• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.962-966
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• 1989

A Digital Signal Processor (abbreviated to DSP) is used not only for digital signal processing but also for kinematic controls[l]. Then applications to these fields are expected to be developed. We propose a function calculation method on DSP which occupies no table memory. By using these functions, more fast or more accurate control will be achieved without using function table.

• Journal of Astronomy and Space Sciences
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• v.32 no.4
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• pp.403-409
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• 2015

The Quasi-Zenith Satellite System (QZSS), a dedicated regional Japanese satellite system currently under development, was designed to complement the performance of the Global Positioning System (GPS). The high elevation angle of the QZSS satellite is expected to enhance the effectiveness of GPS in urban environments. Thus, the work described in this paper, aimed to investigate the effect of QZSS on GPS performance, by processing the GPS and QZSS measurements recorded at the Bohyunsan reference station in South Korea. We used these data, to evaluate the satellite visibility, carrier-to-noise density (C/No), performance of single point positioning, and Dilution of Precision (DOP). The QZSS satellite is currently available over South Korea for 19 hours at an elevation angle of more than 10 degrees. The results showed that the impact of the QZSS on users' vertical positioning is greatest when the satellite is above 80 degrees of elevation. As for Precise Point Positioning (PPP) performance, the combined GPS/QZSS kinematic PPP was found to improve the positioning accuracy compared to the GPS only kinematic PPP.

• Transactions of Materials Processing
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• v.9 no.4
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• pp.395-403
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• 2000

Formation of Shear Band under the adiabatic condition is widely observed In the engineering materials during rapidly forming process lot a thermally rate-dependent material. The shear band stems from evolution of a narrow region in which an intensive plastic flow occurs. The shear band often plays a role of a precursor of the ductile fracture during a forming process. The objective of this study is to investigate the localization behavior using numerical method. In this work, the implicit finite difference scheme is employed due to the ease of convergence and the numerical stability It is noted that physical and mechanical properties of materials determine how the shear band is formed and then localized. Material properties can be characterized with inertia number dissipation number and diffusion number. It is observed that the dimensionless numbers effect on localization. Using a parametric study, comparison was made between CRS-1018 steel with WHA (tungsten heavy alloy). The deformation behavior of material in this study include an isotropic hardening as well as thermal softening. Moreover, this study suggests that a kinematic hardening constitutive relation be required to predict a more accurate strain level at a shear band.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.16 no.2
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• pp.271-279
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• 1998

This paper discusses the development of compaction management system using Real Time Kinematic (RTK) GPS technology for the efficient management or compaction. The use or RTK provides the land surveyors with a graphical display of his/her corrected position on the ground at that moment in time. In this work, we intended to improve the efficiency of compaction management showing the route of rollers and the total number of compaction obtained from management software (GPSROLL v.1.0) developed in this study. The RTK GPS system installed on the roller. To improve the efficiency of field management, GPSROLL software provides also data processing module for the field soil test and the field surveying data. GPSROLL system is based on the Korean GUI for user-friendly data input and output.

• 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).

• Korean Journal of Geomatics
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• v.2 no.1
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• pp.65-73
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• 2002

GPS in the United States and GLONASS of the old Soviet Union are used currently as satellite navigation systems. Plans are being made to use the Galileo satellite system in Europe, and these plans focus on a combined application of the satellite navigation systems. In this study, we examined the possibility of effective application of a combination of GPS/GLONASS in urban areas, where 3-dimensional positioning is impossible with GPS alone. We analyzed the 3-D coordinate deviation of a GLONASS satellite by integration interval and compared it with GLONASS satellite coordinates in precise ephmerides by transforming it into WGS84. We also programmed GPS/GLONASS, analyzed 3-D positioning accuracy by static surveying and kinematic surveying with Ashtech Z18 receivers and Legacy receivers, and then compared the results to those of GPS surveying. As a result, we are able to decide the integration interval for producing GLONASS satellite coordinates in navigation and geographical information and construct a GPS/GLONASS data processing system by developing a DGPS/DGLONASS positioning program. If more than four GLONASS satellites are observed, the accuracy of GPS/GLONASS is better than that of GPS positioning. As a result of kinematic surveying in a congested urban area with skyscrapers, we discovered that the GPS/LONASS combination is very effective.

• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.417-424
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• 2022

In this paper, the developed trunk cargo unloading automation system is introduced, and the RGB-D sensor-based box loading situation recognition method and unloading plan applied to this system are suggested. First of all, it is necessary to recognize the position of the box in a truck. To do this, we first apply CNN-based YOLO, which can recognize objects in RGB images in real-time. Then, the normal vector of the center of the box is obtained using the depth image to reduce misrecognition in parts other than the box, and the inner wall of the truck in an image is removed. And a method of classifying the layers of the boxes according to the distance using the recognized depth information of the boxes is suggested. Given the coordinates of the boxes on the nearest layer, a method of generating the optimal path to take out the boxes the fastest using this information is introduced. In addition, kinematic analysis is performed to move the conveyor to the position of the box to be taken out of the truck, and kinematic analysis is also performed to control the robot arm that takes out the boxes. Finally, the effectiveness of the developed system and algorithm through a test bed is proved.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.29 no.3
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• pp.311-318
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• 2011

On March 11, 2011, an 9.0-magnitude earthquake occurred near the northeastem coast Japanese. It was the largest earthquake that hit Japan since the beginning of modern seismometry. The earthquake occurred 179km east of the Sendai, Miyagi Prefecture, leaving about 27,000 of people confirmed dead, injured or missing due to the earthquake and tsunami. In this study, crustal Deformation in Mizusawa, Tsukuba and Usuda station were calculated based on GPS data in IGS station of Japan. The observation data were processed by precise point positioning and relative-positioning method using on-line GPS data processing services and a high precision scientific GPS/GLONASS data processing software. The coseismic displacements in IGS stations before and after the earthquake were analyzed using kinematic precise point positioning method, and the crustal deformation of the areas before and after the earthquake were precisely calculated using the relative-positioning method. The results of the study calculated precise coordination that the RMSE is maximum ${\pm}0.003m$, respectively and showed that Mizusawa station moved 2.6m southeast by the earthquake.

• Journal of Positioning, Navigation, and Timing
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• v.6 no.2
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• pp.79-86
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• 2017

Precise Point Positioning-Real Time Kinematic (PPP-RTK) refers to a technology that combines PPP with network-RTK in which a user does not directly receive observed data from a reference station but receives State-Space Representation (SSR) messages corrected for error components from a central processing station through Networked Transport of RTCM via Internet Protocol (NTRIP) or Digital Multimedia Broadcasting (DMB) for purposes of positioning. SSR messages, which refer to corrections used in PPP-RTK, are generated by a central processing station using real-time observed data collected from reference stations and account for corrections needed due to the ionosphere, troposphere, satellite orbital errors, satellite time offsets, and satellite biases. This study used a type of SSR message provided in South Korea, known as Korea-SSR (K-SSR), to implement a PPP-RTK algorithm based on code-pseudorange measurements and validated its accuracy within the reference station network. In order to validate the accuracy of the implemented algorithm outside of the network, the K-SSR was extrapolated and applied to positioning in reference stations in Changchun, China (CHAN) and Japan (AIRA). This also entailed a quantitative evaluation that measured improvements in accuracy in comparison with point positioning. The results of the study showed that positioning applied with extrapolated K-SSR correction data was more accurate in both AIRA and CHAN than point positioning with improvements of approximately 20~50%.

• Journal of Internet Computing and Services
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• v.10 no.4
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• pp.1-11
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• 2009

Recently there has arisen concern in both the database community and the graphics society about data retrieval from large motion databases because the high dimensionality of motion data implies high costs. In this circumstance, finding an effective distance measure and an efficient query processing method for such data is a challenging problem. This paper presents an elaborate motion query processing system, SMoFinder (Similar Motion Finder), which incorporates a novel kinematic distance measure and an efficient indexing strategy via adaptive frame segmentation. To this end, we regard human motions as multi-linkage kinematics and propose the weighted Minkowski distance metric. For efficient indexing, we devise a new adaptive segmentation method that chooses representative frames among similar frames and stores chosen frames instead of all frames. For efficient search, we propose a new search method that processes k-nearest neighbors queries over only representative frames. Our experimental results show that the size of motion databases is reduced greatly (${\times}1/25$) but the search capability of SMoFinder is equal to or superior to that of other systems.