• Transactions of the Korean Society of Mechanical Engineers B
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• v.29 no.10 s.241
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• pp.1092-1100
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• 2005

In the present study, characteristics of steady state laminar flows of a straight duct connected to a 180$^{o}$ curved duct were examined in the entrance region through experimental and numerical analyses. For the analysis, the governing equations of laminar flows in the Cartesian coordinate system were applied. Flow characteristics such as velocity profiles and secondary flows were investigated numerically and experimentally in a square cross-sectional straight duct by the PIV system and a CFD code(STAR CD). For the PIV measurement, smoke particles produced from mosquito coils. The experimental data were obtained at 9 points dividing the test sections by 400 3m. Experimental and numerical results can be summarized as follows. 1) Reynolds number, Re was increased, dimensionless velocity profiles at the outer wall were increased due to the effect of the centrifugal force and secondary flows. 2) The intensity of a secondary flow became stronger at the inner wall rather than the outer wall regardless of Reynolds number. Especially, fluid dynamic phenomenon called conner impact were observed at dimensionless axial position, x/D$_{h}$=50.

• Journal of Biosystems Engineering
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• v.37 no.1
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• pp.65-74
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• 2012

Purpose: An autonomous robot was developed for harvesting strawberries cultivated in bench-type systems. Methods: The harvest robot consisted of four main components: an autonomous vehicle, a manipulator with four degrees of freedom (DOF), an end effector with two DOFs, and a color computer vision system. Strawberry detection was performed based on 3D image and distance information obtained from a stereo CCD color camera and a laser device, respectively. Results: In this work, a Cartesian type manipulator system was designed, including an intermediate revolute axis and a double driven arm-based joint axis, so that it could generate collision-free motions during harvesting. A DC servomotor-driven end-effector, consisting of a gripper and a cutter, was designed for gripping and cutting the strawberry stem without damaging the strawberry itself. Real-time position tracking algorithms were developed to detect, recognize, trace, and approach strawberries under natural light conditions. Conclusion: The developed robot system could harvest a strawberry within 7 seconds without damage.

• International Journal of Aeronautical and Space Sciences
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• v.17 no.1
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• pp.109-119
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• 2016

When manufactured parts undergo large deformations during the manufacturing process, the global specifications of a part based on the concept of tolerance zone defined in the ISO 1101 standard [1] enable one to control the part's global defects. However, the extent of this tolerance zone is too large when the objective is to minimize local defects, such as hollows and bumps. Therefore, it is necessary to address local defects and global defects separately. This paper refers to the ISO 10579 standard [2] for flexible parts, which enables us to define a stressed state in order to measure the part by straightening it to simulate its position in the mechanism. The originality of this approach is that the straightening operation is performed numerically by calculating the displacement of a cloud of points. The results lead to a quantification of the global defects through various simple models and enable us to extract local defects. The outcome is an acceptable tolerance solution. The procedure is first developed for the simple example of a steel bar with a rectangular cross section, then applied to an industrial case involving a complex 3D surface of a turbine blade. The specification is described through ISO standards both in the free state and in the straightened state.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.9 s.174
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• pp.85-92
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• 2005

This paper describes the recognition method of small-obstacles using a camera for a mobile robot in indoor environment. The technique of image processing using a camera has been widely used for an automaton of industrial system, an inspection of inferior goods, a lookout of an invader, and a vision sensor of intelligent robot. Mobile robot could meet small-obstacles such as a small plastic bottle of about 0.5 l in quantity, a small box of $7{\times}7{\times}7cm^3$ in volume, and so on in its designated path, and could be disturbed by them in the locomotion of a mobile robot. So, it is necessary to research on the recognition of small-obstacles using a camera and program. In this paper, 2-D image processing algorism and method fur recognition of small-obstacles using a camera for a mobile robot in indoor environment was developed. The characteristic test of the developed program to confirm the recognition of small-obstacles was performed. It is shown that the developed program could judge the size and the position of small-obstacles accurately.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.396-401
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• 2009

This paper describes the improvements made on hardware and software of the remote controller for realistic contents. The controller can provide vibrotactile feedback which uses both of a voice-coil actuator and a vibration motor. A vision tracking system for the 3D position of the controller is optimized with respect to the marker size and the camera parameters. We also present the improvements of motion recognition due to the effective motion segmentation and the fusion of vision and acceleration data. We apply the developed controller to realistic contents and validate its usability.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.818-821
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• 2004

