• Journal of Broadcast Engineering
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• v.1 no.2
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• pp.176-187
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• 1996

This paper deals with the accurate estimation of 3- D pose (position and orientation) of a moving object with reference to the world frame (or robot base frame), based on a sequence of stereo images taken by cameras mounted on the end - effector of a robot manipulator. This work is an extension of the previous work[1]. Emphasis is given to the 3-D pose estimation relative to the world (or robot base) frame under the presence of not only the measurement noise in 2 - D images[ 1] but also the camera position errors due to the random noise involved in joint angles of a robot manipulator. To this end, a new set of discrete linear Kalman filter equations is derived, based on the following: 1) the orientation error of the object frame due to measurement noise in 2 - D images is modeled with reference to the camera frame by analyzing the noise propagation through 3- D reconstruction; 2) an extended Jacobian matrix is formulated by combining the result of 1) and the orientation error of the end-effector frame due to joint angle errors through robot differential kinematics; and 3) the rotational motion of an object, which is nonlinear in nature, is linearized based on quaternions. Motion parameters are computed from the estimated quaternions based on the iterated least-squares method. Simulation results show the significant reduction of estimation errors and also demonstrate an accurate convergence of the actual motion parameters to the true values.

• Proceedings of the IEEK Conference
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• 2000.09a
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• pp.845-848
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• 2000

운동(motion) 벡터는 보고 있는 카메라와 관측되는 대상물 사이의 상대적인 움직임에 의해서 발생되는 3차원 물체의 속도가 2차원 영상에 투사되어 맺히는 영상에서의 2차원 속도 벡터를 가리킨다 영상에서 물체의 움직임은 3차원 공간상의 운동을 알 수 있는 중요한 정보로써 물체를 추적하는데 응용되고 있다. 본 논문에서는 여러 장의 연속적인 2차원 밝기 영상으로부터 카메라의 움직임을 추정하는 문제를 다룬다. 기존의 특징 기반 추적 기법에서는 저 단계의 영상 처리 과정에서 모델과 배경의 특징점이 서로 분리되지 않거나, 모델의 특징(feature)이 소실되었을 경우, 추적이 용이하지 못하고, 카메라와 3차원 물체의 병진과 회전 운동에 의해 발생된 움직임의 경우 3차원 표적 특징이 많이 사라져서 오차가 많이 누적되기도 한다. 본 논문에서는 이러한 문제를 해결하기 위하여 목표물 및 배경 특징들을 사용하여 카메라의 운동 정보를 찾아내는 기법을 제안한다. 제안하는 3차원 카메라의 운동 정보 추정 기법은 크게 두 장의 연속된 영상으로부터 3차원 모델과 배경의 많은 특징들에 대한 광류(optical flow) 검색 과정과, 이로부터 취득한 움직임 벡터와 카메라의 비선형 운동 방정식과 Lagrange multiplier를 통한 카메라의 운동 정보 추정 과정으로 구성된다.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.16 no.6
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• pp.1300-1305
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• 2012

In this research, we propose a momentum measurement system using the accelerometer sensor, MCU, and Bluetooth to measure the exact momentum. The proposed system can figure out information for the real time travel distance. We performed various experiments, and analyzed the results using the proposed momentum measurement system. In the simulation experiments, we compared the reliability and accuracy for the existing momentum measurement systems from the analyzed results. The proposed system showed travel distance error of less than 8% as compared to the existing system with the error of approximately 13%. We expect that the proposed system apply to the commercial products.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1144-1149
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• 2003

It is very important to measure circular motion accuracy of NC lathes it affects accuracy, performance, interchange ability and quality of machine parts machined by the NC lathes in industries. So, in this study, measuring units system to measure circular motion accuracy two axes circular motion accuracy of NC lathes was composed of two optical linear scales installed on the z and x-axes of work coordinate system on NC lathe and a computer inserted with PC counter card enables to obtain measuring data. Here, ATC(Automatic Tool Changer) and moving part of linear scales are fixed with magnet bases in order to measure circular motion accuracy of the ATC of NC lathe. And next, computer software was developed in order to measure the circular motion accuracy of NC lathe under resolution of 0.1 $\mu\textrm{m}$ using two linear scales, and also computer softwares were developed so that measuring data could be modeled on plots and be analyzed numerically,

• Transactions of the Korean Society of Machine Tool Engineers
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• v.13 no.5
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• pp.1-6
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• 2004

Measurements of circular motion accuracy of NC lathe have achieved with ball bar systems proposed by Bryan, but the ball bar systems have ifluenced on the measuring data by way of the accuracy of the balls and the contacts of balls and bar seats. Therefore in this study, error data during of circular motion of ATC(Automatic Tool Changer) of NC lathe will be acquired by reading zx plane coordinates using two optical linear scales. Two optical linear scales of measuring unit are fixed on z-x plane of NC lathe, and the moving part is fixed to ATC and then is made to receive data of coordinates of the ATC at constant time intervals using tick pulses comming out from computer. And then, error data files of radial direction of circular motion are calculated with the data read, and the aspect of circular motion are modeled to plots, and are analysed by means of statistical treatments of circularity, means, standard deviations etc.

