• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.4
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• pp.321-326
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• 2016

In this paper, we propose a luminance correction algorithm based on measuring position for potable luminance measurement system. Measurement position and angle have an affect on the luminance value. We improve the position-based luminance measurement system using luminance correction algorithm based on the measuring angle. We analyze change of luminance value according to the measurement distance and angle from camera and light source. The certified point-luminance meter is used to evaluate a scene luminance measuring method using the image information of camera. Also, we derive an expression equation for evaluating luminance value from determined position. The performances of the proposed system are verified by using comparative experiments with the point-luminance meter using experimental signboard.

• Journal of Adhesion and Interface
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• v.15 no.2
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• pp.57-62
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• 2014

Pythagolas rule was used for investigation of static contact angle in particular figures. Static contact angle measurement was important to evaluate the wettability between solid and liquid. Optimum measurement method and standardization of calculation for static contact angle were investigated for practical application. Optimum diameter of droplet for static contact angle measurement was confirmed as 1 mm. Contact angle measurement using Pythagolas rule was also used to calculate advancing, receding angle and wettability of different surface condition. At last, it was concluded that the Pythagolas rule method was more accurate than general lineation method for static contact angle measurement.

• Journal of the Korean Society for Nondestructive Testing
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• v.29 no.5
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• pp.421-426
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• 2009

The emissivity is different because the emitted angle changes according to the position of the infrared thermography camera and object. Because of this, the temperature distribution expressed when measuring the temperature by using the infrared thermography system is not the accuracy temperature. Although the real surface temperature is constant, the temperature measured by using infrared thermography camera have error in accordance with the value of emissivity. In this paper, the temperatures of the round cylindrical object and the flat square object that heated to the equal temperature were measured by infrared thermography camera. The emissivity calibration formula and correction table are made with the affect of the view angle and emission angle form the surface temperature value. The error of measured temperature values are corrected by using the emissivity calibration formula and correction table, and apply to defect detection of the nuclear power plant pipe. From the calibration method, reliability surface temperature values were obtained.

• Journal of Advanced Navigation Technology
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• v.18 no.2
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• pp.134-141
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• 2014

Mobile robots use various sensors for navigation such as wheel encoder, vision sensor, sonar, and laser sensors. Dead reckoning is used with wheel encoder, resulting in the accumulation of positioning errors. For that reason wheel encoder can not be used alone. Too much information of vision sensors leads to an increase in the number of features and complexity of perception scheme. Also Sonar sensor is not suitable for positioning because of its poor accuracy. On the other hand, laser sensor provides accurate distance information relatively. In this paper we propose to extract the angular information from the distance information of laser range finder and use the Kalman filter that match the heading and distance of the laser range finder and those of wheel encoder. For laser scanner with one feature point error may increase much when the feature point is variant or jumping to a new feature point. To solve the problem, we propose to use two feature points and show that the positioning error can be reduced much.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.42 no.5
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• pp.69-78
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• 2005

It is crucial to compute the Euclidean distance between two vectors efficiently in high dimensional space for multimedia information retrieval. In this paper, we propose an effective method for approximating the Euclidean distance between two high-dimensional vectors. For this approximation, a previous method, which simply employs norms of two vectors, has been proposed. This method, however, ignores the angle between two vectors in approximation, and thus suffers from large approximation errors. Our method introduces an additional vector called a reference vector for estimating the angle between the two vectors, and approximates the Euclidean distance accurately by using the estimated angle. This makes the approximation errors reduced significantly compared with the previous method. Also, we formally prove that the value approximated by our method is always smaller than the actual Euclidean distance. This implies that our method does not incur any false dismissal in multimedia information retrieval. Finally, we verify the superiority of the proposed method via performance evaluation with extensive experiments.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.27 no.6
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• pp.577-580
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• 2016

One of the effective jamming methods to disturb monopulse radars is a wavefront distortion. Most well-known wavefront distortion is the cross eye technique which uses two transmitters. The cross eye can make angle error regardless of monopulse radar structure but high accuracies of phase and amplitude between two transmitters should be needed to make large angle error. Thus, the accuracies of phase and amplitude are essentially required performance parameters for implementation of wavefront distortion systems and the required values of accuracy is dependant on amount of angle error. In this paper, we derive expressions for minimum required values of phase difference and amplitude ratio according to amount of angle error and analyze the results.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.40 no.2
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• pp.165-170
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• 2012

This paper contains the test method to obtain aerodynamic hinge moments acting on the control surface of air vehicle wing. During the flight, hinge moments make difference between actual control surface angle and control angle which is measured by sensor of actuator. The hinge moments can be obtained by using this difference. Static ground load test and calibration test were conducted to obtain torsional stiffness of control surface actuation system. This results are used to calculate hinge moments. In addition, the mechanical errors of actuation system such as slip angle of mounting point and backlash could be estimated. Using flight test results, this experimental measurement method of hinge moment acting on control surface is conducted. The results of this method are similar to those of numerical simulation method, and the validity of this method is proved.

