• Proceedings of the Korea Information Processing Society Conference
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• 2013.11a
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• pp.1528-1531
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• 2013

본 논문은 스테레오 시각에서 3차원 정보를 얻기 위해 bilateral filter를 이용한 그래프 컷 기반의 다해상도 스테레오 영상 정합 방법을 제안하고자 한다. 제안한 방법은 변위도에서 물체의 경계를 명확히 구분하기 위해 bilateral filter를 이용하여 그래프의 각 노드들을 연결하는 경로의 가중치를 결정하고 정합 비용을 통합한다. 정합 과정에서 계산복잡도를 줄이기 위해 계층적 다해상도 구조를 적용하여 영상 피라미드를 만들고, 정합의 정확성을 향상시키기 위해 정합 영역에 변위 평활성과 같은 제약 조건을 적용하여 변위를 전파하는 방법을 사용한다. 실험을 통해 제안한 방법이 변위 탐색 시간을 감소시킬 뿐만 아니라 기존의 그래프 컷의 단점을 보완할 수 있음을 확인하고자 한다.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.1
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• pp.69-77
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• 1997

본 논문은 금형의 마무리 연마 작업을 로봇을 이용하여 자동화하기 위한 오프라인 프로그래밍 시스템개발을 그 내용으로 하고있다. 3차원 자유곡면 형상을 갖는 금형을 연마하기 위한 로봇 작업 경로를 효율적으로 생성하기 위해서는 기존의 교시 방법이 아닌 CAD시스템과 연계된 시뮬레이션 방식의 자동 경로 생성 방법이 요구된다. 본 연구에서 개발된 금형 연마 작업을 위한 오프라인 프로그래밍 시스템은 연마 작업 시뮬레이션을 위한 기하학적 모델링 기능, 로봇의 작업 공간을 고려한 작업장 배치 기능, 연마 로봇의 효율적인 기구학 해, 3차원 그래픽 시뮬레이션, 3차원 물체간의 충돌 검사 기능 및 유기적인 관계형 데이타 베이스 기능 등으로 구성된다. 본 시스템의 시뮬레이션 결과를 로봇의 위치 보정 과정을 거쳐 로봇 작업 프로그램 으로 변환함으로써 최종적으로 실제 연마 작업이 가능한, 정확하고 안전한 로봇 프로그램을 생성하였다.

• Journal of the Korea Computer Graphics Society
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• v.20 no.2
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• pp.1-11
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• 2014

The quality of 2D-to-3D conversion depends on the accuracy of the assigned depth to scene objects. Manual depth painting for given objects is labor intensive as each frame is painted. Specifically, a human is one of the most challenging objects for a high-quality conversion, as a human body is an articulated figure and has many degrees of freedom (DOF). In addition, various styles of clothes, accessories, and hair create a very complex silhouette around the 2D human object. We propose an efficient method to estimate visually pleasing depths of a human at every frame in a monocular video. First, a 3D template model is matched to a person in a monocular video with a small number of specified user correspondences. Our pose estimation with sequential joint angular constraints reproduces a various range of human motions (i.e., spine bending) by allowing the utilization of a fully skinned 3D model with a large number of joints and DOFs. The initial depth of the 2D object in the video is assigned from the matched results, and then propagated toward areas where the depth is missing to produce a complete depth map. For the effective handling of the complex silhouettes and appearances, we introduce a partial depth propagation method based on color segmentation to ensure the detail of the results. We compared the result and depth maps painted by experienced artists. The comparison shows that our method produces viable depth maps of humans in monocular videos efficiently.

