• Journal of Institute of Control, Robotics and Systems
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• v.3 no.6
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• pp.613-618
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• 1997

In this paper, we designed a line CCD camera for a flying image, which is composed of a line CCD sensor(2048 cells) and a rotating mirror, and investigated its optical properties. We also made the 3-D image from the flying image which is made of 2-D image being juxtaposed to 1-D images obtained by the camera, and performed the calibration to acquire high precision 3-D data. As a result, we obtained the 3-D measurement system using the slit type of laser projector is available to measure the high precision shape of objects.

• Journal of KIISE
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• v.43 no.5
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• pp.562-568
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• 2016

Point cloud data can be expressed in a specific coordinate system of a data set with a large number of points, to represent any form that generally has different characteristics in the three-dimensional coordinate space. This paper is aimed at finding a cylindrical pipe in the point cloud of the three-dimensional coordinate system using RANSAC, which is faster than the conventional Hough Transform method. In this study, the proposed cylindrical pipe is estimated by combining the results of parameters based on two mathematical models. The two kinds of mathematical models include a sphere and line, searching the sphere center point and radius in the cylinder, and detecting the cylinder with straightening of center. This method can match cylindrical pipe with relative accuracy; furthermore, the process is rapid except for normal estimation and segmentation. Quick cylinders matching could benefit from laser scanning and reverse engineering construction sectors that require pipe real-time estimates.

• Transactions of the Korean Society of Automotive Engineers
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• v.1 no.1
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• pp.32-40
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• 1993

Flow fields in model engine cooling passages are studied numerically by using TURBO-3D program, a finite volume based 3-D turbulent flow program adopting a general body fitted coordinate system. The effects of exit position on mass flow rate at each gasket hole are examined for a model cooling passage in order to understand the flow distribution inside the water jacket. The results of the present study can be applied to the design of high performance, high reliability engine.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2003.10a
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• pp.412-419
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• 2003

The most product is manufactured by mould in usual life. From drawing to manufacturing is to be automatically. But inspection is handwork usually. An alternative idea of this problem is reverse engineering. In this study, press forming is measured by 3D non-contact coordinate measuring machine and problem will be analyzed by comparing with 3D data Through the study, it will achieve improvement of press mould process.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.8
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• pp.60-70
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• 2000

In this paper a 3D position measuring device that finds the 3D position of an arbitarily placed object using a camersa system is introduced. The camera system consists of three stepping motors and a CCD camera and a laser. The viewing direction of the camera is controlled by two stepping motors (pan and tilt motors) and the direction of a laser is also controlled by a stepping motors(laser motor). If an object in a remote place is selected from a live video image the x,y,z coordinates of the object with respect to the reference coordinate system can be obtained by calculating the distance from the camera to the object using a structured light scheme and by obtaining the orientation of the camera that is controlled by two stepping motors. The angles o f stepping motors are controlled by a SGI O2 workstation through a parallel port. The mathematical model of the camera and the distance measuring system are calibrated to calculate an accurate position of the object. This 3D position measuring device can be used to acquire information that is necessary to monitor a remote place.

• Journal of Korea Society of Digital Industry and Information Management
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• v.8 no.2
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• pp.95-104
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• 2012

In this paper, an estimation of person height and 3D location of a moving person by using the pan/tilt-embedded stereo tracking system is suggested and implemented. In the proposed system, face coordinates of a target person is detected from the sequential input stereo image pairs by using the YCbCr color model and phase-type correlation methods and then, using this data as well as the geometric information of the stereo tracking system, distance to the target from the stereo camera and 3-dimensional location information of a target person are extracted. Basing on these extracted data the pan/tilt system embedded in the stereo camera is controlled to adaptively track a moving person and as a result, moving trajectory of a target person can be obtained. From some experiments using 780 frames of the sequential stereo image pairs, it is analyzed that standard deviation of the position displacement of the target in the horizontal and vertical directions after tracking is kept to be very low value of 1.5, 0.42 for 780 frames on average, and error ratio between the measured and computed 3D coordinate values of the target is also kept to be very low value of 0.5% on average. These good experimental results suggest a possibility of implementation of a new stereo target tracking system having a high degree of accuracy and a very fast response time with this proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.413-413
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• 2000

