• Proceedings of the KSME Conference
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• 2008.11a
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• pp.1543-1546
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• 2008

The purpose of this study was to investigate factors affecting the change of tibial posterior slope and introduce a mathematical model which calculate, through 3-dimensional analysis of the proximal tibia, how the angle of the opening wedge along the anteromedial tibial cortex influences the tibial posterior slope and valgus correction when performing a medial open wedge osteotomy. This mathematical model with navigation system can be guidelines which provide surgeons on preoperative and intraoperative measurements to maintain or correct the tibial slope and to obtain the desired valgus correction of the lower limb during an opening wedge osteotomy.

• Journal of Korean Society of Water and Wastewater
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• v.32 no.6
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• pp.573-581
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• 2018

The purpose of this study is to evaluate the fixed wing type domestic UAV for monitoring of algae bloom in aquatic environment. The UAV used in this study is operated automatically in-flight using an automatic navigation device, and flies along a path targeting preconfigured GPS coordinates of desired measurement sites input by a flight path controller. The sensors used in this study were Sequoia multi-spectral cameras. The photographed images were processed using orthomosaics, georeferenced digital surface models, and 3D mapping software such as Pix4D. In this study, NDVI(Normalized distribution vegetation index) was used for estimating the concentration of chlorophyll-a in river. Based on the NDVI analysis, the distribution areas of chlorophyll-a could be analyzed. The UAV image was compared with a airborne image at a similar time and place. UAV images were found to be effective for monitoring of chlorophyll-a in river.

• The KIPS Transactions:PartB
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• v.14B no.3 s.113
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• pp.163-170
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• 2007

In autonomous navigation of a mobile vehicle or a mobile robot, localization calculated from recognizing its environment is most important factor. Generally, we can determine position and pose of a camera equipped mobile vehicle or mobile robot using INS and GPS but, in this case, we must use enough known ground landmark for accurate localization. hi contrast with homography method to calculate position and pose of a camera by only using the relation of two dimensional feature point between two frames, in this paper, we propose a method to calculate the position and the pose of a camera using relation between the location to predict through perspective transform of 3D feature points obtained by overlaying 3D model with previous frame using GPS and INS input and the location of corresponding feature point calculated using KLT tracking method in current frame. For the purpose of the performance evaluation, we use wireless-controlled vehicle mounted CCD camera, GPS and INS, and performed the test to calculate the location and the rotation angle of the camera with the video sequence stream obtained at 15Hz frame rate.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2007.04a
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• pp.7-10
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• 2007

This paper presents a fuzzy footstep planner for humanoid robots in complex environments. First, we define locomotion primitives for humanoid robots. A global planner finds a global path from a navigation map that is generated based on a combination of 2.5 dimensional maps of the 3D workspace. A local planner searches for an optimal sequence of locomotion primitives along the global path by using fuzzy footstep planning. We verify our approach on a virtual humanoid robot in a simulated environment. Simulation results show a reduction in planning time and the feasibility of the proposed method.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.8
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• pp.1075-1079
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• 2014

In this paper, we describe the analysis and the compensation method of the g-sensitivity error for MEMS vibratory gyroscopes. Usually, the g-sensitivity error has been ignored in the commercial MEMS gyroscope, but it deserves our attention to apply for the missile application as a tactical grade performance. Thus, it is necessary to compensate for the g-sensitivity error to reach a tactical grade performance. Generally, the g-sensitivity error seems intuitively to be a gyroscope bias error proportional to the linear acceleration. However, we assert that the g-sensitivity error mainly causes not a bias error but a scale-factor error. And we verify that the g-sensitivity scale-factor error occurs due to the non-linearity of parallel plate electrodes. Therefore, we propose the compensation method to remove the g-sensitivity scale-factor error. The experimental result showed that a proposed compensation method improved successfully the performance of the MEMS vibratory gyroscope.

• Steel and Composite Structures
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• v.24 no.1
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• pp.129-140
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• 2017

Structural optimization is one of the popular and active research areas in the field of structural engineering. In the present study, the newly developed moth-flame optimization (MFO) algorithm and its enhanced version termed as enhanced moth-flame optimization (EMFO) are employed to implement the optimization process of planar and 3D steel frame structures with discrete design variables. The main inspiration of this optimizer is the navigation method of moths in nature called transverse orientation. A number of benchmark steel frame optimization problems are solved by the MFO and EMFO algorithms and the results are compared with those of other meta-heuristics. The obtained numerical results indicate that the proposed EMFO algorithm possesses better computational performance compared with other existing meta-heuristics.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.4
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• pp.400-405
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• 2009

A new method for the catadioptric omnidirectional stereo vision with single camera is presented in this paper. The proposed method uses a concave lens with a convex mirror. Since the optical part of the proposed method is simple and commercially available, the resultant omnidirectional stereo system becomes versatile and cost-effective. The closed-form solution for 3D distance computation is presented based on the simple optics including the reflection and the reflection of the convex mirror and the concave lens. The compactness of the system and the simplicity of the image processing make the omnidirectional stereo system appropriate for real-time applications such as autonomous navigation of a mobile robot or the object manipulation. In order to verify the feasibility of the proposed method, an experimental prototype is implemented.

• 한국지구물리탐사학회:학술대회논문집
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• 2004.08a
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• pp.8-21
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• 2004

Examples of GPR survey results at a variety of archaeological sites are presented. Several new analyses which include static corrections for the tilt of the GPR antenna are shown for imaging of burial mounds with significant topography. Example archaeological site plans developed from GPR remote sensing of Roman and Japanese sites are given. The first completely automated GPR survey, using only Global Positioning Satellite navigation to create 3D data volumes, is employed for a site in Louisiana to detect lost graves of the Choctaw Indian Tribe.

• Proceedings of the KSRS Conference
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• 2008.10a
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• pp.137-140
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• 2008

Recently many areas require wide field of view images. Such as surveillance, virtual reality, navigation and 3D scene reconstruction. Conventional camera systems have a limited filed of view and provide partial information about the scene. however, omni directional vision system can overcome these disadvantages. Acquiring 360 degree panorama images requires expensive omni camera lens. In this study, 360 degree panorama image was tested using a low cost optical reflector which captures 360 degree panoramic views with single shot. This 360 degree panorama image system can be used with detailed positional information from GPS/INS. Through this study result, we show 360 degree panorama image is very effective tool for mobile monitoring system.

• Journal of Korean Neurosurgical Society
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• v.37 no.2
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• pp.154-156
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• 2005

We present a case of chondroblastoma in the thoracic vertebra. A 40-year-old patient with upper back pain and lower extremity weakness was admitted to our clinic. On neurological examination, the patient exhibited lower extremity spastic paraparesis. Magnetic resonance imaging revealed a mass infiltrating the 7th thoracic vertebra and its adjacent structures with concomitant compression of the epidural space. After right upper lung tuberculoma was resected through the transthoracic approach, T7 total corpectomy was done with anterior stabilization using a MESH cage and T7 rib bone graft. Two weeks after the first operation, remained part of vertebra was removed and posterior stabilization was performed using a pedicle screw fixation and cross linkage bar with the assistance of the navigation system. The final pathologic diagnosis of the vertebral lesion was benign chondroblastoma.