• KIPS Transactions on Software and Data Engineering
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• v.10 no.5
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• pp.179-186
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• 2021

Manipulation of complex objects with an anthropomorphic robot hand like a human hand is a challenge in the human-centric environment. In order to train the anthropomorphic robot hand which has a high degree of freedom (DoF), human demonstration augmented deep reinforcement learning policy optimization methods have been proposed. In this work, we first demonstrate augmentation of human demonstration in deep reinforcement learning (DRL) is effective for object manipulation by comparing the performance of the augmentation-free Natural Policy Gradient (NPG) and Demonstration Augmented NPG (DA-NPG). Then three DRL policy optimization methods, namely NPG, Trust Region Policy Optimization (TRPO), and Proximal Policy Optimization (PPO), have been evaluated with DA (i.e., DA-NPG, DA-TRPO, and DA-PPO) and without DA by manipulating six objects such as apple, banana, bottle, light bulb, camera, and hammer. The results show that DA-NPG achieved the average success rate of 99.33% whereas NPG only achieved 60%. In addition, DA-NPG succeeded grasping all six objects while DA-TRPO and DA-PPO failed to grasp some objects and showed unstable performances.

• Journal of Korean Elementary Science Education
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• v.41 no.1
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• pp.150-161
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• 2022

Matter is a basic concept that students should understand during their science classes. However, many difficulties are associated with understanding the concepts of matter due to its abstraction. In this study, the elementary school students' understanding of the concept of matter and the examples of matter and non-matter are investigated and analyzed by grade. The subjects of this study were 418 students from third grade to sixth grade. The survey was conducted using a free-response questionnaire comprising three questions. The results are as follows. First, the elementary school students' conceptions of matter were "materials that make up objects," "what can be seen and touched," and "solid, liquid, and gas." As the grade increased, the explanations for a material decreased and the explanations for the state of matter increased. Furthermore, only few students explained matter in terms of mass and volume. Second, solids were the most common examples of matter presented by the students, and liquids and gases were included in the upper grades. However, there were many cases in the upper grades where students were unable to distinguish between objects and matter. Third, non-matter was properly presented by the 6th graders as compared to the other graders, and in many cases, objects, liquids, and gases were mentioned as non-matter. Fourth, it was found that the students' conceptions of matter influenced the examples of matter and non-matter that they presented.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.2
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• pp.644-652
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• 2018

This paper describes the conceptual design of a customized gripper for the assembly process of IT products, which has a relatively short and regular product replacement cycle. The grippers that are used in the manufacturing field are mostly composed of one to two degrees of freedom and they can only handle one object, not multiple ones. Cost is also an important factor. If it were possible to develop a gripper suitable for the assembly process quickly and easily, some of the difficulties involved in its automation caused by the frequent changes of product and process could be solved. The assembly process utilized for this research is defined and described as the procedure and method of the process analysis due to the confidentiality of the manufacturer. We used an axiomatic design to derive the functional requirements and design parameters of the gripper used for the tablet PC assembly process. We proposed a design method for the conceptual design of the gripper by determining these parameters. For the feasibility study, a specific process was selected and the progress of the gripper design was described as an example. Although there have been studies on the design guidelines for grippers, their considerations are too general and their degree of freedom is too high. This paper defines the function of the gripper based on the assembly process of the IT products, which allows their production to be streamlined and automated. In this research, we attempted to produce a design that reflects the assembly process, not just one that enables objects to be held.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.29 no.1
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• pp.9-18
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• 2016

The slender structures such as high rise building or marine riser are highly susceptible to dynamic force exerted by fluid-structure interactions among which vortex-induced vibration(VIV) is the main cause of dynamic unstability of the structural system. If VIV occurs in natural frequency regime of the structure, fatigue failure likely happens by so-called lock-in phenomenon. This study presents the numerical analysis of dynamic behavior of both structure and fluid in the lock-in regimes and investigates the subjacent phenomena to hold the resonance frequency in spite of the change of flow condition. Unsteady and laminar flow was considered for a two-dimensional circular cylinder which was assumed to move freely in 1 degree of freedom in the direction orthogonal to the uniform inflow. Fluid-structure interaction was implemented by solving both unsteady flow and dynamic motion of the structure sequentially in each time step where the fluid domain was remeshed considering the movement of the body. The results show reasonable agreements with previous studies and reveal characteristic features of the lock-in phenomena. Not only the lift force but also drag force are drastically increasing during the lock-in regime, the vertical displacement of the cylinder reaches up to 20% of the diameter of the cylinder. The correlation analysis between lift and vertical displacement clearly show the dramatic change of the phase difference from in-phase to out-of-phase when the cylinder experiences lock-in. From the results, it can be postulated that the change of phase difference and flow condition is responsible for the resonating behavior of the structure during lock-in.