In this paper, we propose a series of calibrations f3r the x-ray three dimensional imaging system. In the developed x-ray system, a three dimensional inner and outer shape of an object can be reconstructed out of two dimensional transmitted x-ray image set, which are acquired by projecting x-ray to the object from different views. To achieve this, a reconstruction algorithm which estimates and updates the three dimensional volume from x-ray images is developed. The algorithm is named as uniform and simultaneous algebraic reconstruction technique(USART) which is an iterative method estimating a 3D volume based on its projected images. In this method, it is assumed that the imaging conditions that are the relative positions between the x-ray sources, object and the image planes are blown. Practically it is not easy to know the three dimensional coordinate of the components of the system, since the x-ray is not visible and the image distortions are present due to the optical components in the system. In this paper, methods of correcting image distortions are present firstly. Then the coordinates of the x-ray systems are calibrated from the x-ray images of the grid pattern. Some experimental results on these calibrations are present and discussed.

• Interaction and multiscale mechanics
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• v.1 no.2
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• pp.279-301
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• 2008

This paper develops a 3D homogenization based continuum damage mechanics (HCDM) model for fiber reinforced composites undergoing micromechanical damage under monotonic and cyclic loading. Micromechanical damage in a representative volume element (RVE) of the material occurs by fiber-matrix interfacial debonding, which is incorporated in the model through a hysteretic bilinear cohesive zone model. The proposed model expresses a damage evolution surface in the strain space in the principal damage coordinate system or PDCS. PDCS enables the model to account for the effect of non-proportional load history. The loading/unloading criterion during cyclic loading is based on the scalar product of the strain increment and the normal to the damage surface in strain space. The material constitutive law involves a fourth order orthotropic tensor with stiffness characterized as a macroscopic internal variable. Three dimensional damage in composites is accounted for through functional forms of the fourth order damage tensor in terms of components of macroscopic strain and elastic stiffness tensors. The HCDM model parameters are calibrated from homogenization of micromechanical solutions of the RVE for a few representative strain histories. The proposed model is validated by comparing results of the HCDM model with pure micromechanical analysis results followed by homogenization. Finally, the potential of HCDM model as a design tool is demonstrated through macro-micro analysis of monotonic and cyclic damage progression in composite structures.

• Journal of computational fluids engineering
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• v.1 no.1
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• pp.71-80
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• 1996

An iterative time marching procedure for solving incompressible turbulent flow has been applied to the flows around a high speed train including cross-wind effects. This procedure solves three-dimensional unsteady incompressible Reynolds-averaged Navier-Stokes equations on a non-orthogonal curvilinear coordinate system using first-order accurate schemes for the time derivatives and third/second-order accurate schemes for the spatial derivatives. Turbulent flows have been modeled by Baldwin-Lomax turbulent model. To validate present procedure, the flow around a high speed train at zero yaw angle was simulated and compared with experimental data. Generally good agreement with experiments was achieved. The flow fields around the high speed train at 9.2°, 16.7°, and 45° of yaw angle were also simulated.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.12
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• pp.1067-1071
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• 2013

A 3D visual sensing method using a laser structured beam is presented for robotic tracking applications in a simple and reliable manner. A cylindrical shaped laser structured beam is proposed to measure the pose and position of the target surface. When the proposed laser beam intersects on the surface along the target trajectory, an elliptic pattern is generated. Its ellipse parameters can be induced mathematically by the geometrical relationship of the sensor coordinate and target coordinate. The depth and orientation of the target surface are directly determined by the ellipse parameters. In particular, two discontinuous points on the ellipse pattern, induced by seam trajectory, indicate mathematically the 3D direction for robotic tracking. To investigate the performance of this method, experiments with a 6 axis robot system are conducted on two different types of seam trajectories. The results show that this method is very suitable for robot seam tracking applications due to its excellence in accuracy and efficiency.