• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.3 s.309
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• pp.8-15
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• 2006

Obstacle detection is an important task for many mobile robot applications. The methods using stereo vision and optical flow are computationally expensive. Therefore, this paper presents a vision-based obstacle detection method using only two view images. The method uses a single passive camera and odometry, performs in real-time. The proposed method is an obstacle detection method using 3D reconstruction from taro views. Processing begins with feature extraction for each input image using Dr. Lowe's SIFT(Scale Invariant Feature Transform) and establish the correspondence of features across input images. Using extrinsic camera rotation and translation matrix which is provided by odometry, we could calculate the 3D position of these corresponding points by triangulation. The results of triangulation are partial 3D reconstruction for obstacles. The proposed method has been tested successfully on an indoor mobile robot and is able to detect obstacles at 75msec.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.33 no.9B
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• pp.832-844
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• 2008

Distributed localization algorithms are necessary for large-scale wireless sensor network applications. In this paper, we introduce an efficient node distribution based localization algorithm that emphasizes simple refinement and low system load for low-cost and low-rate wireless sensors. Each node adaptively chooses neighbor nodes for sensors, update its position estimate by minimizing a local cost function and then passes this update to the neighbor nodes. The update process considers a distribution of nodes for large-scale networks which have same density in a unit area for optimizing the system performance. Neighbor nodes are selected within a range which provides the smallest received signal strength error based on the real experiments. MATLAB simulation showed that the proposed algorithm is more accurate than trilateration and les complex than multidimensional scaling. The implementation on MicaZ using TinyOS-2.x confirmed the practicality of the proposed algorithm.

• Journal of the Korean Society for Nondestructive Testing
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• v.25 no.2
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• pp.74-80
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• 2005

A new dimension measuring method for the measurement of diameter of an object has been developed using laser triangulation. The 3D data of an object was calculated from the 2 dimensional image information obtained by the laser stripe using the laser triangulation. The system that use existing theory can measure the diameter of hole not only in a normal plane but also ill an incline plane. However, in the existing theory, since the lens with fixed feral length was used, the area of measurement was fixed. The simplest way to solve this problem is to change distance between a CCD camera and object. Other way is to use a zoom lens having variable focal length. In this paper, the zoom lens with variable focal length was used. Therefore, we ran experiment with magnification that is optimized according to size of object using zoom lens with variable focal length.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.6
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• pp.598-603
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• 2019

Three-dimensional shape measurement technology is used in various industries. Among them, optical three-dimensional shape measurement techniques based on the optical trigonometry are mainly used in the field of semiconductor product inspection, where large quantities of three-dimensional shape measurements are made daily in factories and fine measurements are also required. The light source and the drive circuit, which are components of three-dimensional measurement equipment based on this optical trigonometry, produce heat generated by prolonged operation, and may be exposed to conditions where the ambient temperature is not constant, resulting in temperature-induced measurement errors. In this study, the compensation method of the Thermal Errors for Phase Measuring Profilometry is proposed. Three-Dimensional Shape Measurement Equipment based on Phase Measuring Profilometry is implemented to measure the height of an object and ambient temperature for 10 Hours, and a regression line was obtained line by making simple linear regression using measured temperature and height values. This regression line was used to correct the error of the height measurement according to the temperature, and thermal error was from 139.88 um(Micrometer) to 13.12 um.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.3 no.2
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• pp.321-327
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• 1999

In this progressed super-impose individual recognition system, the photograph of a skull was caught by CCD-camcoder with the MPEG, and an ante-mortem photograph was read by scanner. These two images were processed and superimposed using horizontal angle and vertical angle of face using the forensic dental medicine theory. The enhancement of super-impose individual recognition by anatomical references was performed on the two superimposed images of the same angle using the facial triangle and histogram analysis scheme.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.2
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• pp.553-563
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• 1996

An algorithm for automatic mesh generation of two-dimensional arbitrary planar domain is proposed by using Delaunay triangulation algorithm. An efficient algorithm is proposed for the construction of Delaunay triangulation algorithm over convex planar domain. From the definition of boundary, boundary nodes are first defined and then interior nodes are generated ensuring the Delaunay property. These interior nodes and the boundary nodes are then linked up together to produce a valid triangular mesh for any finite element analysis. Through the various example, it is found that high-quality triangular element meshes are obtained by Delaunay algorithm, showing the robustness of the current method. The proposed mesh generation scheme has been extended to automatic remeshing, which is applicable to FE analysis including large deformation and large distortion of elements.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.43-46
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• 2000

Optical triangulation displacement sensors(0TDSs) are widely used for their simple struchlre, high resolution, and long operating range. However, there are several factors that must be taken into account in order to obtain high accuracy and reliability Measurement errors from inclinations a？ an object surface, prohe signal fluctuations generated by speckle effects. power vanation of a light source, electronic noises, and so on. Previous models of OTDSs can not show reasonable behavior as change of surface inclination and shape of light intensity distribution on the detector. In this paper, we propose a new and reasonable modeling for diffise-type OTDSs based on a geometrical optics. To verify propriety of new modeling, we take basic experiments. Shape of light intensity distribution is asymmetric in both simulation result and experimental result. Both simulation result and experimental result show same tendency of light intensity distribution movement as changing surface inclination

• Transactions of the Korean Society of Mechanical Engineers B
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• v.26 no.11
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• pp.1570-1577
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• 2002

In order to investigate the characteristics of two-phase slug flow, an electromagnetic flowmeter with 240Hz triangular AC excitation was designed and manufactured. The signals and noise from the flowmeter were obtained, and analyzed in comparison with the observations with a high speed CCD camera. The uncertainty of the flowmeter under single-phase flow was $\pm$ 2.24% in real-time. For two-phase slug flow, electromagnetic flowmeter provided real-time simultaneous measurements of the mean film velocity around Taylor bubble and the relative location and the length of the bubble. Besides, it is an easier and cheaper method for measuring mean film velocity than others such as photochromic dye activation method or particle image velocimetry.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.76-80
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• 2000

This paper describes a coordinate measuring technique based on optical triangulation using the two images. To overcome the defect of structured light system which measures coordinate point by point, light source is replaced by CCD camera. Pixels in CCD camera were considered as virtual light source. The overall geometry including two camera images is modeled. Using this geometry, the formula for calculating 3D coordinate of specified point is derived. In a word, the ray from a virtual light source was reflected on measuring point and the corresponding image point was made on the other image. Through the simulation result, validation of formula is verified. This method enables to acquire multiple points detection by photographing.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.407-410
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• 2002

Triangulation method, conoscopic holography method and interferometry method are analyzed for effective measurement of micro burr geometry, which is formed in micro drilling. To select proper sensor, cylinder with 0.5mm diameter is measured and the result shows that conoscopic holography method is effective for measuring highly inclined surface. Burr with 1.0mm height and 30$\mu\textrm{m}$ height are measured by all methods. The conoscopic holography method is probed to be most proper method for measuring micro burr. A Program for 3D display of measured burr is developed.