• Journal of Institute of Control, Robotics and Systems
• /
• v.8 no.9
• /
• pp.776-787
• /
• 2002

Automation of welding process in shipyards is ultimately necessary, since the welding site is spatially enclosed by floors and girders, and therefore welding operators are exposed to hostile working conditions. To solve this problem, a welding mobile robot that can navigate autonomously within the enclosure has been developed. To achieve the welding task in the closed space, the robotic welding system needs a sensor system for the working environment recognition and the weld seam tracking, and a specially designed environment recognition strategy. In this paper, a three-dimensional laser vision system is developed based on the optical triangulation technology in order to provide robots with 3D work environmental map. Using this sensor system, a spatial filter based on neural network technology is designed for extracting the center of laser stripe, and evaluated in various situations. An environment modeling algorithm structure is proposed and tested, which is composed of the laser scanning module for 3D voxel modeling and the plane reconstruction module for mobile robot localization. Finally, an environmental recognition strategy for welding mobile robot is developed in order to recognize the work environments efficiently. The design of the sensor system, the algorithm for sensing the partially structured environment with plane segments, and the recognition strategy and tactics for sensing the work environment are described and discussed with a series of experiments in detail.

• ETRI Journal
• /
• v.26 no.6
• /
• pp.597-604
• /
• 2004

In stereoscopic television, there is a trade-off between visual comfort and 3-dimensional (3D) impact with respect to the baseline-stretch of a 3DTV camera. It is necessary to adjust the baseline-stretch at an appropriate the distance depending on the contents of a scene if we want to obtain a subjectively optimal quality of an image. However, it is very hard to obtain a small baseline-stretch using commercially available cameras of broadcasting quality where the sizes of the lens and CCD module are large. In order to overcome this limitation, we attempt to freely control the baseline-stretch of a stereoscopic camera by synthesizing the virtual views at the desired location of interval between two cameras. This proposed technique is based on the stereo matching and view synthesis techniques. We first obtain a dense disparity map using a hierarchical stereo matching with the edge-adaptive multiple shifted windows. Then, we synthesize the virtual views using the disparity map. Simulation results with various stereoscopic images demonstrate the effectiveness of the proposed technique.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.24 no.6
• /
• pp.605-612
• /
• 2015

Three dimensional (3D) position determination and motion recognition using a 3D depth sensor camera are applied to a developed penguin-shaped robot, and its validity and closeness are investigated. The robot is equipped with an Asus Xtion Pro Live as a 3D depth camera, and a sound module. Using the skeleton information from the motion recognition data extracted from the camera, the robot is controlled so as to follow the typical three mode-reactions formed by the operator's gestures. In this study, the extraction of skeleton joint information using the 3D depth camera is introduced, and the tracking performance of the operator's motions is explained.

• Journal of the Korean Society of Propulsion Engineers
• /
• v.23 no.4
• /
• pp.81-91
• /
• 2019

The 3-dimensional grain burn-back analysis is performed using the face offsetting method for calculating the solid rocket motor performance. The grain burning configuration analysis is a moving surface problem that calculates the regression of the burning surface. In the previous study, various moving interface analysis methods were applied for the grain burn-back analysis, but the results were imperfect. In this study, a 3-dimensional grain burn-back analysis module is developed using the face offsetting method, which combines the advantages of the existing moving interface analysis methods to increase the accuracy and robustness. As a result, the face offsetting method is proved to be efficient for the grain burn-back analysis.

• Journal of Korea Water Resources Association
• /
• v.30 no.4
• /
• pp.357-366
• /
• 1997

This paper presents a methodology for the calculation of effective rainfall by the SCS method using 3-dimensional digital elevation map and a Triangular Irregular Network module. The effective rainfall is calculated by taking into the increases of the runoff curve number(2%, 3%) due to the 10% increases of the slope of hillside, and the result indicate that the effective rainfall varies 5.0%∼12.0% with the storm events. It is demonstrated that in case of using the SCS method for the calculation of effective rainfall in the mountainous watershed with great elevation difference, the methodology taking into the slope of hillside is more viable.

• Journal of International Society for Simulation Surgery
• /
• v.3 no.1
• /
• pp.28-32
• /
• 2016

Background Congenital muscular torticollis (CMT) is a benign condition. With early diagnosis and appropriate management, it can be cured completely, leaving no residual deformity. However, long-standing, untreated CMT can lead to permanent craniofacial deformities and asymmetry.Methods Nineteen patients presented to the author with congenital muscular torticollis. Three dimensional computed tomography (3-D CT) scans was obtained upon patient’s admission. Adjustment of skull’s position to Frankfort horizontal plan was done. Cervical vertebral segmentation was done which allowed a 3D module to be separately created for each vertebra to detect any anatomical or positional changes.Results The segmented vertebrae showed an apparent anatomical changes, which were most noticeable at the level of the atlas and axis vertebrae. These changes decreased gradually till reaching the seventh cervical vertebra, which appeared to be normal in all patients. The changes in the atlas vertebra were mostly due to its intimate relation with the skull base, while the changes of the axis were the most significantConclusion Cervical vertebral segmentation is a reliable tool for isolation and studying cervical vertebral pathological changes of each vertebra separately. The accuracy of the procedures in addition to the availability of many software that can be used for segmentation will allow many surgeons to use segmentation of the vertebrae for diagnosis and even for preoperative simulation planning.

