• International Journal of Ocean System Engineering
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• v.2 no.4
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• pp.223-232
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• 2012

For the accurate estimation of the position and orientation of a UUV (unmanned underwater vehicle), a low-cost AHRS (attitude heading reference system) was developed using a low-cost IMU (inertial measurement unit) sensor which provides information on the 3D acceleration, 3D turning rate and 3D earth-magnetic field data in the object coordinate system. The main hardware system is composed of an IMU sensor (ADIS16405) and TMS320F28335, which is coded with an extended kalman filter algorithm with a 50-Hz sampling frequency. Through an experimental gimbal device, good estimation performance for the pitch, roll, and yaw angles of the developed AHRS was verified by comparing to those of a commercial AHRS called the MTi system. The experimental results are here presented and analyzed.

• Journal of the Korean Society of Visualization
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• v.5 no.2
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• pp.26-32
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• 2007

Stereoscopic PTV and Stereoscopic-PIV measurements have been carried out for the studies of the wake of a ship's propeller. Stereoscopic photogrammetry based on a 3D-PTV principle was introduced using two high-definition cameras(1k x 1k, 30Hz). The arrangement of the two cameras was based on angular position. The pair-matching of the three-dimensional velocity vectors were based on Genetic Algorithm based 3D-PTV technique. The results obtained by both measurement systems have been compared at the advance ratio J=0.88(290 rpm, d=54 mm). Turbulent properties have also been compared each other at the same condition.

• Proceedings of the Korean Society of Medical Physics Conference
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• 2003.09a
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• pp.82-82
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• 2003

Introduction: With the development of dose calculation algorithms for electron beams, 3D RTP systerns are available for electron beam dose distribution commercially. However, no studies evaluated the accuracy of dose calculation with ADAC Pinnacle system for electron beams. So, the accuracy of the ADAC system is investigated by comparing electron dose distributions from ADAC system against the BEAMnrc/DOSXYZnrc. Methods: A total of 33 breast cancer patients treated with 6, 9, and 12MeV electrons in our institution was selected for this study. The first part of this study is to compare the dose distributions of measurement, TPS and the BEAMnrc/DOSXYZnrc code in flat water phantom at gantry zero position and for a 10 ${\times}$ 10 $\textrm{cm}^2$ field. The second part is to evaluate the monitor unit obtained from measurement and TPS. Adding actual breast patient's irregular blocks to the first part, monitor units to deliver 100 cGy to the dose maximum (dmax) were calculated from measurement and 3D RTP system. In addition, the dose distributions using blocks were compared between TPS and the BEAMnrc/DOSXYZnrc code. Finally, the effects of tissue inhomogeneities were studied by comparing dose distributions from Pinnacle and Monte Carlo method on CT data sets. Results: The dose distributions calculated using water phantom by the TPS and the BEAMnrc/ DOSXYZnrc code agreed well with measured data within 2% of the maximum dose. The maximum differences of monitor unit between measured and Pinnacle TPS in flat water phantom at gantry zero position were 4% for 6 MeV and 2% for 9 and 12 MeV electrons. In real-patient cases, comparison of depth doses and lateral dose profiles calculated by the Pinnacle TPS, with BEAMnrc/DOSXYZnrc code has generally shown good agreement with relative difference less than +/-3%. Discussion: For comparisons of real-patient cases, the maximum differences between the TPS and BEAMnrc/DOSXYZnrc on CT data were 10%. These discrepancies were due in part to the inaccurate dose calculation of the TPS, so that it needs to be improved properly. Conclusions: On the basis of the results presented in this study, we can conclude that the ADAC Pinnacle system for electron beams is capable of giving results absolutely comparable to those of a Monte Carlo calculation.

• 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.

• Korean Journal of Remote Sensing
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• v.36 no.5_4
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• pp.1209-1220
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• 2020

In the case of forest areas, the installation of ground control points (GCPs) and the selection of terrain features, which are one of the unmanned aerial photogrammetry work process, are limited compared to urban areas, and safety problems arise due to non-visible flight due to high forest. To compensate for this problem, the drone equipped with a real time kinematic (RTK) sensor that corrects the position of the drone in real time, and a 3D flight method that fly based on terrain information are being developed. This study suggests to present a method for investigating damage using drones in forest areas. Position accuracy evaluation was performed for three methods: 1) drone mapping through GCP measurement (normal mapping), 2) drone mapping based on topographic data (3D flight mapping), 3) drone mapping using RTK drone (RTK mapping), and all showed an accuracy within 2 cm in the horizontal and within 13 cm in the vertical position. After evaluating the position accuracy, the volume of the landslide area was calculated and the volume values were compared, and all showed similar values. Through this study, the possibility of utilizing 3D flight mapping and RTK mapping in forest areas was confirmed. In the future, it is expected that more effective damage investigations can be conducted if the three methods are appropriately used according to the conditions of area of the disaster.

