• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.20 no.6
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• pp.778-784
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• 2011

This paper presents the study on orientations interpolation of 6-axis articulated robot using quaternion. In this paper, we propose a control algorithm between given two orientations of 6-axis articulated robot by using a quaternion with spherical linear interpolation. In order to study the quaternion interpolation, We created Inverse kinematics program and Interpolation program using LabVIE$^{(R)}$. The rotation angle of each axis were calculated using both euler orientations interpolation program and quaternion orientations interpolation program. The proposed control algorithm is shown to be effective in terms of motor angles and torques when compared to a conventional Euler angle interpolation, by using both LabVIEW$^{(R)}$ and RecurDyn$^{(R)}$.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1832-1835
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• 2005

This paper presents the steering control algorithm of an up and down motion robot using a quaternion. The up and down motion robot is to be moved on an irregular floor that can inevitably result in the errors of both position and orientation. Especially the orientation error should be compensated every work in order to adjust the misaligned values of current orientation to those commanded values. In this paper, we propose a new steering control algorithm between the two values by using a quaternion with spherical cubic interpolation. The proposed algorithm is shown to be effective in terms of vibration when compared to a conventional simple compensation without interpolation, by using $MATLAB^{(R)}$ and $VisualNastran4D^{(R)}$

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.658-663
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• 2005

This paper presents the steering control algorithm of a locomotion robot using a quaternion. The locomotion robot is to be moved on an irregular floor that can inevitably result in the errors of both position and orientation. Especially the orientation error should be compensated every work in order to adjust the misaligned values of current orientation to those commanded values. In this paper, we propose a new steering control algorithm between the two values by using a quaternion with spherical cubic interpolation. The proposed algorithm is shown to be effective in terms of vibration when compared to a conventional simple compensation without interpolation, by using $MATLAB^{(R)}$ and $VisualNastran4D^{(R)}$.

• Journal of applied mathematics & informatics
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• v.23 no.1_2
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• pp.73-86
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• 2007

The general stereographic projection which maps a point on a sphere with arbitrary radius to a point on a plane stereographically and its inverse projection have the pythagorean-hodograph (PH) preserving property in the sense that they map a PH curve to another PH curve. Upon this fact, for given spatial $C^1$ Hermite data, we construct a spatial PH curve on a sphere that is a $C^1$ Hermite interpolant of the given data as follows: First, we solve $C^1$ Hermite interpolation problem for the stereographically projected planar data of the given data in $\mathbb{R}^3$ with planar PH curves expressed in the complex representation. Second, we construct spherical PH curves which are interpolants for the given data in $\mathbb{R}^3$ using the inverse general stereographic projection.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.26 no.1
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• pp.88-93
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• 2015

To estimate RCS(Radar Cross Section) at arbitrary incident angles for large objects, an interpolation method is required based on the pre-calculated RCS database at finite discrete sampling points. It is numerically difficult to compute the RCS by a large object at all required sampling points, since the computation time may be very long for one sampling point and many sampling points are required to satisfy the exact sampling condition. Therefore, it may be required to accurately estimate the RCS at any incident angles based on a database whose size is as small as possible. In this paper, the accuracy of two interpolation methods base on the sinc-and VSH(Vector Spherical Harmonics) functions are numerically compared.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.15 no.6
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• pp.1-7
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• 2006

This paper presents the study in the development of optimal working method for an outer-hull preprocessing robot using a quaternion. The out-hull preprocessing robot consists of feathering and cleaning parts. This robot should be controlled correctly for feathering work because it is to be worked on a curved plate that can result in the errors of orientation. In this paper, we propose a control algorithm between given two orientations of the out-hull preprocessing robot by using a quaternion with spherical linear interpolation. The proposed control algorithm is shown to be effective in terms of motor angles and torques when compared to a conventional Euler angle interpolation, by using both $MATLAB^{\circledR}$ and $VisualNastran4D^{\circledR}$.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.321-322
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• 2011

• Journal of Korean Society of Forest Science
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• v.86 no.1
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• pp.17-24
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• 1997

As the first step to estimate the potential natural vegetation distribution of the globe, the best spherical interpolation method was developed to the temperature and precipitation which have close relation to the distribution pattern of world natural vegetation. For developing the interpolation method, a named Light Climatic Dataset composed of 1,060 stations around the globe was randomly divided into halves of feeding side and target side. The discrepancy between the observed and estimated values at the target stations was compared with combinations of parameters and methods. The estimated values were calculated to each combination which is all-out, constant radius and constant station methods in the selection of the feeding stations, n square reciprocal and negative exponential functions in weighting function of distance between feeding stations and each target, and oval weighting in direction of the feeding stations from each target. As a result, it turned out that the spherical interpolation with negative exponential weighting function fed from the constant radius stations ovally weighed yields the best estimates both for temperature and for precipitation. The parameters for temperature are $30^{\circ}$ in constant radius, 0.78 in negative exponential function and 0.4 in oval weighting, and for precipitation are $30^{\circ}$, 0.53 and 0.4, respectively.

• The Korean Journal of Ecology
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• v.19 no.5
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• pp.403-416
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• 1996

Global natural vegetation mapping (GNVM) system was developed for estimating potential forest area of the globe. With input of monthly mean temperature and monthly precipitation observed at weather stations, the system spherically interpolates them into 1°×1°grid points on a blobe, converts them into vegetation types, and produces a potential vegetation map and a potenital vegetation area. The spherical interpolation was based on negative exponential function fed from the constant radius stations with oval weighing method which is latitudinally elongated weighing in temperature and longitudinally elongated weighing in precipitation. The temperature values were corrected for altitude by applying a linear lapse-rate (0.65℃ / 100m) with reference to a built-in digital terrain map of the globe. The vegetation classification was based upon Koppen’s sKDICe. The potential forest area is estimated for 6.96 Gha (46.24％) of the global land area (15.05 Gha).

• Proceedings of the IEEK Conference
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• 1998.06a
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• pp.581-584
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• 1998

To obtain 3-D topography of EEG records, we propose a new method based on the polygon mapping technique. The method has the low complexity to calculate the interpolation of the EEG records on the scalp and maintains the high resolution topography because the polygon technique performs the interpolation at the only vertexes of each polygon. We implemented the topographic system with 3D barycentric, 3D polynomial and spherical spline algorithms in a personal computer.