• Journal of Institute of Control, Robotics and Systems
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• v.13 no.10
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• pp.949-955
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• 2007

This paper proposes an efficient localization algorithm in the RFID sensor space for the precise localization of a mobile robot. The RFID sensor space consists of embedded sensors and a mobile robot. The embedded sensors, that is tags are holding the absolute position data and provide them to the robot which carries a reader and requests the absolute position fur localization. The reader, it is called as antenna usually, gets several tag data at the same time within its readable range. It takes time to read all the tags and to process the data to estimate the position, which is a major factor to deteriorate the localization accuracy. In this paper, an efficient algorithm to estimate the position and orientation of the mobile robot as quickly as possible has been proposed. Along with the algorithm, a new allocation of the tags in the RFID sensor space is also proposed to improve the localization accuracy. The proposed algorithms are demonstrated and verified through the real experiments.

• IEIE Transactions on Smart Processing and Computing
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• v.6 no.1
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• pp.1-9
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• 2017

This paper proposes to improve the performance of a strap down inertial navigation system using a foot-mounted low-cost inertial measurement unit/magnetometer by configuring an attitude and heading reference system. To track position accurately and for attitude estimations, considering different dynamic constraints, magnetic measurement and a zero velocity update technique is used. A conventional strap down method based on integrating angular rate to determine attitude will inevitably induce long-term drift, while magnetometers are subject to short-term orientation errors. To eliminate this accumulative error, and thus, use the navigation system for a long-duration mission, a hybrid configuration by integrating a miniature micro electromechanical system (MEMS)-based attitude and heading detector with the conventional navigation system is proposed in this paper. The attitude and heading detector is composed of three-axis MEMS accelerometers and three-axis MEMS magnetometers. With an absolute algorithm based on gravity and Earth's magnetic field, rather than an integral algorithm, the attitude detector can obtain an absolute attitude and heading estimation without drift errors, so it can be used to adjust the attitude and orientation of the strap down system. Finally, we verify (by both formula analysis and from test results) that the accumulative errors are effectively eliminated via this hybrid scheme.

• Journal of Mechanical Science and Technology
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• v.17 no.10
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• pp.1431-1442
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• 2003

A new method of estimating the pose of a mobile-task robot is developed based upon an active calibration scheme. The utility of a mobile-task robot is widely recognized, which is formed by the serial connection of a mobile robot and a task robot. To be an efficient and precise mobile-task robot, the control uncertainties in the mobile robot should be resolved. Unless the mobile robot provides an accurate and stable base, the task robot cannot perform various tasks. For the control of the mobile robot, an absolute position sensor is necessary. However, on account of rolling and slippage of wheels on the ground, there does not exist any reliable position sensor for the mobile robot. This paper proposes an active calibration scheme to estimate the pose of a mobile robot that carries a task robot on the top. The active calibration scheme is to estimate a pose of the mobile robot using the relative position/orientation to a known object whose location, size, and shape are known a priori. For this calibration, a camera is attached on the top of the task robot to capture the images of the objects. These images are used to estimate the pose of the camera itself with respect to the known objects. Through the homogeneous transformation, the absolute position/orientation of the camera is calculated and propagated to get the pose of a mobile robot. Two types of objects are used here as samples of work-pieces: a polygonal and a cylindrical object. With these two samples, the proposed active calibration scheme is verified experimentally.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.37 no.2
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• pp.55-62
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• 2019

The stereo geometry establishment based on the precise sensor modeling is prerequisite for accurate stereo data processing. Ground control points are generally required for the accurate sensor modeling though it is not possible over the area where the accessibility is limited or reference data is not available. For the areas, the relative orientation should be carried out to improve the geometric consistency between the stereo data though it does not improve the absolute positional accuracy. The relative orientation requires conjugate points that are well distributed over the entire image region. Therefore the automatic conjugate point extraction is required because the manual operation is labor-intensive. In this study, we applied the method consisting of the key point extraction, the search space minimization based on the epipolar line, and the rigorous outlier detection based on the RPCs (Rational Polynomial Coefficients) bias compensation modeling. We tested different parameters of window sizes for Kompsat-2 across track stereo data and analyzed the RPCs precision after the bias compensation for the cases whether the epipolar line information is used or not. The experimental results showed that matching outliers were inevitable for the different matching parameterization but they were successfully detected and removed with the rigorous method for sub-pixel level of stereo RPCs precision.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.91-94
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• 2001