• The korean journal of orthodontics
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• v.51 no.6
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• pp.375-386
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• 2021

Objective: To evaluate the accuracy of a one-piece bracket jig system fabricated using computer-aided design and manufacturing (CAD/CAM) by employing three-dimensional (3D) digital superimposition. Methods: This in vitro study included 226 anterior teeth selected from 20 patients undergoing orthodontic treatment. Bracket position errors from each of the 40 arches were analyzed quantitatively via 3D digital superimposition (best-fit algorithm) of the virtual bracket and actual bracket after indirect bonding, after accounting for possible variables that may affect accuracy, such as crowding and presence of the resin base. Results: The device could transfer the bracket accurately to the desired position of the patient's dentition within a clinically acceptable range of ± 0.05 mm and 2.0° for linear and angular measurements, respectively. The average linear measurements ranged from 0.029 to 0.101 mm. Among the angular measurements, rotation values showed the least deviation and ranged from 0.396° to 0.623°. Directional bias was pronounced in the vertical direction, and many brackets were bonded toward the occlusal surface. However, no statistical difference was found for the three angular measurement values (torque, angulation, and rotation) in any of the groups classified according to crowding. When the teeth were moderately crowded, the mesio-distal, bucco-lingual, and rotation measurement values were affected by the presence of the resin base. Conclusions: The characteristics of the CAD/CAM one-piece jig system were demonstrated according to the influencing factors, and the transfer accuracy was verified to be within a clinically acceptable level for the indirect bracket bonding of anterior teeth.

• Journal of IKEEE
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• v.22 no.3
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• pp.638-644
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• 2018

In this paper, we develop a measurement system that uses 3D Scintillator and NaI(TI) Detector to 3-dimensionally identify the location of multiple radiation sources in moving vehicle loads. The radiation measurement system consists of radiation measurement (plastic scintillator), 2-channel Pulse Counter Board, nuclide analysis (NaI(TI) detector) and 1 channel MCA Board. The source locator algorithm calculates the coordinate value of the ratio of the CPS value($1/r^2$) of the source according to the angle(${\theta}$) in inverse proportion to the square of the distance(X, Y) through the SVM classification. The coordinate values are input every predetermined period of the spectrum, and after analyzing the spectrum per unit cycle, the position of the nuclide at the time is calculated by determining whether or not the nuclide is present in the remaining part except for the background area. As a result of the position discrimination test, the error within the international standard of ${\pm}1m$ was shown. Thus, the utility of the proposed system has been demonstrated.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2000.05a
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• pp.356-359
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• 2000

In this paper, we propose a model based moving object tracking algorithm in dynamic scene. To adapt the shape change of the moving object, the Hausdorff distance is applied as the measurement of similarity between model and image. To reduce the processing time, 2-D logarithmic search method is applied for locate the position of moving object. Experiments on a running motorcycle, the result showed that the mean square error of real position and tracking result is 1.845 and consequently, matching process is relatively simple and reduced.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.37 no.3
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• pp.79-87
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• 2000

In this paper, we propose a model based moving object tracking algorithm In dynamic scenes To adapt shape change of the moving object, the Hausdorff distance is applied as the measurement of similarity between model and image To reduce processing time, 2D logarithmic search method is applied for locate the position of moving object Experiments on a running vehicle and motorcycle, the result showed that the mean square error of real position and tracking result is 1150 and 1845; matching times are reduced average 1125times and 523 times than existing algorithm for vehicle image and motorcycle image, respectively It showed that the proposed algorithm could track the moving object accurately.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.22 no.2
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• pp.236-244
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• 2011

In this paper, we proposed flexible T-DMB dipole-shaped antenna that has strength of glass antenna and also has portability and ease of production. The input impedance of antenna according to vehicle body-effect was considered in order to install the antenna on the top of the front window. Installation position of on-glass antennas are changeable defends on driver, so we proposed Interdigital capacitor in feeding point to achieve matching characteristic with no position limit. The measurement result showed good return loss characteristic-below -6 dB in the T-DMB frequency band and maintained fixed resonant frequency.