• Journal of Institute of Control, Robotics and Systems
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• v.6 no.2
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• pp.190-196
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• 2000

A hybrid position/force control scheme to regulate the force and position by dual arms is proposed where two arms are treated as one rm in a kinematic viewpoint. The force error calculated from the information of two force/torque sensors attached to the end of each arm is transferred to minimum configuration space coordinates and then is distributed to total system joint coordinates, The position adjustment at the total con-figuration coordinates is computed based on the effective compliance matrix with respect to total joint coordinates which is obtained by coordinate transformation between the task coordinates and the total joint coordinates. The proposed scheme is applied to sawing task. When the trajectory of the saw is planned to follow a line in a horizontal plane 2 position parameters are to be controlled(i.e., two translational positions) Also a certain level of contact force has to be controlled along the vertical direction(i.e. minus z-direction) not to loose the contact with the object to be sawn. We experimentally show that the performance of the velocity and force response are satisfactory. The proposed hybrid control scheme can be applied to arbitrary two cooperating arm system regardless of their kinematic structure and the number of actuated joints.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.35.4-35
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• 2001

Image detection system for road traffic data analysis is a real time detection system using image processing techniques to get the real-time traffic information which is used for traffic control and analysis. One of the most important functions in this system is to match the coordinates of real world and that of image on video camera. When there in no way to know the exact position of camera and it´s height from the object. If some points on the road of real world are known it is possible to calculate the coordinates of real world from image.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.7
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• pp.40-50
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• 1996

An unified compliant control algorithm to regulate the force by dual arms is proposed, where tow arms are treated as one arm in a kinematic viewpoint. The force error calculated form the information of two force/torque sensors attached to the end of each arm is transferred to minimum actuator coordinates, and then is distributed to total system actuator coordinates. The position adjustment at the total actuator coordinates is computed based on the effective computed based on the effective compliance matrix with respect to total actuator coordinates, which is obtained by coordinate transformation between the task coordinates and the total actuator coordinates. An experiment is carried out for dual arms with asymmetric kinematic structure to control an interaction force between manipulators and the environment. The performances of the proposed control algorithm are experimentally compared to those of dual arms employing master/slave scheme. The proposed compliant control algorithm not only ouperforms other algorithms, but also can be treated as an unified approach n the sense that it can be applied to arbitrary dual arm systems with general kinematic structures.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.4
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• pp.369-377
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• 2005

This paper describes the realization of a coordinates tracking algorithm for an EOTS (Electro-Optical Tracking System). The EOTS stabilizes the image sensors, tracks targets automatically, and provides navigation capability for vehicles. The coordinates tracking algorithm calculates the azimuth and the elevation angle of an EOTS using the inertial navigation system and the attitude sensors of the vehicle, so that LOS designates the target coordinates which are generated by a Radar. In the error analysis, the unexpected behaviors of an EOTS due to the time delay and deadbeat of the digital signals of the vehicle equipments are anticipated and the countermeasures are suggested. The application of this algorithm to an EOTS will improve the operational capability by reducing the time which is required to find the target and support flight especially in the night time flight and the poor weather condition.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2310-2312
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• 2003

This paper describes a navigation system for an autonomous vehicle in outdoor environments. The vehicle uses vision system to detect coordinates and DGPS information to determine the vehicles initial position and orientation. The vision system detects coordinates in the environment by referring to an environment model. As the vehicle moves, it estimates its position by conventional DGPS data, and matches up the coordinates with the environment model in order to reduce the error in the vehicles position estimate. The vehicles initial position and orientation are calculated from the coordinate values of the first and second locations, which are acquired by DGPS. Subsequent orientations and positions are derived. Experimental results in real environments have showed the effectiveness of our proposed navigation methods and real-time methods.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.195-200
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• 1994

This paper presents a nonlinear adaptive control approach to a 4-point attraction magnetic levitation system using the local coordinates transformation and neural network. Based on local coordinates transformations, the magnetic levitation system can be represented in a state magnetic levitation system can be represented in a state space from of a 4-input 4-output. Neural networks which are defined in the new coordinates are used to learn the nonlinear functions of the system which are defined in the new coordinats also. The parameters of the neural networks are updated in an on-line manner according to an augmented tracking error. The simulation results are reported in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.289-292
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• 1994

In this paper, the equations of motion are constructed systematically for multibody systems containing closed kinematic loops. For the displacement analysis of the closed loops, we introduce a new mixed coordinates by adding to the reference coordinates, relative coordinates corresponding to the degrees of freedom of the system. The mixed coordinates makes easy derive the explicit closed form solution. The explicit functional relationship expressed in closed form is of great advantages in system dimension reduction and no need of an iterative scheme for the displacement analysis. This forms of equation are built up in the general purpose computer program for the kinematic and dynamic analysis of multiboty systems.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.25 no.2
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• pp.141-148
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• 2007

With the use of world geodetic system, the UIS DB of WonJu City, which was established on Korea coordinate system becomes to face the need of coordinates transformation. However, the UIS DB of Wonju City is based on dualistic control points of Korea geodetic system, which means the coordinates system is not standardized. Therefore it is required to establish a plan for transformation into world geodetic system. For this purpose, we calculated coordinate transformation coefficients per control point data of Korea geodetic system and verified the accuracy of transformation coefficients. Through the process, we propose a plan for transforming the coordinate system of UIS DB in WonJu City, which has been based on dualistic control point data of Korea geodetic system, efficiently into the world geodetic system.

• Journal of KSNVE
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• v.7 no.1
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• pp.161-168
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• 1997

The present paper describes the vibration control experiment of composite plates with bonded piezoelectric sensor and actuator. The system is modeled as two degree-of-freedom system using modal coordinates and the system parameters are obtained from vibration tests. Kalman filter is adopted for extracting modal coordinates from sensor signal, and control algorithms applied to the system are Linear Quadratic Gaussian(LQG) control, Bang-Bang Control (BBC), Negative Velocity Feedback(NVF), Proportional Derivative Control(PDC). From observation of the spillover and control perfomance, it is concluded that a higher order control algorithm such as LQG rather than BBG, NVF, PDC is suitable for efficient simultaneous control of both bending and twisting modes of composite plates.

• Journal of the Korea Institute of Military Science and Technology
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• v.26 no.2
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• pp.129-138
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• 2023

Acquiring precise coordinates of ground targets can be regarded as the key mission of the tactical-level military UAS(Unmanned Aerial System) operations. The coordinates deviations for the ground targets estimated from UAV (Unmanned Aerial Vehicle) images may depend on the sensor specifications and slant ranges between UAV and ground targets. It has an order of several tens to hundreds of meters for typical tactical UAV mission scenarios. In this paper, we propose a scheme that precisely acquires target coordinates from UAS by mapping image pixels to geographical coordinates based on GCP(Ground Control Points). This scheme was implemented and tested from ground control station for UAS. We took images of targets of which exact location is known and acquired the target coordinates using our proposed scheme. The experimental results showed that errors of the acquired coordinates remained within an order of several meters and the coordinates accuracy was significantly improved.