• The Transactions of the Korean Institute of Power Electronics
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• v.7 no.1
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• pp.11-17
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• 2002

This paper describes on a position detection method for the motors which have repetitive operations using the Algorithmic State Machine(ASM), one of the digital logic design methods. With analyses for the incremental encoder output patterns, state diagram and state table are constructed and a digital circuit which can detect the changing point of direction of motor rotation is designed. To verify the validity of the designed circuit, simulations for all cases in which the direction of motor rotation is changed, are performed. Simulation results show the designed digital circuit can detect the direction of motor rotation accurately for all cases.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.7
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• pp.101-106
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• 2004

Measurements of linear motion accuracy for one axis of NC lathe have achieved with laser interferometer system, but measurement of plane motion accuracy for two axes on zx-plane of NC lathe have not achieved with the above system. Therefore in this study, measuring unit system is organized using two optical linear scales in order to acquire error. data during of plane motion of ATC(Automatic Tool Change.) of NC lathe by reading zx-plane coordinates. Two optical linear scales of measuring unit are fixed on zx-plane of NC lathe, and moving part of the scales are fixed to the ATC and then error motion data of z, x-coordinates of the ATC are received from the scales through the PC counter card inserted in computer at constant time intervals using tick pulses coming out from computer. And then, error motion data files acquired from measuring are saved in computer memory and the aspect of plane motion are modeled to plots, and range of the error data, means. average deviations, and standard deviations etc. are calculated by means of statistical treatments using computer programs.

• Geophysics and Geophysical Exploration
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• v.15 no.3
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• pp.121-128
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• 2012

Absorbing boundary conditions are used to mitigate undesired reflections that can arise at the model's truncation boundaries. We apply a complex frequency shifted perfectly matched layer (CFS-PML) to elastic wave modeling in the frequency domain. Modeling results show that the performance of our implementation is superior to other absorbing boundaries. We consider the coefficients of CFS-PML to be optimal when the kinetic energy becomes to the minimum, and propose the modified CFS-PML that has the CFS-PML coefficient ${\alpha}_{max}$ defined as a function of frequency. Results with CFS-PML and modified CFS-PML are significantly improved compared with those of the classical PML technique suffering from large spurious reflections at grazing incidence.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.9
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• pp.875-881
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• 2010

During the lunar mission, spacecraft are subject to various unexpected disturbance sources such as third body attraction, solar pressure and operating impulsive maneuver error. Therefore, efficient trajectory correction maneuver (TCM) strategy must be required to follow the designed mission trajectory. In the early days of space exploration, the mission trajectory has been designed by using patched conic approach based on two-body dynamics for the lunar mission. Thus the TCM based on two-body dynamics has been usually adopted. However, with the advanced in computing power, the mission trajectory based on three-body dynamics is attempted recently. Thus, these approaches based on two-body dynamics are essentially different from real environment and large amount of energy for the TCM is required. In this work, we study the trajectory correction maneuver based on three-body dynamics.

• Proceedings of the Korean Information Science Society Conference
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• 2003.04c
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• pp.172-174
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• 2003

화상평면내 미지호흡운동에 기인한 MRI 아티팩트를 제거하기 위한 후처리방법을 제안한다. 본 연구에서 호흡운동은 2차원의 선형확대축소운동으로 모델화 된다. 신체조직을 비압축성 유체모양의 물질로 가정할때, 화상위에서의 단위체적당 푸로톤 밀도는 일정하다고 가정한다. 사용한 모델에 따르면 호흡운동은 위상 오차와 비균일표본화 및 왜곡된 진폭변조를 MR 데이터에 부여한다. 운동 파라메타가 이미 알려져 있거나 추정 가능하다고 할 때, MRI 아티팩트를 제거하기 위하여 중첩법에 기초를 둔 재구성 알고리즘을 이용한다. 운동 파라매타가 미지인 경우 스팩트럼 이동법을 적용해서 호흡변동함수와 x 방향 확대계수 및 x 방향 확대중심을 추정한다. 다음으로 에너지 최소법을 이용해서 ｙ 방향 확대계수 및 ｙ 방향 확대중심을 추정한다. 시뮬레이션을 통해서 제안한 방법의 유효성을 확인한다.