• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.31 no.2
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• pp.151-157
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• 2013

The law for indicating the address based on the street name has taken effect in 1997. The address based on land-lot number will be changed to the address based on the street name giving odd numbers to the buildings situated on the left side and even numbers to the buildings situated on the right side per street. Searching locations by street name addresses is possible for residential areas, on the other hand, the system of finding locations is insufficient for farmlands, mountains and others, so it is unable to cope with crimes and emergency rescue. In order to make up for the weak points of street name address, the national point number, grid reference system was introduced for finding location of non-residential areas. Therefore, the purpose of this paper is to help the introduction the national point number. In this paper, we proposed a territory-oriented control point and grid range for the national point number. Numbering scheme of grid zone shall be alphanumeric, a two-letter pair Hangul and the grid coordinates in terms of Easting and Northing. We also proposed the notice area for the national point number and location of signs, application about the public and private sector.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.992-995
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• 2003

A haptic device operated by the user's hand can receive information on position and orientation of the hand and display force and moment generated in the virtual environment to the hand. For realistic haptic display, the detailed information on collision between objects is necessary. In the past, the point-based graphic environment has been used in which the end effector of a haptic device was represented as a point and the interaction of this point with the virtual environment was investigated. In this paper, the shape-based graphic environment is proposed in which the interaction of the shape with the environment is considered to analyze collision or contact more accurately. To this end. the so-called Gilbert-Johnson-Keerthi (GJK) algorithm is adopted to compute collision points and collision instants between two shapes in the 3-D space. The 5- DOF haptic hand controller is used with the GJK algorithm to demonstrate a peg-in-hole operation in the virtual environment in conjunction with a haptic device. It is shown from various experiments that the shape-based representation with the GJK algorithm can provide more realistic haptic display for peg-in-hole operations.

• Journal of Navigation and Port Research
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• v.33 no.6
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• pp.387-393
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• 2009

In this paper, a 3-D simulator was developed to estimate visually the performance of propelling and integrated control system of the underwater cleaning robot. Based on the dynamics analysis of the UCR, the 3-D model of the UCR was used in the simulator in which position and velocity are included Also, an input and control system using a joystick was developed, and the simulator was applied to the input and control of the simulator. Moreover, an integrated navigation control system was designed, and its performance was validated by a way-point simulator including a PI-based fuzzy control law.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.3 s.192
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• pp.67-75
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• 2007

This paper deals with a problem of vibration suppression of a piezoelectric beam using a self-sensing algorithm. Two methods, which are PPF(positive position feedback) and SRF(strain rate feedback), are considered to suppress a residual vibration of a piezoelectric beam developed during the step positioning of a beam end point. A self-sensing algorithm treated here is basically a strain rate estimator of a beam movement and is to be used for the closed loop control. The efficacy of the proposed idea is evaluated through experiments.

• Proceedings of the KSME Conference
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• 2001.06e
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• pp.253-258
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• 2001

Control of drag force on a circular cylinder using a detached splitter plate is numerically studied for laminar flow. A splitter plate with the same length as the cylinder diameter(d) is placed horizontally in the wake region. Its position is described by the gap ratio(G/d), where G represents the gap between the cylinder base point and the leading edge of the plate. The drag varies with the gap ratio; it has the minimum value at a certain gap ratio for each Reynolds number. The drag sharply increases past the optimum gap ratio; this seems to be related to the sudden change in the bubble size in the wake region. This trend is consistent with the experimental observation currently available in case of turbulent flow. It is also found that the net drag coefficient significantly depends on the variation of base suction coefficient.

• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.91-94
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• 2005

A numerical formula that presents relationship between a point of a satellite image and its ground position is called a sensor model. For precise geolocation of satellite images, we need an error-free sensor model. However, the sensor model based on GOES ephemeris data has some error, in particular after Image Motion Compensation (IMC) mechanism has been turned off. To solve this problem, we investigate three sensor models: Collinearity model, Direct Linear Transform (DLT) model and Orbit-based model. We apply matching between GOES images and global coastline database and use successful results as control points. With control points we improve the initial image geolocation accuracy using the three models. We compare results from three sensor models that are applied to GOES-9 images. As a result, a suitable sensor model for precise geolocation of GOES-9 images is proposed.

• International Journal of Precision Engineering and Manufacturing
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• v.2 no.1
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• pp.5-10
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• 2001

A method is proposed to obtain the Jacobian matrix of the 5 -bar parallel manipulator by employing the orthogonality between position and velocity vectors of rotating rigid-body around a fixed point. The dynamics of the 5-bar parallel manipulator is analyzed and utilized to design the computed-torque controller by developing a transformation matrix of the passive joints with respect to the active ones. In experimental demonstration, it shows that high-speed and accuracy tasks are performed by the proposed computed-torque control.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1934-1937
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• 2005

This paper proposes suitable gait generation for dynamic walking of biped robot with varying load in real time. Author proposes the relationship between ZMP(Zero Moment Point) and measurement from FSR(Force Sensing Register). Simplifying this relationship, it is possible to reduce the computational time and control the biped robot in real time. If the weight of the biped robot varies in order to move some object, then joint trajectories of the the biped robot must be changed. When some object is loaded on the biped robot in it's home position, FSRs can measure the variation of weight. Evaluating the relations between varying load and stable gait of the biped robot, it can walk adaptively. This relation enables the biped robot to walk properly with varying load. The simulation is also represented in this paper which shows proposed relationships.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.5
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• pp.374-381
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• 2016

The sealing technique is widely used for repairing the cracks on the surface of concrete and preventing their expansion in the future. However, it is difficult to ensure the safety of the workers when sealing large structures in inconvenient working environments. This paper presents the development of a sealing robot system to seal various shapes of concrete surface in rough conditions for a long time. If the robot can maintain the desired contact force, the cracks can be completely sealed. An impedance force tracking controller with slope estimator is proposed to calculate the surface slope in real time using the robot position. It predicts the next point in order to prevent the robot from disengaging from the contact surface owing to quick slope changes. The proposed method has been verified by experimental results.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.11
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• pp.1065-1071
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• 2012

In this paper, we proposed a method for vehicle monitoring with trajectory reconstruction. For safety, it is important to monitor the driving habit of driver. Every year, many accidents occur due to the reckless driving of the driver. Continuous monitoring of the status of commercial vehicles is needed for safety through the entire path from start point to the destination. To monitor the reckless driving, we try to monitor the trajectory of the vehicle by using vehicle's lateral acceleration data. Compared with steering angle and lateral acceleration, these resemble each other. So, we find the relationship of steering angle and acceleration, and find the global direction of vehicle. We find the position of non-GPS section with EKF (External Kalman Filter) and reconstruct the whole trajectory during vehicle driving.