• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.371-374
• /
• 1997

Recently, the development of computer achieves a system which is similar to the mechanics of human visual system. The 3-dimensional measurement using monocular vision system must be achieved a camera calibration. So far, the camera calibration technique required reference target in a scene. But, these methods are inefficient because they have many calculation procedures and difficulties in analysis. Therefore, this paper proposes a native method that without reference target in a scene. We use the grid type frame with different line widths. This method uses vanishing point concept that possess a rotation parameter of the camera and perspective ration that perspect each line widths into a image. We confirmed accuracy of calibration parameter estimation through experiment on the algorithm with a grid paper with different line widths.

• 한국정밀공학회지
• /
• 제23권7호
• /
• pp.51-58
• /
• 2006

This study analyzes the uncertainty of the compensation method of a sensing error of three-DOF measuring system. This compensation method utilizes a reference coordinate system using a three point by moving a position of an endpoint of a three-DOF manipulator. The coordinate transformation between the three-DOF manipulator and the measuring system is identified by the reference coordinate system. According to the concept of this compensation method, each positioning error at any position of the end-point of the manipulator is derived. Uncertainty analyses of the compensation values on the basis of sensitivity analysis and Monte Carlo simulation are used to investigate a feasibility and effectiveness of the compensation method.

• Spatial Information Research
• /
• 제15권3호
• /
• pp.301-310
• /
• 2007

현재 우리나라에는 전국에 약 21,000점의 측량용 국가기준점이 표석 형태로 매설되어 있으며, 대부분이 시통을 위해 산 정상에 매설되어 있어 일반인들의 사용과 접근이 어렵다. 최근 유비쿼터스 환경이 구축되어 감에 따라 위치정보 및 위치정보 기반의 정보를 일반인들에게 손쉽게 제공할 수 있는 서비스가 요구되고 있다. 본 연구에서는 RFID 태그와 2차원 바코드를 이용하여 위치정보를 손쉽게 제공할 수 있는 새로운 개념의 기준점 프로토타입을 제작하였다. 본 논문에서는 개발된 인텔리전트 기준점을 실용화하여 실제로 서비스하기 위해 필요한 사항에 대해 고려하여 보았으며, 실제 테스트를 통해 사용 가능성을 검증해보았다.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2004년도 추계학술대회 논문집
• /
• pp.981-984
• /
• 2004

This paper is about the development of Automatic FPC punching instrument. FPC(flexible printed circuit) is used to detect the contact position of K/B and button like a cellular phone. Depending on the quality of the printed ink and position of reference punching point to the FPC, the resistance and current are varied to the malfunctioning values. The size of reference punching point is 2mm and the above. Because the punching operation is done manually, the accuracy of the punching degree is varied with operator's condition. Recently, The punching accuracy has deteriorated severely to the 2mm punching reference hall so that assembly of the K/B has hardly done. To improve this manual punching operation to the FPC, automatic FPC punching system is introduced. Precise mechanical parts like a 5-step stepping motor and ball screw mechanism are designed and tested and low cost PC camera is used for the sake of cost down instead of using high quality vision systems for the FA. Test algorithm shows good results to the designed automatic punching system.

• 대한의용생체공학회:의공학회지
• /
• 제16권1호
• /
• pp.107-113
• /
• 1995

It is well known that multipoint and computerized intraoperative mapping systems improve the results of surgery for Wolff-Parkinson-White syndrome and show tremendous potential for opening an entirely new era of surgical intervention for the more common and lethal types of supraventricular tachyarrhythmias such as atrial flutter and atrial fibrillation. In addition, the ability to map and ablate the sometimes fleeting automatic atrial tachycardia is greatly enhanced by computerized mapping systems. In this study, we have developed 64 channel computerized data analysis system using microcomputer (Macintosh ${II}_{x}$) for basic research of electrophysiology and electrical propagation. The bipolar electrogram information is acquired from 64 cardiac sites simultaneously at a sampling rate of 1 ksampls/sec with continuous and total data storage of up to 30 seconds. When the reference electrogram is selected and reference point is picked up, delay time from the reference point is displayed on two dimensional diagram of the heart. System design permits easy expansion to almost 256 simultaneous sites. this system is expected to enable us to study pathophysiology of cardiac arrhythmia and to improve the result of diagnosis and surgical treatment for cardiac arrhythmia.

