• 한국정밀공학회지
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• 제28권2호
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• pp.168-175
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• 2011

Contouring accuracy of CNC machine tools is very important for high-speed and high-precision machining. In particular, large contour error may occur during corner tracking. In order to reduce the corner contouring error, acceleration and deceleration control or tool-path planning methods have been suggested. However, they do not directly control the corner contouring error. In the meantime, network servo systems are widely used because of their easiness of building and cost effectiveness. Communication latency between the master controller and servo drives, however, may deteriorate contouring accuracy especially during corner tracking. This paper proposes a control strategy that can accurately calculate and directly control the corner contouring error. A prediction control is combined with the above control to cope with communication latency. The proposed control method is evaluated through computer simulation and experiments. The results show its validity and usefulness.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1051-1054
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• 2003

For micro-weighing, null balance method is widely used in the precision industrial fields, such as biomedicine, semiconductor, chemistry and so on. In order to obtain high resolution and large measurement range simultaneously, the mechanism should be analyzed and optimized. However, large measurement error can be generated according to the mass loading position and this error is called as a corner loading error. The corner loading error is caused by the parallelism error of a Roberval mechanism used to minimize it. The corner loading error is one of the most dominant error sources that should be removed. It is possible to design that the mechanism has no corner loading error theoretically, but the mechanism of the micro weighing device is very difficult to be realized as original design due to assembling and manufacturing error. For the required specification of the device, the precise manufacturing technique under a few $\mu\textrm{m}$ is required for the realization of the design. In this paper, the effects of the parallelism error are analyzed by using Lagrange method and verified by experiment. Also, the compensation mechanism is proposed and the corner loading error is reduced by restoring tile parallelism.

• Journal of Mechanical Science and Technology
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• 제15권6호
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• pp.813-820
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• 2001

Solutions of inviscid rotational flows near the corners of an arbitrary angle and within a triangle of arbitrary shapes are presented. The corner-flow solutions has a rotational component as a particular solution. The addition of irrotatoinal components yields a general solution, which is indeterminate unless the far-field condition is imposed. When the corner angle is less than 90$^{\circ}$the flow asymptotically becomes rotational. For the corner angle larger than 90$^{\circ}$it tends to become irrotational. The general solution for the corner flow is then applied to rotational flows within a triangle (Method I). The error level depends on the geometry, and a parameter space is presented by which we can estimate the error level of solutions. On the other hand, Method II employing three separate coordinate systems is developed. The error level given by Method II is moderate but less dependent on the geometry.

• 한국정밀공학회지
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• 제16권12호
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• pp.14-23
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• 1999

This paper proposes a method to generate the velocity trajectory which guarantees user specified contour errors at corners for high speed and high precision motion control of CNC machines. The relation among the desired trajectory, system bandwidth and corner contour error are derived. Experiments show that the corner contour error specified by users can be guaranteed with the proposed velocity trajectory.

• 제어로봇시스템학회논문지
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• 제17권5호
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• pp.419-428
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• 2011

This paper suggests a judgement method for an inclined plane before entrance of it and the detection of obstacle position. Main idea is started from the assumption that obstacle is always on the bottom plane, and corner appears at this position. The process to detect the obstacle consists of three steps. First the 3D data using stereo matching is acquired to detect an obstacle. Second a bottom plane is extracted by using limit condition. Last the obstacle position is found by using Harris corner detection. Obstacle position detection on an inclined plane was verified by outdoor and indoor experiment. In error analysis, it is confirmed that an average error of obstacle detection in outdoor was larger than the error in indoor but the error are within about 0.030 m. This method will be applied to unmanned vehicles to navigate under various environment.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 추계학술대회 논문집
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• pp.13-14
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• 2009

• 대한원격탐사학회지
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• 제30권6호
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• pp.769-776
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• 2014