• Journal of the Society of Naval Architects of Korea
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• v.29 no.4
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• pp.114-131
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• 1992

In the present work, a two-dimensional boundary-value problem for a large amplitude motion is treated as an initial-value problem by satisfying the exact body-boundary and nonlinear free-surface boundary conditions. The present nonlinear numerical scheme is similar to that described by Vinje and Brevig(1981) who utilized the Cauchy's theorem and assumed the periodicity in the horizontal coordinate. In the present thesis, however, the periodicity in the horizontal coordinate is not assumed. Thus the present method can treat more realistic problems, which allow radiating waves to infinities. In the present method of solution, the original infinite fluid domain, is divided into two subdomains ; ie the inner and outer subdomains which are a local nonlinear subdomain and the truncated infinite linear subdomain, respectively. By imposing an appropriate matching condition, the computation is carried out only in the inner domain which includes the body. Here we adopt the nonlinear scheme of Vinje & Brevig only in the inner domain and respresent the solution in the truncated infinite subdomains by distributing the time-dependent Green function on the matching boundaries. The matching condition is that the velocity potential and stream function are required to be continuous across the matching boundary. In the computations we used, if necessary, a regriding algorithm on the free surface which could give converged stable solutions successfully even for the breaking waves. In harmonic oscillation problem, each harmonic component and time-mean force are obtained by the Fourier transform of the computed forces in the time domain. The numerical calculations are made for the following problems. $\cdot$ Forced harmonic large-amplitude oscillation(${\omega}{\neq}0,\;U=0$) $\cdot$ Translation with a uniform speed(${\omega}=0,\;U{\neq}0$) The computed results are compared with available experimental data and other analytical results.

• Proceedings of the KSR Conference
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• 2011.05a
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• pp.812-817
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• 2011

Rolling stocks are often subjected to the effects of natural cross wind or train wind pressure due to the crossing train. These wind pressure cause the falling-off in running stability and turnover problem. It is sometimes reported that trains are blown over by a gust of wind in overseas. So, many countries enact regulations to secure the safety for wind speed. In this study, we analyzed the difference between the regulation for turnover safety of train which was enacted by Ministry of Land. Transport and Maritime Affairs and that based on the multi-body model. In case of multi-body model, it is assumed that the degrees of freedom for carbody and bogie are assigned an independent values respectively. The results show that the latter approach based on multi-body model can access the safety of turnover and replace the computational method which is accessing with lateral force, derailment coefficient and decrement of wheel load.

• Journal of the Society of Naval Architects of Korea
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• v.37 no.1
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• pp.82-90
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• 2000

An experimental study has been carried out at circulating water channel to investigate the non-breaking and breaking waves generated by a submerged circular cylinder steadily moving under the free surface. Free surface profiles and pressure distributions on cylinder surface were measured at various submerged depths of cylinder. They were complemented by the measurements of velocities, head losses and turbulence intensities in the wakes of body and "breaker". Part 1 of this three-part paper describes the experimental arrangement and the patterns of wave profile and pressure distribution at various depths of submergence. These databank contributions are of special interest in traditional ship hydrodynamics. In Part 2, special focuses are made to elucidate the viscous and turbulent aspects of flow field. Finally Part 3 will deal with the visualization of instantaneous vortical flow to study the mutual interaction between vorticies shedded from the free-surface and the cylinder using a Particle Image Velocimetry.