In this paper, we proposed localization method of mobile robot using color landmark mounted on ceiling. This work is composed 2 parts : landmark recognition part which finds the position of multiple landmarks in image and identifies them and absolute position estimation part which estimates the location and orientation of mobile robot in indoor environment. In landmark recognition part, mobile robot detects artificial color landmarks using simple histogram intersection method in rg color space which is insensitive to the change of illumination. Then absolute position estimation part calculates relative position of the mobile robot to the detected landmarks. For the verification of proposed algorithm, ceiling-orientated camera was installed on a mobile robot and performance of localization was examined by designed artificial color landmarks. As the result of test, mobile robot could achieve the reliable landmark detection and accurately estimate the position of mobile robot in indoor environment.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.1 no.2
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• pp.16-22
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• 1983

The method of least squares is an adequate method of adjustment in various fields of engineering where redundant observations are necessary to obtain accurate values. The Consideration of weight of each Observation can improve the accuracy if the reliabilities of observations vary. The strip coordinates were weighted as inversely proportionate to the rotations $\kappa, \varphi, \omega$ which occur in the computation of model coordinates. The resulting errors in absolute coordinates were compared with the errors unweighted case to investigate the influence of orientation elements on absolute coordinates.

• Journal of Energy Engineering
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• v.2 no.3
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• pp.315-322
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• 1993

The generalized 23 constants of the Benedict-Webb-Rubin-Starling (BWRS) equation of state were modified to achieve accurate predictions of thermo-physical properties for polar halocarbons. Multiproperty analysis was employed to obtain an optimum set of 23 constants for individual halocarbons. The overall average absolute deviations of predicted properties for those halocarbons using the 23 constants optimized for each halocarbon with use of either an acentric factor or orientation parameters are 0.41% for density, 0.33 Kcal/kg for enthalpy and 0.39% for vapor pressure. These results show a remarkable improvement in predicting properties over the ones obtained by use of the generalized constants for all the ten halocarbons tested here.

• Journal of the Ergonomics Society of Korea
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• v.9 no.1
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• pp.35-42
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• 1990

This study is concerned with the accuracy, of error with which subjects can interpolate the location of a target between two graduation markers with 4 orientations and 6 sizes CRT display. Stimuli were graphic images on CRT with a linear, end-markec, ungraduated scales having a target. The location of a target is estimated in units over te range 1-99. Smallest error of estimates was at the near ends and middle of the base-line. The median error was less than 2 units, modal error was 1, and the most error (; 99.7%) was within 10. A proper size to make an minimum error in interpolation exists such that size 400 pixels. Interpolation estimation is shown to be affected by the size, location and interaction (orientation x location, size x location). The accuracy, interpolation performance are discussed in relation to absolute error associated with visual performance.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.716-721
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• 1990

It is one of the essential task to determine the absolute location of mobile robot during its navigation. In this paper we propose an algorithm to calculate the distance and orientation of camera from landmark through the visual image of stripe typed landmark. Exact closed form solution of camera location is obtained with the correspondences from vertical line on mark plane to the intersection point of projected line with horizontal axis of image plane. It needs only one line image information, so that location determination can be processed in real time.

• The Journal of Advanced Prosthodontics
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• v.14 no.4
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• pp.250-261
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• 2022

PURPOSE. The purpose of this study was to analyze the marginal fit of three-unit resin prostheses printed with the stereolithography (SLA) method in two build orientations (45°, 60°) and two layer thicknesses (50 ㎛, 100 ㎛). MATERIALS AND METHODS. A master model for a three-unit resin prosthesis was designed with two implant abutments. Forty specimens were printed using an SLA 3D printer. The specimens were printed with two build orientations (45°, 60°), and each orientation was printed with two layer thicknesses (50 ㎛, 100 ㎛). The marginal fit was measured as the marginal gap (MG) and absolute marginal discrepancy (AMD), and MG and AMD measurements were performed at 8 points per abutment, for 16 points per specimen. All statistical analyses were performed using SPSS software. Two-way analysis of variance (ANOVA) was separately performed on the MG and AMD values of the build orientations and layer thicknesses. Moreover, one-way ANOVA was performed for each point within each group. RESULTS. The margins of the area adjacent to the pontic showed significantly high values, and the values were smaller when the build orientation was 45° than when it was 60°. However, the margin did not differ significantly according to the layer thicknesses. CONCLUSION. The marginal fit of the three-unit resin prosthesis fabricated by the SLA 3D method was affected by the pontic. Moreover, the marginal fit was affected by the build orientation. The 45° build orientation is recommended.