• Journal of Advanced Navigation Technology
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• v.25 no.6
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• pp.441-449
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• 2021

With advances in autonomous vehicles, there is a growing demand for more accurate position estimation. Especially, this is a case for a moving robot for the indoor operation which necessitates the higher accuracy in position estimation when the robot is required to execute the task at a predestined location. Thus, a method for improving the position estimation which is applicable to both the fixed and the moving object is proposed. The proposed method exploits the initial position estimation from Bluetooth beacon signals as observation signals. Then, it estimates the gravitational acceleration applied to each axis in an inertial frame coordinate through computing roll and pitch angles and combining them with magnetometer measurements to compute yaw angle. Finally, it refines the control inputs for an object with motion dynamics by computing acceleration on each axis, which is used for improving the performance of Kalman filter. The experimental assessment of the proposed algorithm shows that it improves the position estimation accuracy in comparison to a conventional Kalman filter in terms of average error distance at both the fixed and moving states.

• Proceedings of the Korean Society of Computer Information Conference
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• 2022.07a
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• pp.563-566
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• 2022

본 논문에서는 증강현실에서 객체 증강 시, 특징점과 GPS를 이용하여 증강 위치를 효율적으로 보간할 수 있는 ICP(Iterative closest point) 매칭 기법을 제안한다. 다양한 환경에서 제한받지 않고 객체를 증강하기 위해 일반적으로 마커리스(Markerless) 방식을 사용하며, 대표적으로 평면 검출과 페이스 검출을 사용한다. 이는 현실과 자연스러운 동기화를 위한 것으로 계산은 작지만, 인식의 범위가 넓기 때문에 증강 위치에 대한 오차가 존재한다. 이러한 작은 오차는 특정 산업에서는 치명적일 수 있으며, 특히 건설이나 의료시설에서 발생하면 큰 사고로 이어진다. 객체를 증강 시킬 때 해당 환경에 대한 점 구름(Point cloud)을 수집하여 데이터베이스에 저장한다. 본 논문에서는 관측되는 점 구름과의 오차를 줄이기 위해 ICP 매칭 기법을 사용하며, 실린더 기반의 각도 보간을 이용하여 계산량을 줄인다. 결과적으로 특징점과 GPS를 이용하여 ICP 매칭 기법을 통해 효율적으로 처리함으로써, 증강 위치에 대한 정확도가 개선된 증강 방식을 보여준다.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2206-2208
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• 2004

본 논문에서는 자이로스코프를 이용한 자율이동로봇의 주행기록계에 대한 오차 보상을 제안한다. 자율이동로봇의 주행 시 주행기록계는 슬립과 마찰 등으로 인해 많은 방향각에 대해 오차를 포함하고 있어서 주행기록계에만 의존하여 주행하기 힘들다. 주행기록계가 슬립과, 회전에 대한 단점을 보안하기 위해 방향각에 대해 자이로스코프를 사용하여, 자이로스코프로부터 얻은 데이터와 주행기록계의 데이터를 융합하여 주행기록계의 오차누적에 의한 이동로봇의 방향각에 대한 비정확성을 보상하기 위한 알고리듬을 제안한다. 대부분의 주행 시 주행기록계의 값을 신뢰하고 자율이동로봇의 순간적인 각도변화에 대해서는 자이로스코프를 이용하였다. 이동로봇의 직진 주행 실험 결과 주행기록계만을 사용하여 주행했을 때는 방향각 오차가 크게 발생하였다. 그러나 주행기록계와 자이로스코프의 데이터를 융합하여 적용한 시스템의 성능이 주행기록계만 이용한 경우에 비해 보다 정확함을 실험을 통해 확인하였다. 이동로봇의 안정성 있는 경로 추종을 통해 이동로봇의 보다 넓은 영역에서의 작업이 기대된다.