With a rapid development in the area of micro and ultra precision technology, the micro surface machining of small size parts are explosively increased. Especially, to improve efficiency of various beams in lens and reflector, non-rotational symmetric form and several mm level heights changeable surface can be machined at a time. These geometric complex 3D surface cannot be machined by general short stroke FTS. The long stroke FTS if firmly needed to move directly several mm and have nm level positioning accuracy for the complex surface form. The long stroke FTS used linear motors to drive moving unit long and fine, aero static bearings to decrease friction and moving errors in guide way, optical linear scale with nm level resolution to measure position of FTS. Furthermore, to increase the performance of acceleration of FTS, the light material, such as AL is used for the structure and the high stiffness box type structure is selected. In this paper, the genetic algorithm approach is described to determine a set of design parameters for auto tuning. The authors have attempted to model the design problem with the objective of minimizing the error, such as variable pattern change. This method can give the better alternative than existing other method.

• Journal of Ocean Engineering and Technology
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• v.17 no.6
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• pp.83-90
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• 2003

This paper presents an underwater hybrid navigation system for a semi-autonomous underwater vehicle (SAUV). The navigation system consists of an inertial measurement unit (IMU), and a Doppler velocity log (DVL), accompanied by a magnetic compass. The errors of inertial measurement units increase with time, due to the bias errors of gyros and accelerometers. A navigational system model is derived, to include the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters is 20. The conventional extended Kalman filter was used to propagate the error covariance, update the measurement errors, and correct the state equation when the measurements are available. Simulation was performed with the 6-d.o,f equations of motion of SAUV, using a lawn-mowing survey mode. The hybrid underwater navigation system shows good tracking performance, by updating the error covariance and correcting the system's states with the measurement errors from a DVL, a magnetic compass, and a depth sensor. The error of the estimated position still slowly drifts in the horizontal plane, about 3.5m for 500 seconds, which could be eliminated with the help of additional USBL information.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.10
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• pp.1483-1488
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• 2012

This paper analyzed the precision and accuracy of the altitude-aided GNSS using the altitude information from digital map. The precision of altitude-aided GNSS is analysed using the theoretically derived DOP. It is confirmed that the precision of altitude-aided GNSS is superior to the general 3D positioning method. It is also shown that the DOP of altitude-aided GNSS is independent of altitude bias error while the accuracy was influenced by the altitude bias error. Furthermore, it is shown that, since the altitude bias error influenced differently to each pseudorange measurement, the effect of the altitude bias error is more serious than clock bias error which does not influence position error at all. The results are evaluated by the simulation using the commercial RF simulator and GPS receiver. It confirmed that altitude-aided GNSS could improve not only precision but also accuracy if the altitude bias error are small. These results are expected to be easily applied for the performance improvement to the land and maritime applications.

• Journal of KIISE:Software and Applications
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• v.37 no.8
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• pp.641-646
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• 2010

This paper presents algorithms for real-time navigation of a humanoid robot with a stereo vision but no other sensors. Using the algorithms, a robot can recognize its 3D environment by retrieving SIFT features from images, estimate its position through the Kalman filter, and plan its path to reach a destination avoiding obstacles. Our approach focuses on estimating the robot’s central walking path trajectory rather than its actual walking motion by using an approximate model. This strategy makes it possible to apply mobile robot localization approaches to humanoid robot localization. Simple collision free path planning and motion control enable the autonomous robot navigation. Experimental results demonstrate the feasibility of our approach.

• Journal of radiological science and technology
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• v.14 no.1
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• pp.61-72
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• 1991

In this paper, the rotating plate method extracting signal and reconstructing original image was proposed. The rotating methode has cell detector array each of which has used in the medical diagnosis X-ray photography. The major problem using the simple horizontal moving or non-moving methode is the size and number of detector cells which have the considerable affection on the sharpness and resolution of the reconstructed image. Secondary, the estimated pixel values of non-detected real points which are placed between detector cells will be the distorted pixels in the reconstructed image. Therefore, the proposed rotating plate method has the exact distribution on the uncertain pixels which were reconstructed by conventional methods to solve there problems. And then, the image using the rotated plate's cell out put signal was reconstructed on the computer simulation. The method will rotated the detector array plate to solve the reconstruction from the detector size and number of conventional methods. The result of simulation has estimated the original pixel position and 81 pixel/mm resolution which the reconsiderlation of the detector's moving orientation, the proposed method has 25 pixel/mm resolution. These results have been represented by 3-D computer graphics.