• Transactions of the Korean Society of Mechanical Engineers
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• v.9 no.4
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• pp.528-538
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• 1985

A R-S-S-R three dimensional mechanism is designed for crank-rocker type through the optimization technique. The nonlinear kinematic equation of the mechanism is formulated by adopting the concept of structural error and precision points. Taking this equation as an objective function, the required mechanism is optimally synthesized by the Fletcher-Davidon-Powell's method of optimization techniques. The structural errors due to the various positions of precision points are compared, and the results from the use of two penalty functions suggested respectively by Fiacco-McCormick and by Powell are also compared on their effectiveness. The mobility of the optimally designed mechanism is checked for the possibility of its motion, and when a mechanism is optimally designed, it is strongly suggested that the mobility must be checked on the designed mechanism.

• Journal of Korean Society for Geospatial Information Science
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• v.17 no.1
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• pp.37-42
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• 2009

The accuracy of RTK GPS is limited by the distance dependent errors from orbit, ionosphere and troposphere, as the distance between the rover and the base station increases in the Real Time Kinematic surveying. To solve this problem, VRS system has installed. This study would estimated the accuracy of cadastral detail surveying, which is used on the VRS RTK instead of Total Station and RTK GPS demand for various equipments and time. As a result of study, the positioning accuracy of the VRS RTK and RTK GPS surveying make no greate difference, as RMSE of VRS RTK surveying is 0.144m and that of RTK GPS surveying is 0.146m and the new method would be more efficient.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.13 no.6
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• pp.88-98
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• 2014

A moving mass on a skewed linear guideway model to analyze the friction-induced stick-slip behavior of ball-screw-driven slides is proposed. To describe the friction force, a friction coefficient function is modelled as a third-order polynomial of the relative velocity between the slide mass and a guideway. A nonlinear differential equation of motion is derived and an approximate solution is obtained using a perturbation method for the amplitudes and base frequencies of both pure-slip and stick-slip oscillations. The results are presented with time responses, phase plots, and amplitude plots, which are compared adequately with those obtained by Runge Kutta 4th-order numerical integration, as long as the difference between the static and kinematic friction coefficients is small. However, errors in the results by the approximate solution increase and are not negligible if the difference between the friction coefficients exceeds approximately 40% of the static friction coefficient.

• International Journal of Control, Automation, and Systems
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• v.5 no.3
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• pp.283-294
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• 2007

In this paper, a nonlinear controller based on adaptive sliding-mode method which has a sliding surface vector including new boundizing function is proposed and applied to a two-wheeled welding mobile robot (WMR). This controller makes the welding point of WMR achieve tracking a reference point which is moving on a smooth curved welding path with a desired constant velocity. The mobile robot is considered in view of a kinematic model and a dynamic model in Cartesian coordinates. The proposed controller can overcome uncertainties and external disturbances by adaptive sliding-mode technique. To design the controller, the tracking error vector is defined, and then the sliding surface vector including new boundizing function and the adaptation laws are chosen to guarantee that the error vector converges to zero asymptotically. The stability of the dynamic system is shown through the Lyapunov method. In addition, a simple way of measuring the errors by potentiometers is introduced. The simulations and experimental results are shown to prove the effectiveness of the proposed controller.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.37 no.5
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• pp.397-402
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• 2019

Recently, with the emergence of autonomous vehicles and the increasing interest in safety, a variety of research has been being actively conducted to precisely estimate the position of a vehicle by fusing sensors. Previously, researches were conducted to determine the location of moving objects using GNSS (Global Navigation Satellite Systems) and/or IMU (Inertial Measurement Unit). However, precise positioning of a moving vehicle has lately been performed by fusing data obtained from various sensors, such as LiDAR (Light Detection and Ranging), on-board vehicle sensors, and cameras. This study is designed to enhance kinematic vehicle positioning performance by using feature-based recognition. Therefore, an analysis of the required precision of the observations obtained from the images has carried out in this study. Velocity and attitude observations, which are assumed to be obtained from images, were generated by simulation. Various magnitudes of errors were added to the generated velocities and attitudes. By applying these observations to the positioning algorithm, the effects of the additional velocity and attitude information on positioning accuracy in GNSS signal blockages were analyzed based on Kalman filter. The results have shown that yaw information with a precision smaller than 0.5 degrees should be used to improve existing positioning algorithms by more than 10%.

• Journal of Positioning, Navigation, and Timing
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• v.11 no.4
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• pp.251-261
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• 2022

The Centimeter Level Augmentation Service (CLAS) is the Precise Point Positioning (PPP) - Real Time Kinematic (RTK) correction service utilizing the Quasi-Zenith Satellite System (QZSS) L6 (1278.65 MHz) signal to broadcast the Global Navigation Satellite System (GNSS) error corrections. Compact State-Space Representation (CSSR) corrections for mitigating GNSS measurement error sources such as satellite orbit, clock, code and phase biases, tropospheric error, ionospheric error are estimated from the ground segment of QZSS CLAS using the code and carrier-phase measurements collected in the Japan's GNSS Earth Observation Network (GEONET). Since the CLAS service begun on November 1, 2018, users with dedicated receivers can perform cm-level precise positioning using CSSR corrections. In this paper, CLAS-based VRS-RTK performance evaluation was performed using Global Positioning System (GPS) observables collected from the refence station, TSK2, located in Japan. As a result of performing GPS-only RTK positioning using the open-source software CLASLIB and RTKLIB, it took about 15 minutes to resolve the carrier-phase ambiguities, and the RTK fix rate was only about 41%. Also, the Root Mean Squares (RMS) values of position errors (fixed only) are about 4cm horizontally and 7 cm vertically.

