• Journal of the Korean Institute of Intelligent Systems
• /
• v.18 no.5
• /
• pp.624-631
• /
• 2008

This paper presents a method for a mobile robot to follow a moving object in real time. The robot follows a target object keeping the facing angle toward the target and the distance to the target to given value. The method consists of two procedures: first, the detection of target position in the robot coordinate system, and the second, the calculation of translational velocity and rotational velocity to follow the object:. To detect the target location, range sensor data is represented in histogram. Based on the real time calculation of the location of the target relative to the robot, translational velocity and rotational velocity to follow the target are calculated. The velocities make the heading angle and the distance to target converge toward the desired ones. The performance of the method is tested through simulation. In the simulation, the target moves with three different trajectories, straight line trajectory, rectangular trajectory, and circular trajectory. As shown in the results, it is inevitable to lose track temporarily of the target when the target suddenly changes its motion direction. Nevertheless, the robot speeds up to catch up and finally succeeds to follow the target as soon as possible even in this case. The proposed method can also be utilized to coordinate the motion of multiple robots to keep their formation as well as to follow a target.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.53 no.1
• /
• pp.118-125
• /
• 2016

This study evaluates the performance of image to patient registration algorithm by using stereo vision and CT image for facial region surgical navigation. For the process of image to patient registration, feature extraction and 3D coordinate calculation are conducted, and then 3D CT image to 3D coordinate registration is conducted. Of the five combinations that can be generated by using three facial feature extraction methods and three registration methods on stereo vision image, this study evaluates the one with the highest registration accuracy. In addition, image to patient registration accuracy was compared by changing the facial rotation angle. As a result of the experiment, it turned out that when the facial rotation angle is within 20 degrees, registration using Active Appearance Model and Pseudo Inverse Matching has the highest accuracy, and when the facial rotation angle is over 20 degrees, registration using Speeded Up Robust Features and Iterative Closest Point has the highest accuracy. These results indicate that, Active Appearance Model and Pseudo Inverse Matching methods should be used in order to reduce registration error when the facial rotation angle is within 20 degrees, and Speeded Up Robust Features and Iterative Closest Point methods should be used when the facial rotation angle is over 20 degrees.

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

• Journal of Korean Society of Steel Construction
• /
• v.19 no.6
• /
• pp.599-610
• /
• 2007

In this paper, we described a co-rotational formulation for the geometrical nonlinear analysis of three-dimensional frames. We suggested a new concept called the Zero-Twist-Section Condition (ZTSC) to decide the element coordinate system consistently. According to the ZTSC procedure, it is possible to obtain an element coordinate system and natural deformations consistently when finite displacements and rotations are induced in an element. Based on the developed procedure, numerical examples are investigated to calculate natural rotations while finite displacements are imposed on an element. Also, the developed co-rotational procedure gives accurate results in the analysis of post-buckling problems with finite rotations.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.23 no.5
• /
• pp.1319-1324
• /
• 1998

The phase and frequency commands of a ratating radar system that utilizes frequency scanning to steer the beam in the azimuth direction and phase shifters in the elevation direction are derived in terms of the angles of the groung based coordinate system. The antenna type considered is slotted arrays that are easy to construct at such high microwave frequency as the X band. The frequency that has non-linear characteristics as a functio ofthe elevation angle is plotted and the derived frequency equation is aproximated to be a simple form to reduce the calculation time for real time multi-function radar systems. It is shown that the approximated frequency command is in good agreement with the exact one if the range of azimuth scanning is limited by ${\pm}10^{\circ}$.

• Progress in Medical Physics
• /
• v.15 no.2
• /
• pp.70-76
• /
• 2004

The most important work for early detection of liver cancer and decision of its characteristic and location is good segmentation of a liver region from other abdominal organs. This paper proposes a fully automatic liver segmentation algorithm based on the abdominal morphology characteristic as an easy and efficient method. Multi-modal threshold as pre-processing is peformed and a spine is segmented for finding morphological coordinates of an abdomen. Then the liver region is extracted using C-class maximum a posteriori (MAP) decision and morphological filtering. In order to estimate results of the automatic segmented liver region, area error rate (AER) and correlation coefficients of rotational binary region projection matching (RBRPM) are utilized. Experimental results showed automatic liver segmentation obtained by the proposed algorithm provided strong similarity to manual liver segmentation.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.8 no.2
• /
• pp.107-115
• /
• 2003

PMSM(permanent magnet synchronous motor) are widely used in industrial and home appliance because of their high torque to inertia ratio, superior power density, and high efficiency For the high control performance, accurate information of rotor position Is essential. In recent, sensorless algorithms are much studied due to high cost problem of position sensor and low reliability in harsh environment. In the proposed method, a differential linkage flux is used for the estimation of rotor position. The differential magnetic field flux is calculated by the voltage equations and measured phase current without any integration and differential calculus. Instead of linkage flux calculation with differential operation, a new mathematical differential method is introduced by a-$\beta$ transformation. The proposed novel position sensorless speed control scheme is verified through experimental results.

• Journal of KIISE:Software and Applications
• /
• v.28 no.10
• /
• pp.764-772
• /
• 2001

This paper describes fingerprint matching algorithm using connected information between minutiae. We regard minutiae as ridge bifurcation and ridge ending. Features are composed of minutia's position, type(ridge bifurcation or ridge ending) ridge direction and connected ridge information. While the minutiae are extracted, we store connected in information between minutiae on the same ridge. They are used to find corresponding point pairs. Minutiae are aligned completely by two corresponding point pairs and point pattern matching is achieved by counting the number of overlapping pairs. It is invariable t translation and rotation. We have tested proposed method on the 445 fingerprints from 89 persons. These experimental results show that proposed algorithm improve 33% in speed.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
• /
• v.9 no.1
• /
• pp.55-63
• /
• 1997

A numerical investigation has been made for flows in an axisymmetric circular cylinder with an impulsively rotating cone located at the bottom of the container. The axisymmetric container is completely filled with a viscous fluid. Major parameter for the present research is only the vertex angle of the cone, otherwise Reynolds number and aspect ratio of the vessel are fixed. Main interest concerns on the vortex breakdown of meridional circulation by impulsive rotation of the cone with respect to the longitudinal axis of the cylinder. Numerical method has been used to integrate momentum and continuity equations on a generalized body-fitted grid system. The pattern of vortex breakdown is quite different from that in a right circular cylinder with flat endwall disks. The flow visualization photograph of the preceeding work by Escudier is compared with the present numerical results and the two results are in good agreements. Also flow data are plotted to gain a deep understanding for the present phenomena of the vortex breakdown. The conclusions of this work are clearly explained by the classical theory of the vortex flows in a finite geometry.

• The Transactions of the Korea Information Processing Society
• /
• v.2 no.3
• /
• pp.390-396
• /
• 1995

One of the advantages of computer graphics is that it enables to view an object on different viewpoints and different angles. Therefore, a computer graphics system should be able to rotate an arbitrary object by an arbitrary angle about an arbitrary axis. This is usually done by rotating vertices that represent an object and connecting them. Hence an image may have many vertices, it is important to be able to rotate each of them quickly. Therefore, this paper is interested in a rotation matrix computation method that consists of the smallest number of computational steps. This pater proposes an algorithm that computes rotation matrix to rotate a 3 dimensional image about an arbitrary axis quickly.