• IEMEK Journal of Embedded Systems and Applications
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• v.15 no.6
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• pp.269-279
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• 2020

This paper presents the design and implementation of embedded systems and autonomous path generation for autonomous speed sprayer. Autonomous Orchard Systems can be divided into embedded controller and path generation module. Embedded controller receives analog sensor data, on/off switch data and control linear actuator, break, clutch and steering module. In path generation part, we get 3D cloud point using Velodyne VLP16 LIDAR sensor and process the point cloud to generate maps, do localization, generate driving path. Then, it finally generates velocity and rotation angle in real time, and sends the data to embedded controller. Embedded controller controls steering wheel based on the received data. The developed autonomous speed sprayer is verified in test-bed with apple tree-shaped artworks.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.7
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• pp.552-556
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• 2016

Obstacle detection is a key feature in the safe driving control of electric wheelchairs. The suggested obstacle detection algorithm was designed to provide obstacle avoidance direction and detect the existence of cliffs. By means of this information, the wheelchair can determine where to steer and whether to stop or go. A 3D depth camera (Microsoft KINECT) is used to scan the 3D point data of the scene, extract information on obstacles, and produce a steering direction for obstacle avoidance. To be specific, ground detection is applied to extract the obstacle candidates from the scanned data and the candidates are projected onto a 2D map. The 2D map provides discretized information of the extracted obstacles to decide on the avoidance direction (left or right) of the wheelchair. As an additional function, cliff detection is developed. By defining the "cliffband," the ratio of the predefined band area and the detected area within the band area, the cliff detection algorithm can decide if a cliff is in front of the wheelchair. Vehicle tests were carried out by applying the algorithm to the electric wheelchair. Additionally, detailed functions of obstacle detection, such as providing avoidance direction and detecting the existence of cliffs, were demonstrated.

• 한국지구물리탐사학회:학술대회논문집
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• 2005.05a
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• pp.55-58
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• 2005

Low resistivity zone is observed at the lower part of a CFRD (Concrete Face Rockfill Dam). Generally, CFRD tends not to have any saturated zone within the body, but the result of resistivity survey shows that it is possible for the dam to be saturated under 20m depth with water. The level of reservoir was under 10m from the crest. We suspect that this result may come from the wrong 2D inversion process ignoring the 3D geometry of dams. For the analysis of possibility of distortion by different geometry, we perform the 3D forward modeling for the dam and apply the 2D inversion process. And then we check the point of traditional interpretation of resistivity data. By the analysis, it is found that the result of 2D inversion process of 3D geometry of dams, seems to have deep relation with the reservoir level, and the complex 3D structure hide some internal electrical anomaly of dams from resistivity information.

• Journal of the Korean Geophysical Society
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• v.8 no.4
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• pp.211-214
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• 2005

Low resistivity zone is observed at the lower part of a CFRD (Concrete Face Rockfill Dam). Generally, CFRD tends not to have any saturated zone within the body, but the result of resistivity survey shows that it is possible for the dam to be saturated under 20m depth with water. The level of reservoir was under 10 m from the crest. We suspect that this result may come from the wrong 2D inversion process ignoring the 3D geometry of dams. For the analysis of possibility of distortion by different geometry, we perform the 3D forward modeling for the dam and apply the 2D inversion process. And then we check the point of traditional interpretation of resistivity data. By the analysis, it is found that the result of 2D inversion process of 3D geometry of dams, seems to have deep relation with the reservoir level, and the complex 3D structure hide some internal electrical anomaly of dams from resistivity information.

• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.1-10
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• 2014

In recent years, the research of 3D mapping technique in urban environments obtained by mobile robots equipped with multiple sensors for recognizing the robot's surroundings is being studied actively. However, the map generated by simple integration of multiple sensors data only gives spatial information to robots. To get a semantic knowledge to help an autonomous mobile robot from the map, the robot has to convert low-level map representations to higher-level ones containing semantic knowledge of a scene. Given a 3D point cloud of an urban scene, this research proposes a method to recognize the objects effectively using 3D graph model for autonomous mobile robots. The proposed method is decomposed into three steps: sequential range data acquisition, normal vector estimation and incremental graph-based segmentation. This method guarantees the both real-time performance and accuracy of recognizing the objects in real urban environments. Also, it can provide plentiful data for classifying the objects. To evaluate a performance of proposed method, computation time and recognition rate of objects are analyzed. Experimental results show that the proposed method has efficiently in understanding the semantic knowledge of an urban environment.

