• Proceedings of the KSRS Conference
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• 2002.10a
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• pp.553-558
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• 2002

Physical sensor model in pushbroom satellite images can be made from sensor modeling by rotation parameters and attitude parameters on the satellite track. These parameters are determined by the information obtained from GPS, INS, or star tracker. Provided from satellite image, an auxiliary data error is connected directly with an error of rotation parameters and attitude parameters. This paper analyzed how obtaining satellite images influenced errors of rotation parameters and attitude parameters. furthermore, for detailed analysis, this paper generated simulated satellite image, which was changed variously by rotation parameters and attitude parameters of satellite sensor model. Simulated satellite image is generated by using high-resolution digital aerial image and DEM (Digital Elevation Model) data. Moreover, this paper determined correlation of rotation parameter and attitude parameters through error analysis of simulated satellite image that was generated by various rotation parameters and attitude parameters.

• Proceedings of the KSRS Conference
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• 2003.11a
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• pp.882-884
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• 2003

We present an application of digital video images for object tracking. In order to track a fixed object, which was shoot on a moving vehicle, this study develops a shape-based matching algorithm to implement the tracking task. Because the shape-based matching algorithm has scale and rotation invariant characteristics, therefore it can be used to calculate the similarity between two variant shapes. An experiment is performed to track the ship object in the open sea. The result shows that the proposed method can track the object in the video images even the shape change largely.

• Journal of Astronomy and Space Sciences
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• v.16 no.2
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• pp.159-166
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• 1999

As the spatial resolution of remote sensing satellites becomes higher, very accurate determination of the position of a LEO (Low Earth Orbit) satellite is demanding more than ever. Non-symmetric Earth gravity is the major perturbation force to LEO satellites. Since the orbit propagation is performed in the celestial frame while Earth gravity is defined in the terrestrial frame, it is required to convert the coordinates of the satellite from one to the other accurately. Unless the coordinate conversion between the two frames is performed accurately the orbit propagation calculates incorrect Earth gravitational force at a specific time instant, and hence, causes errors in orbit prediction. The coordinate conversion between the two frames involves precession, nutation, Earth rotation and polar motion. Among these factors, unpredictability and uncertainty of Earth rotation, called UTI-UTC, is the largest error source. In this paper, the effect of UTI-UTC on the accuracy of the LEO propagation is introduced, tested and analzed. Considering the maximum unpredictability of UTI-UTC, 0.9 seconds, the meaningful order of non-spherical Earth harmonic functions is derived.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.8
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• pp.1250-1258
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• 1997

This paper reports on the development of a new foot for a quadrupedal jointed-leg type walking robot. The foot has 2 toes, one at the front and the other at the rear side, for stable landing on uneven ground by point contact. The toes can move up and down independantly, guided by double-wishbone shaped parallel links which enable the lower leg to rotate with respect to a remote center on the ground surface. The motion of each toe is damped by a hydropneumatic shock absorber integrated in the foot in order to absorb the dynamic landing shock. Furthermore, the new foot can reduce the maximum hip joint drive torque by shortening the moment arm length between the hip joint and the landing force vector on the ground. Intensive experiments were carried out in this study by using a one-leg walking model to investigate the soft landing performance of the foot which could be hardly offered by conventional robot feet such as a flat plate with a gimbal type ankle joint. And it was confirmed that the hip joint torque of the leg walking on the flat surface could be reduced remarkably by using the new foot.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.731-736
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• 1989

RCC(Remote Center Compliance)[1][2] is a useful device for peg and hole insertion works. Two methods for smooth insertion of round peg and round hole are proposed. The idea of method 1 is to design the optimum position of the compliance center of RCC which is different from that of usual RCC in order to minimize the insertion force with the assumption of the known insertion angle. The idea of method 2 is to insert peg with rotation in order to decrease the friction coefficient between peg and hole. The two ideas are analyzed theoretically and are shown valid experimentally.

• Korean Journal of Remote Sensing
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• v.34 no.6_3
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• pp.1351-1367
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• 2018

Image registration is an essential process for image fusion, change detection and time series analysis using multi-sensor images. For this purpose, we need to detect accurately the difference of scale and rotation between the multi-sensor images with difference spatial resolution. In this paper, we propose a new feature matching method using variable circular template for image registration between multi-resolution images. The proposed method creates a circular template at the center of a feature point in a coarse scale image and also a variable circular template in a fine scale image, respectively. After changing the scale of the variable circular template, we rotate the variable circular template by each predefined angle and compute the mutual information between the two circular templates and then find the scale, the angle of rotation and the center location of the variable circular template, respectively, in fine scale image when the mutual information between the two circular templates is maximum. The proposed method was tested using Kompsat-2, Kompsat-3 and Kompsat-3A images with different spatial resolution. The experimental results showed that the error of scale factor, the error of rotation angle and the localization error of the control point were less than 0.004, $0.3^{\circ}$ and one pixel, respectively.