• 한국소음진동공학회논문집
• /
• 제20권1호
• /
• pp.83-91
• /
• 2010

In this paper, the feasibility of the cost function having two control factors were discussed in compared to two others which has one different control factor respectively. As of the control factors, the dynamic response of a discrete system and the vibrational intensity at the reference point which is the connecting point of a discrete system to a flexible beam were controlled actively by the control force obtained from the minimization of the cost function. The method of feedforward control was employed for the control strategy. The reduction levels of the dynamic response of a discrete system and the vibrational intensity at a reference point, and also the input power induced by the control force were evaluated numerically in cases of the three different cost functions. In comparison with the results obtained from the cost functions of one control factor, which is the dynamic response or the vibrational intensity, in most cases of the cost function of two control factors the better or similar results were obtained. As a conclusion, it is surely noted that both the dynamic response and the vibrational intensity of the vibrating system be controlled up to the expected level by using the single cost function having two control factors.

• 기술사
• /
• 제27권4호
• /
• pp.98-103
• /
• 1994

• Journal of Positioning, Navigation, and Timing
• /
• 제6권2호
• /
• pp.79-86
• /
• 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%.

• 제어로봇시스템학회논문지
• /
• 제20권8호
• /
• pp.807-814
• /
• 2014

In this paper, we proposed a haptic navigation system which used the tactile data for the user guides of the mobile robot to the reference point via tele-operation in unknown blind environment. This navigation system can enable a mobile robot to avoid obstacles and move to the reference point, according to the direction provided by the device guides through a haptic device consisting of a vibration motor in a blind environment. There are a great deal of obstacles in real environments, and so mobile robots can avoid obstacles by recognizing the exact position of each obstacle through the superposition of an ultrasonic sensor. The navigation system determines the direction of obstacle avoidance through an avoidance algorithm that uses virtual impedance, and lets users know the position of obstacles and the direction of the avoidance through the haptic device consisting of 5 vibration motors. By letting users know intuitionally, it lets the mobile robot precisely reach the reference point in unknown blind environment. This haptic device can implement a haptic navigation system through the tactile sensor data.

• Journal of Positioning, Navigation, and Timing
• /
• 제12권1호
• /
• pp.83-89
• /
• 2023

The Korea Augmentation Satellite System (KASS) system is a Satellite Based Augmentation System (SBAS) under development to provide APV-I SBAS service in the Republic of Korea. The KASS ground segment generates correction and integrity information for GPS measurements of KASS users using the accurate positions of KASS Reference Station (KRS) antenna phase centers. For this reason, the accuracy of KRS reference points through geodetic survey campaigns is one of the important factors for providing the KASS service in compliance with the required navigation performance. In order to obtain accurate positions, two geodetic survey campaigns were performed at several reference points, such as Mark, Center of Mast at Ground Level (CMGL), and Center of Hole in Top Plate (CHTP), of each KRS site using three different survey methods, the Virtual Reference Station (VRS), Flächen Korrektur Parameter (FKP), and raw data post-processing methods. By comparing and analyzing the results, the computed coordinates of the reference points were verified and Antenna Phase Center (APC) positions were calculated using KRS Antenna Reference Point (ARP) data, and the first KASS Site Acceptance Test (SAT#1) was performed successfully using the verified APC coordinates. After the first site survey activities, the KASS operators should maintain the coordinates with the required performance such that the overall KASS navigation performance commitment is guaranteed during the lifetime of 15 years. Therefore, the maintenance plan for the KRS antenna coordinates should be developed before the commissioning of KASS operation planned after 2023. Therefore, this paper presents a geodetic survey method selected for the maintenance activities and provides the rationale for using this method.