• International conference on construction engineering and project management
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• 2015.10a
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• pp.328-332
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• 2015

By logging position data from GPS-equipped construction machines, we re-create daily activities as 3D animations to analyze performance and facilitate look-ahead scheduling. The 3D animation enables going back to any point in time and space to observe the activities as they took place. By segmenting data into a set of activities, it is possible to obtain actual measures of performance such as cycle times, production, speed profiles and idle times. The measures of performance can then be compared to those expected (e.g., theoretical speed profiles vs. observed profiles), and instances of significant difference can be flagged for further investigation. Idle times and queues that exceed prescribed thresholds can also be identified. In general, many of the traditional real-time performance analyses can be performed after the fact. Situations of interest can be identified automatically and the events in this manner enhances effective performance improvement in construction. The proposed research is explained and demonstrated using a real push-loaded earthmoving operation.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37C no.10
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• pp.859-869
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• 2012

In this paper, a new method to efficiently generate the 3-D(three-dimensional) video holograms for 3-D moving scenes, which is called here the TSR-N-LUT method, is proposed by the combined use of temporal-spatial redundancy(TSR) of 3-D video images and novel look-up table(N-LUT) technique. That is, in the proposed scheme, with the differential pulse code modulation (DPCM) algorithm, temporally redundancy redundant data in the inter-frame of a 3-D video images are removed between the frames, and then inter-line redundant data in the inter-frame of 3-D video images are also removed by using the DPCM method between the lines. Experimental results show that the proposed method could reduced the number of calculated object points and the calculation time of one object point by 23.72% and 19.55%, respectively on the average compared to the conventional method. Good experimental results with 3-D test moving pictures finally confirmed the feasibility of the proposed method to the fast generation of CGH patterns of the 3-D video images.

• Korean Journal of Computational Design and Engineering
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• v.3 no.3
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• pp.201-209
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• 1998

To develop timely an optimal fan, a design system and a new manufacturing process used step by step have to be integrated. A small sized optimal fan for refrigerators, that was the goal on this project, was developed by the following principal processes. All processes are technologically linked in many directions: The existing fan was measured through reverse engineering. The measured data was used for the basic source of 3D design. The performance tests were carried and used as the data for the evaluation of the existing fan. Flow analysis by FANS-3D/sup [1]/ was performed at the given information (pressure drop and flow rate) to find out the configuration of optimal fan design. The flow patterns were investigated to measure the performance of fan through numerical experiment. The grid point data obtained by the above analysis turned into 3D high efficiency fan model by using CATIA. The product was manufactured by RP process (SLS, SLA) and tested the characteristic curves of the developed fan to compare with the existing fan. The modification of fan design were all examined to see any change in performance and checked to find any deficiency in assembling the fan into a duct. After the plastics flow analysis of the injection molding cycle to ensure acceptable quality fan, an optimal mold was processed by using tool-path for the newly designed fan.

• 한국전산유체공학회:학술대회논문집
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• 2009.04a
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• pp.125-129
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• 2009

In this paper automatic 3D wing shape modeling program is introduced. The program is developed in Visual Basic based on Net Framework 3.5 environment by using CATIA COM Library, and it is used together with CATIA system to model 3D wings with or without flaps. With this program users can easily construct wing models by specifying geometry parameters which are usually design variables with the aid of easy-to-use GUI environment, and specifying sectional airfoil data is done either by using analytic shape functions such as NACA series airfoils or by providing input files with point data describing the airfoil shape. When all the input parameters are provided, users can either work further with the model in the CATIA system which would be automatically started by the program or save the resultant model in the format of users choice. Unstructured grid generation program is also briefly described which can make grid generation task for a 3D wing easy and efficient one when used together with the wing modeling program by choosing STL format as the model's output format.

• Journal of Sasang Constitutional Medicine
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• v.20 no.3
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• pp.70-81
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• 2008

1. Objective Recently we have known 'First Impression' is the major factor to check the review point for the classification of sasangin. And we want to find out the objected data contribute to dignosis of female sasang constitution using Sasangins Face. 2. Methods We analysed the datum collected by multi-center researchers in 2007-2008. And this study analysed the datum of the measurement of the face by 3D-AFRA (3-Dimensional Automatic Face Recognition Apparatus) and the items of impression by SDQ. We used chi-square test to define the relationship between the item and sasang constitutions. We used independent samples t - test with classifying measuring variables of the face. 3. Results and Conclusion We put out specific female sasangin's constitutional measuring variables of face. The measuring variables of count is Taeyangin 30point, Soyangin 15point, Taeumin 32point, Soeumin 21point. There is the need to accumulate more accurate pictures about sasangin's external shape.