동일 대상에 대한 두 영상의 등록을 위해서는 두 영상에 공통적으로 존재하는 특징점을 검출하고 검출된 특징점 간의 대응관계를 찾는 과정이 필수적이다. 본 논문에서는 화소의 밝기 변화를 측정할 수 있는 그레디언트 행렬의 고유치 기하평균에 기반한 새로운 특징점 검출기를 제안한다. 제안하는 특징점 검출기는 그레디언트 행렬의 두 고유치의 기하평균 크기에 비례하고 기하 평균 크기가 동일한 경유 두 고유치의 상대적인 차이에 비례하여 가변적으로 변하는 특성을 가진다. 제안한 특징점 검출기의 성능 평가를 위해 다양한 종류의 코너가 존재하는 합성 영상과 항공 영상을 기준 영상으로 사용하여 코너 검출의 위치 오차를 분석하였다. 제안한 검출기의 위치 오차는 Gaussian smoothing scale 조건하에서 대표적인 코너 검출기인 Harris detector의 위치 오차보다 작은 결과가 얻어졌다.

• International Journal of Aeronautical and Space Sciences
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• 제17권2호
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• pp.253-259
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• 2016

The typical method for performing an absolute radiometric calibration of a Synthetic Aperture Radar (SAR) System is to analyze its response, without interference, to a target with a known Radar Cross Section (RCS). To minimize interference, an error-free calibration site for a Corner Reflector (CR) is required on a wide and flat plain or on an area without disturbance sources (such as ground objects). However, in reality, due to expense and lack of availability for long periods, it is difficult to identify such a site. An alternative solution is the use of a Triangular Trihedral Corner Reflector (TTCR) site, with a surrounding protection wall consisting of berms and a hollow. It is possible in this scenario, to create the minimum criteria for an effectively error-free site involving a conventional object-tip reflection applied to all beams. Sidelobe interference by the berm is considered to be the major disturbance factor. Total interference, including an object-tip reflection and a sidelobe interference, is analyzed experimentally with SAR images. The results provide a new guideline for the minimum criteria of TTCR site design that require, at least, the removal of all ground objects within the fifth sidelobe.

• 대한전자공학회논문지SD
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• 제45권5호
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• pp.26-32
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• 2008

아날로그 WTA 회로의 성능은 코너 오차와 옵셋 오차에 영향을 받는다. 코너 오차는 큰 트랜스컨덕턴스를 가진 트랜지스터가 그 해결방안으로 제시되고 있지만, 소자 부정합에 의한 옵셋 오차 제거 방법에 대한 연구는 아직 미진한 상태이다. 본 논문은 WTA에서의 옵셋 오차를 분석하고, 옵셋을 줄이는 설계 가이드라인과 발생한 옵셋의 영향을 제거하는 회로를 제안한다. 실험 결과는 이론적 분석의 타당함과 옵셋 오차가 현저하게 개선되었음을 보여준다.

• Journal of Positioning, Navigation, and Timing
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• 제6권1호
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• pp.27-33
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• 2017

GPS provides the positioning solution in most areas of the world. However, the position error largely occurs in the urban area due to signal attenuation, signal blockage, and multipath. Although many studies have been carried out to solve this problem, a definite solution has not yet been proposed. Therefore, research is being conducted to solve the vehicle localization problem in the urban environment by converging sensors such as cameras and Light Detection and Ranging (LIDAR). In this paper, the precise vehicle localization using 3D LIDAR (Velodyne HDL-32E) is performed in the urban area. As there are many tall buildings in the urban area and the outer walls of urban buildings consist of planes generally perpendicular to the earth's surface, the outer wall of the building meets at a vertical corner and this vertical corner can be accurately extracted using 3D LIDAR. In this paper, we describe the vertical corner extraction method using 3D LIDAR and perform the precise localization by combining the extracted corner position and GPS/DR information. The driving test was carried out in an about 4.5 km-long section near Teheran-ro, Gangnam. The lateral and longitudinal RMS position errors were 0.146 m and 0.286 m, respectively and showed very accurate localization performance.