• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.28 no.6
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• pp.637-643
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• 2010

In this study, we developed a Portable Multi-sensor System, which consists of a video camera, a GPS/MEMS IMU and a UMPC to acquire video images and position/attitude data. We performed image georeferencing based on the bundle adjustment without ground control points using the acquired data and then evaluated the effectiveness of our system through the accuracy verification. The experimental results showed that the RMSE of relative coordinates on the ground point coordinates obtained from our system was several centimeters. Our system can be efficiently utilized to obtain the 3D model of object and their relative coordinates. In future, we plan to improve the accuracy of absolute coordinates through the rigorous calibration of the system and camera.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.66 no.4
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• pp.151-157
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• 2017

In this paper, it is the result of analysis of the stability by power system analysis about the influence on the power system when the southwest - offshore wind power demonstration complex is constructed to 60MW and it is linked with the onshore power system. Considering the position of the wind turbine actually installed and the length of the cooperating line, we modeled the wind generators, offshore substation and the turbine step-up transformer. Changes of voltage when internal and external faults occurred is analyzed and the reactive power demand according to the amount of electricity generation is derived. And also phase angle stability and frequency is observed through a transient analysis. This paper clarify that there is no problem in the system when only offshore wind power is linked with the grid and try to present the reactive power amount necessary for maintaining the voltage of the point of cooperation appropriately.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.10 no.4
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• pp.77-82
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• 2010

In this paper, a haptic fishing robot, Fishbot, for a Virtual Fishing System is presented. Fishbot is 3DOF robot and it consists of a XY table and a wheel motor. To simulate the motion of fish, XY table is controlled by position servo drivers with variable torque constraint, and wheel axis is controlled by torque servo driver. Finally, Fishibot detects the end point of fishing pole with cameras to recognize the pose of user, and it can interface with a Virtual Reality System.

• Journal of the Society of Disaster Information
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• v.5 no.2
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• pp.108-122
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• 2009

Purpose of this research about reduction the scholastic systematic triangular position of the security guard martial art which repeats a development is insufficient with demand of the while society to recognize and for the philosophic value research of security guard martial art composition principle puts out with the one method and from the reporter to search the aesthetics which appears does. In order to attain the goal of the research which sees the literature which relates with an security guard martial art widly, was an investigation and observed the aesthetics from concept and martial art of aesthetics and this the technical free use ability from actual site of the technical find which leads the practice voluntary repetition practice of security guard martial art with character and the body guard aesthetic integral part experience possibly did, there being will be able to acquire an aesthetic inspiration, confirmed. So the security guard martial art follows the composition principle of maximization central attitude and shock point breath control and mental intensive etc. of reinforcement of direction shock of relativity redundancy mental moral culture body agreement characteristic force and relaxation force and is completed and will be able to embody an aesthetic value with aesthetic elements of technical polishing process inside goes about reduction.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.4 s.181
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• pp.75-82
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• 2006

In this paper, we propose an optimal trajectory for biped robots to move up-and-down stairs using a genetic algorithm and a computed-torque control for biped robots to be dynamically stable. First, a Real-Coded Genetic Algorithm (RCGA) which of operators are composed of reproduction, crossover and mutation is used to minimize the total energy. Constraints are divided into equalities and inequalities: Equality constraints consist of a position condition at the start and end of a step period and repeatability conditions related to each joint angle and angular velocity. Inequality constraints include collision avoidance conditions of a swing leg at the face and edge of a stair, knee joint conditions with respect to the avoidance of the kinematic singularity, and the zero moment point condition with respect to the stability into the going direction. In order to approximate a gait, each joint angle trajectory is defined as a 4-th order polynomial of which coefficients are chromosomes. The effectiveness of the proposed optimal trajectory is shown in computer simulations with a 6-dof biped robot that consists of seven links in the sagittal plane. The trajectory is more efficient than that generated by the modified GCIPM. And various trajectories generated by the proposed GA method are analyzed in a viewpoint of the consumption energy: walking on even ground, ascending stairs, and descending stairs.

• Journal of Electrical Engineering and Technology
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• v.11 no.3
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• pp.733-740
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• 2016

To achieve bipedal walking in real human environments, a bipedal robot should be capable of modifiable walking both on uneven terrain with different heights and on flat terrain. In this paper, a novel walking pattern generator based on a 3-D linear inverted pendulum model (LIPM) is proposed to achieve this objective. By adopting a zero moment point (ZMP) variation scheme in real time, it is possible to change the center-of-mass (COM) position and the velocity of the 3-D LIPM throughout the single support phase. Consequently, the proposed method offers the ability to generate a modifiable pattern for walking on uneven terrain without the necessity for any extra footsteps to adjust the COM motion. In addition, a control strategy for bipedal walking on uneven terrain with unknown height is developed. The torques and ground reaction force are measured through force-sensing resisters (FSRs) on each foot and the foot of the robot is modeled as three virtual spring-damper models for the disturbance compensation. The methods for generating the foot and vertical COM of 3-D LIPM trajectories are proposed to achieve modifiable bipedal walking on uneven terrain without any information regarding the height of the terrain. The effectiveness of the proposed method is confirmed through dynamic simulations.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.25 no.11
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• pp.1632-1639
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• 2001

Control of drag farce 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 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.

• Journal of the Society of Naval Architects of Korea
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• v.30 no.2
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• pp.24-29
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• 1993

This paper describes a method for generating an initial hull form by using form parameters. As a mathematical representation of curves, B-spline curves are used as well as the polynomials used by Durand et al. The five basic control curves and the centerline contour are defined to give the boundary conditions for body plan by using above mentioned mathematical models. From these curves body plan is determined. Two additional curves which are concerned the position of matching point between the cylindrical form and the water line are proposed to get the preliminary faired water lines.

• Journal of the Korean Institute of Intelligent Systems
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• v.12 no.1
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• pp.61-66
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• 2002

A position control algorithm for a flexible manipulator is studied. The proposed algorithm is based on a fuzzy theory with a Steady State Genetic Algorithm(SSGA) and an Adaptive Genetic Algorithms(AGA). The proposed controller for a flexible manipulator have decreased 90.8%, 31.8%, 31.3% in error when compared with a conventional fuzzy controller, fuzzy controller using neural network, fuzzy controller using evolution strategies, respectively when the weight and the velocity of end-point are 0.8k9 and 1m/s, respectively.

• ETRI Journal
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• v.36 no.6
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• pp.905-912
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• 2014

In this paper, a new architecture is proposed to achieve complexity efficiency in implementing variable pulse position modulation (VPPM). VPPM, specified in IEEE 802.15.7, can support wireless communication and dimming control simultaneously using visible light. The proposed architecture is based on the VPPM signal property in which the transition point of the modulated output is obtained by counting the sample index and comparing it to both the assigned dimming factor and the transmitting data. Therefore, the proposed architecture can be composed of simple logics, including a counter, a comparator, and an inverter, all of which are insensitive to the dimming resolution in contrast to a conventional codeword-table method. This paper describes the verification of the proposed algorithm through a register-transfer level implementation of the codeword and proposed architectures. In comparison with the codeword-table method, the proposed method gains a nine-fold complexity reduction at a 1% dimming-step resolution.