• Bulletin of the Korean Mathematical Society
• /
• v.20 no.1
• /
• pp.45-49
• /
• 1983

If R is ring and M is a right (or left) R-module, then M is called a faithful R-module if, for some a in R, x.a=0 for all x.mem.M then a=0. In [4], R.E. Johnson defines that M is a prime module if every non-zero submodule of M is faithful. Let us define that M is of prime type provided that M is faithful if and only if every non-zero submodule is faithful. We call a right (left) ideal I of R is of prime type if R/I is of prime type as a R-module. This is equivalent to the condition that if xRy.subeq.I then either x.mem.I ro y.mem.I (see [5:3:1]). It is easy to see that in case R is a commutative ring then a right or left ideal of a prime type is just a prime ideal. We have defined in [5], that a chain of right ideals of prime type in a ring R is a finite strictly increasing sequence I$_{0}$.contnd.I$_{1}$.contnd....contnd.I$_{n}$; the length of the chain is n. By the right dimension of a ring R, which is denoted by dim, R, we mean the supremum of the length of all chains of right ideals of prime type in R. It is an integer .geq.0 or .inf.. The left dimension of R, which is denoted by dim$_{l}$ R is similarly defined. It was shown in [5], that dim$_{r}$R=0 if and only if dim$_{l}$ R=0 if and only if R modulo the prime radical is a strongly regular ring. By "a strongly regular ring", we mean that for every a in R there is x in R such that axa=a=a$^{2}$x. It was also shown that R is a simple ring if and only if every right ideal is of prime type if and only if every left ideal is of prime type. In case, R is a (right or left) primitive ring then dim$_{r}$R=n if and only if dim$_{l}$ R=n if and only if R.iden.D$_{n+1}$ , n+1 by n+1 matrix ring on a division ring D. in this paper, we establish the following results: (1) If R is prime ring and dim$_{r}$R=n then either R is a righe Ore domain such that every non-zero right ideal of a prime type contains a non-zero minimal prime ideal or the classical ring of ritght quotients is isomorphic to m*m matrix ring over a division ring where m.leq.n+1. (b) If R is prime ring and dim$_{r}$R=n then dim$_{l}$ R=n if dim$_{l}$ R=n if dim$_{l}$ R<.inf. (c) Let R be a principal right and left ideal domain. If dim$_{r}$R=1 then R is an unique factorization domain.TEX>R=1 then R is an unique factorization domain.

• Transactions of the Korean hydrogen and new energy society
• /
• v.30 no.3
• /
• pp.243-250
• /
• 2019

In this study, to ensure the safety of the packaged hydrogen refueling system, the improvement plan was derived by using 3-dimensional CFD program (FLACS). We also confirmed the effectiveness of risk reduction and the suitability of safety standard. By ventilation performance evaluation according to the position of the vent, it demonstrated that the vent should be installed at the ceiling to safely ventilate without stagnation of the leaked gas. In case of ventilation system according to KGS standard, risk situation could be resolved after about 5 minutes in the worst leaked condition. The result showed that jet fire and explosion inside the packaged system could affect the surrounding facilities. This proves that the standard for installing flame detectors, emergency shut down system and protection wall is appropriate.

• Journal of architectural history
• /
• v.7 no.4 s.17
• /
• pp.29-47
• /
• 1998

The aim of this study is to understand the original methods of architectural composition in F. L. Wright's works, For this purpose, the principal thoughts based on his organic architecture was examined over all others, and the results of this study are as follows. 1. F. L. Wright knew Taoist Philosophy, especially Lao-tzu's thought about space based on traditional oriental arts included traditional japanese arts by his superior intuition. this is similar to Froebel Thought in the principal theory, that is, his own unique field of abstract architectural education with three-dimensional geometry learned through Froebel Gifts. 2. Space is reality ; such Lao-tzu's thought, reversed the sense of values, influenced F. L. Wright's way to accomplish his own continuous space. that is to say, he attempted taking precedence of spatial organization by the unit of three-dimensional module made the substance, Froebel Blocks (3, 4, 5, 6 Gifts) into non-substance, and trying to do the methods of continuous liberal composition in architecture. which is his original accomplishment, namely his mentioned 'democratic' because of judging the space and the mold of architecture as individualities. 3. F. L. Wright treated the space as a positive entity, so that he created his own architecture organically combined with spaces and forms. : This was the result that he comprehended both formative, physical worth in West and spatial, non-physical worth in East as equivalence. It is understood that F. L. Wright's works combined with East and West are the significance of his architecture and the progress of true internationalities and modernization in modern architecture. 4. From the analyses of his works, we knew the fact that F. L. Wright's architecture, especially in the spatial organization were performed by the reasonable methods with geometric system of Froebel Gifts. In the observation of our fundamental way of thinking on his architecture, this study shows the necessity to let us get out of preconceptions and conclusions that the organic architecture is mysterious and difficult, but to systematize and put his organic methods to practical use.

• Journal of the Korean Association of Geographic Information Studies
• /
• v.6 no.2
• /
• pp.65-79
• /
• 2003

In this study GIS based pre- and post-processing tool for the Visual MODFLOW that is specific software to model groundwater flow is developed. This tool not only makes input data scientifically but also manages input and output data in terms of the groundwater flow analysis. In addition it can storage project products systematically into Oracle database. The most characteristic figure of this processing tool is to provide the module, which automatically or semi automatically develops various grid cell sizes using GIS ArcView and also produces DXF files reflecting various boundary conditions in the modeling zone. In particular, eminences of this research are to create 3 dimensional hydrogeological structures with 2 dimensional GIS ArcView and to conduct pre- and post- processing along with same topology and data format of the MODFLOW.