur lattice type welding line. Through the experimental results, we can see that the position value of the electrode end point and the welding velocity are controlled almost constantly both in straight and turning locomotion.

• Smart Structures and Systems
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• v.18 no.4
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• pp.801-818
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• 2016

To estimate structural displacement, a visually servoed paired structured light system (ViSP) was proposed in previous studies. The ViSP is composed of two sides facing each other, each with one or two laser pointers, a 2-DOF manipulator, a camera, and a screen. By calculating the positions of the laser beams projected onto the screens and rotation angles of the manipulators, relative 6-DOF displacement between two sides can be estimated. Although the performance of the system has been verified through various simulations and experimental tests, it has a limitation that the accuracy of the displacement measurement depends on the alignment of the laser pointers. In deriving the kinematic equation of the ViSP, the laser pointers were assumed to be installed perfectly normal to the same side screen. In reality, however, this is very difficult to achieve due to installation errors. In other words, the pose of laser pointers should be calibrated carefully before measuring the displacement. To calibrate the initial pose of the laser pointers, a specially designed jig device is made and employed. Experimental tests have been performed to validate the performance of the proposed calibration method and the results show that the estimated displacement with the initial pose calibration increases the accuracy of the 6-DOF displacement estimation.