• New & Renewable Energy
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• v.9 no.1
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• pp.12-16
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• 2013

The nacelle anemometer mounted behind the blade roots of a wind turbine measures distorted wind speed comparable with free-stream wind because of the wake effects caused dependent upon the operation of the wind turbine and the rotation of its blades. The field campaign was carried out to measure free-stream wind speed at a height identical to the height of the nacelle anemometer by deploying a ground-based remote-sensing equipment, LIDAR. It is derived that a third-order polynomial equation for correcting wind speed measured by the nacelle anemometer to undistorted free-stream wind speed incident to a wind turbine. It is anticipated that the derived correction equation enables wind speed measured by the nacelle anemometer to be used as a precise input for a wind turbine performance test and for developing an active control logic.

• Korean Journal of Remote Sensing
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• v.34 no.6_1
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• pp.941-951
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• 2018

Utilization and demand of UAV (unmanned aerial vehicle) for the generation of 3D city model are increasing. In this study, we performed an experiment to adjustment position/orientation of UAV with incomplete attitude information and to extract point cloud data. In order to correct the attitude of the UAV, the rotation angle was calculated by using the continuous position information of UAV movements. Based on this, the corrected position/orientation information was obtained by applying IBA (Incremental Bundle Adjustment) based on photogrammetry. Each pair was transformed into an epipolar image, and the MDR (Multi-Dimensional Relaxation) technique was applied to obtain high precision DSM. Each extracted pair is aggregated and output in the form of a single point cloud or DSM. Using the DJI inspire1 and Phantom4 images, we can confirm that the point cloud can be extracted which expresses the railing of the building clearly. In the future, research will be conducted on improving the matching performance and establishing sensor models of oblique images. After that, we will continue the image processing technology for the generation of the 3D city model through the study of the extraction of 3D cloud It should be developed.

• Korean Journal of Remote Sensing
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• v.38 no.6_1
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• pp.1125-1139
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• 2022

In an unmanned aerial vehicles (UAVs) system, a physical offset can be existed between the global positioning system/inertial measurement unit (GPS/IMU) sensor and the observation sensor such as a hyperspectral sensor, and a lidar sensor. As a result of the physical offset, a misalignment between each image can be occurred along with a flight direction. In particular, in a case of multi-sensor system, an observation sensor has to be replaced regularly to equip another observation sensor, and then, a high cost should be paid to acquire a calibration parameter. In this study, we establish a precise sensor model equation to apply for a multiple sensor in common and propose an independent physical offset estimation method. The proposed method consists of 3 steps. Firstly, we define an appropriate rotation matrix for our system, and an initial sensor model equation for direct-georeferencing. Next, an observation equation for the physical offset estimation is established by extracting a corresponding point between a ground control point and the observed data from a sensor. Finally, the physical offset is estimated based on the observed data, and the precise sensor model equation is established by applying the estimated parameters to the initial sensor model equation. 4 region's datasets(Jeon-ju, Incheon, Alaska, Norway) with a different latitude, longitude were compared to analyze the effects of the calibration parameter. We confirmed that a misalignment between images were adjusted after applying for the physical offset in the sensor model equation. An absolute position accuracy was analyzed in the Incheon dataset, compared to a ground control point. For the hyperspectral image, root mean square error (RMSE) for X, Y direction was calculated for 0.12 m, and for the point cloud, RMSE was calculated for 0.03 m. Furthermore, a relative position accuracy for a specific point between the adjusted point cloud and the hyperspectral images were also analyzed for 0.07 m, so we confirmed that a precise data mapping is available for an observation without a ground control point through the proposed estimation method, and we also confirmed a possibility of multi-sensor fusion. From this study, we expect that a flexible multi-sensor platform system can be operated through the independent parameter estimation method with an economic cost saving.

• Journal of Photoscience
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• v.4 no.2
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• pp.61-67
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• 1997

The model based on the idea that the p$_y$-orbital of the carbonyl oxygen is responsible to receiving hydrogen was devised for simulation of intramolecular hydrogen transfer. A Monte Carlo method was applied to free rotation of a molecular chain performed by changing the dihedral angles, and a "hit" was defined as the case when the migrating hydrogen comes within the region defined as the p$_y$-orbital and satisfies all the geometrical requirements for abstraction. A set of parameters was employed for defining the region and the requirements; $\tau$ was defined as the angle formed between O...H vector and its projection on the mean plane of the carbonyl group (- 43$\circ$ < $\tau$ < + 43$\circ$), $\Delta$ as the C=O...H angle (90 -15$\circ$ < $\Delta$ < 90 + 15$\circ$), $\theta$ as the O...H - C angle ( 180 - 80$\circ$< 0 < 180 + 80$\circ$), d as the distance from the center of the lobe of the p$_y$-orbital to hydrogen (0 < d < 1.04 ${\AA}$). The minimum value for the distance between carbonyl oxygen (O$_1$) and the migrating hydrogen (H$_i$) and for that between non-bonded atoms except the pair of O$_1$ and H$_i$ were assumed to be 0.52 ${\AA}$ and 1.54 ${\AA}$, respectively. The apphcation of this model to intramolecular $\beta$-, $\gamma$-, $\delta$-, $\epsilon$-, and $\zeta$-hydrogen abstraction in ketones and $\eta$- and $\theta$- proton transfer in oxoesters gave good results reflecting their photochemical behavior. The model was also used for prediction of photoreactivities of 2-(N,N-dibenzylamino)ethyl 2-, 3- and 4-benzoylbenzoate (1a - c). (1a - c).