• Journal of Positioning, Navigation, and Timing
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• v.10 no.4
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• pp.243-251
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• 2021

Real-Time Kinematic (RTK) is a phase-based differential GNSS technique and uses additional observations from permanent reference stations to mitigate or eliminate effects like atmospheric delays or satellite clocks and orbit errors. In particular, as the position accuracy required in the fields of autonomous vehicles and drones is gradually increasing, the demand for RTK-based precise navigation that can provide cm-level position is increasing. Recently, with the rapid growth of the open-source software market, the use of open-source software for building navigation system of unmanned vehicles, which is difficult to mount an expensive GNSS receivers, is gradually increasing. RTKLIB is an open-source software package that can perform RTK positioning and is widely used for research and education purposes. However, since the performance and stability of RTK algorithm of RTKLIB is inevitably inferior to that of commercial GNSS receivers, users need to verify whether RTKLIB can satisfy the navigation performance requirements of unmanned vehicles. Therefore, in this paper, the performance evaluation of the RTK positioning algorithm of RTKLIB was performed using GNSS observation data acquired in a dynamic environment. Therefore, in this paper, the RTK positioning performance of RTKLIB was evaluated using GNSS observation data acquired in a dynamic environment. Our results show that the current RTK algorithm of RTKLIB is not suitable for precise navigation of unmanned vehicles.

• Journal of Sensor Science and Technology
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• v.32 no.5
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• pp.267-274
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• 2023

LiDAR, one of the most important sensing methods used in mobile robots and cars with assistive/autonomous driving functions, is used to locate surrounding obstacles or to build maps. For real-time path generation, the detection of potholes or puddles on the driving surface is crucial. To achieve this, we used the coordinates of the reflection points provided by LiDAR as well as the intensity information to classify water areas, which was achieved by applying a linear regression method to the intensity distribution. The rationale for using the LiDAR index as an input variable for linear regression is presented, and we demonstrated that it is not affected by errors in the distance measurement value. Because of LiDAR vertical scanning, if the reflective surface is not uniform, it is divided into different groups according to the intensity distribution, and a mathematical basis for this is presented. Through experiments in an outdoor driving area, we could distinguish between flat ground, potholes, and puddles, and kinematic analysis was performed to calculate the maximum width that could be crossed for a given vehicle body size and wheel radius.

• Korean Journal of Applied Biomechanics
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• v.19 no.4
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• pp.671-680
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• 2009

We performed a study to obtain kinematic data on the characteristics of spike serving techniques used by volleyball players, including other basic data that will be useful for in-field applications. We used three-dimensional videography to compare good tough serves and serve errors. The subjects were 3 left attackers whose spike serves were videographed (60 fileds/s). The three-dimensional coordinates were calculated using the direct linear transformation method and then analyzed using the Kwon 3D software program version 3.1. There was no difference in time elapsed. However, the vertical displacement of the center of body mass(CM) differed between the 2 types of serves: in successful serves, the CM tended to be lower, as did the maximum ball height at the time of hitting. Further, the higher the level of the hitting hand was at the moment of impact, the higher was the likelihood of scoring points. In good serves, the players tended to accelerate their CM movement just before jumping to hit the ball and descend rapidly at the moment of hitting. The hand speed along with ball velocity during the impact was proven to be higher in successful serves. Moreover, in successful serves, the shoulder angles increased to a greater extent while the elbow angles were maintained constant. This possibly resulted in faster and more precise serves. An important observation was that the angle of trunk inclination during the jump did not increase with the swing of the shoulders, muscle tendon complex.

• Korean Journal of Remote Sensing
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• v.32 no.4
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• pp.365-382
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• 2016

The results from the Global Positioning System (GPS) measurements of the Mobile Observation Vehicle (MOVE) on the eastern coast of Korea have been compared with REFerence (REF) values from the fixed GPS sites to assess the performance of Precipitable Water Vapor (PWV) retrievals in a kinematic environment. MOVE-PWV retrievals had comparatively similar trends and fairly good agreements with REF-PWV with a Root-Mean-Square Error (RMSE) of 7.4 mm and $R^2$ of 0.61, indicating statistical significance with a p-value of 0.01. PWV retrievals from the June cases showed better agreement than those of the other month cases, with a mean bias of 2.1 mm and RMSE of 3.8 mm. We further investigated the relationships of the determinant factors of GPS signals with the PWV retrievals for detailed error analysis. As a result, both MultiPath (MP) errors of L1 and L2 pseudo-range had the best indices for the June cases, 0.75-0.99 m. We also found that both Position Dilution Of Precision (PDOP) and Signal to Noise Ratio (SNR) values in the June cases were better than those in other cases. That is, the analytical results of the key factors such as MP errors, PDOP, and SNR that can affect GPS signals should be considered for obtaining more stable performance. The data of MOVE can be used to provide water vapor information with high spatial and temporal resolutions in the case of dramatic changes of severe weather such as those frequently occurring in the Korean Peninsula.