• 한국농업기계학회:학술대회논문집
• /
• 한국농업기계학회 1996년도 International Conference on Agricultural Machinery Engineering Proceedings
• /
• pp.755-764
• /
• 1996

A multispectral imaging system with selected wavelength optical filter was demonstrated feasible for food safety inspection. Intensified multispectral images of carcasses were obtained with visible/near-infrared optical filters(542-847 nm wavelengths) and analyzed. The analysis of textural features based on co-occurrence matrices was conducted to determine the feasibility of a multispectral image analyses for discriminating unwholesome poultry carcasses from wholesome carcasses. The mean angular second moment of the wholesome carcasses scanned at 542 nm wavelength was lower than that of septicemic (P$\leq$0.0005) and cadaver(P$\leq$0.0005) carcasses. On the other hand, for the carcasses scanned at 700nm wavelength , the feature values of septicemic and cadaver carcasses were significantly (P$\leq$0.0005) different from wholesome carcasses. The discriminant functions for classifying poultry carcasses into three classes (wholesome, septicemic , cadaver) were developed using linear and quadr tic covariance matrix analysis method. The accuracy of the quadratic discriminant models, expressed in rates of correct classification, were over 90% for the classification of wholesome, septicemic, and cadaver carcasses when textural features from the spectral images scanned at the wavelength of 542 and 700nm were utilized.

• 제어로봇시스템학회논문지
• /
• 제16권3호
• /
• pp.256-263
• /
• 2010

The paper proposes a sensorless speed control strategy for a PMSM (Permanent Magnet Synchronous Motor) based on a new SMO (Sliding Mode Observer), which substitutes a signum function with a sigmoid function. To apply robust sensorless control of PMSM against parameter fluctuations and disturbance, the high speed SMO is proposed, which estimates the rotor position and angular velocity from the back EMF. The low-pass filter and additional position compensation of the rotor are used to reduce the chattering problem commonly found in sliding mode observer with signum function, which becomes possible by applying the sigmoid function with the control of a switching function. Also the proposed sliding mode observer with the sigmoid function has better efficiency than the conventional sliding mode observer since it adjusts the observer gain by variable boundary layer and estimates the stator resistance. The stability of the proposed sliding mode observer is verified by the Lyapunov second method in determining the observer gain. The validity of the proposed high speed PMSM sensorless velocity control has been demonstrated by real experiments.

• 한국정보통신학회:학술대회논문집
• /
• 한국정보통신학회 2018년도 추계학술대회
• /
• pp.452-455
• /
• 2018

휠로더는 붐과 버켓을 제어하여 굴삭 및 덤핑 작업을 수행한다. 휠로더 장비 운전은 반복 작업이 많고, 작업환경이 열악하지만 오직 사람에 의한 수작업으로 진행되고 있다. 최근 전장품에서도 무인 자동화 시스템을 적용하려는 요구가 점차 증가하고 있다. 휠로더의 자동화 시스템은 안정된 제어를 위해 정확한 각도 검출을 검출이 필수적이다. 본 논문은 노이즈에 강인 하면서 정밀 각도 제어를 위한 신호처리시스템을 제안한다. 제안 시스템을 구현하여 휠로더 붐각도 시스템에 적용한 결과 약 0.1도 각도 변화 검출이 가능하였다.

• 제어로봇시스템학회논문지
• /
• 제21권7호
• /
• pp.615-620
• /
• 2015

DOB (Disturbance Observer) is an useful control method for estimating the disturbance applied to dynamic systems. Disturbance observer can be used to implement a robust control system to generate a control input for rejecting the disturbance, and it can be also used to estimate the disturbance to obtain information. The system that uses disturbance estimation is investigated for high performance control such as automatic door systems, walking robot and electric power steering system in vehicles. In this paper, a novel disturbance observer which is called disturbance and current observer for estimating load torque in the motor system is proposed. The difference between the DOB for disturbance rejection and DCOB is mathematically verified. Current and angular velocity are required for estimating the load torque of the motor in DOB. However, the DCOB can estimate load torque and current without current sensor. DCOB is designed based on modeling of the motor system. Appropriate Q-filter is selected and the applicability of DCOB is verified by simulation. The estimated disturbance and current of the electric motor can be verified without current sensor, as experiments of the actual motor system.

• 한국안전학회지
• /
• 제14권4호
• /
• pp.204-210
• /
• 1999

본 논문에서는 정합필터의 데이터 베이스로 체적 홀로그램을 사용한 광 지문 인식 시스템을 제안하였다. VanderLugt 상관기에 사용되는 정합필터는 방대한 저장 능력과 실시간 랜덤 엑세스의 장점을 갖는 체적 홀로그램에 기록된다 데이터 베이스로 사용되는 지문 영상들은 각각 공간광변조기에 디스플레이 되어 퓨리에 변환 렌즈를 통과한 후 퓨리에 변환된 공간정합필터의 형태로 광굴절매질에 기록된다. 대용량의 데이터 베이스를 구성하기 위한 다중화 방법으로 스텝 모터를 이용하여 기준파의 각도를 회전하는 각다중화 기술을 사용하였다. 실험을 통해 본 시스템이 제한된 영역의 접근을 통제하기 위한 개인 인증용 안전 출입 시스템 및 크레디트카드, 여권, ID등의 위조방지에 이용이 가능함을 제시하였다

• 로봇학회논문지
• /
• 제18권4호
• /
• pp.427-435
• /
• 2023

This paper proposes a method of estimating the pose of a mobile robot by using a learning model. When estimating the pose of a mobile robot, wheel encoder and inertial measurement unit (IMU) data are generally utilized. However, depending on the condition of the ground surface, slip occurs due to interaction between the wheel and the floor. In this case, it is hard to predict pose accurately by using only encoder and IMU. Thus, in order to reduce pose error even in such conditions, this paper introduces a pose estimation method based on a learning model using data of the wheel encoder and IMU. As the learning model, long short-term memory (LSTM) network is adopted. The inputs to LSTM are velocity and acceleration data from the wheel encoder and IMU. Outputs from network are corrected linear and angular velocity. Estimated pose is calculated through numerically integrating output velocities. Dataset used as ground truth of learning model is collected in various ground conditions. Experimental results demonstrate that proposed learning model has higher accuracy of pose estimation than extended Kalman filter (EKF) and other learning models using the same data under various ground conditions.

• 전자공학회논문지
• /
• 제53권9호
• /
• pp.143-147
• /
• 2016

최근 디지털 단층영상합성 시스템 (digital tomosynthesis system, DTS)은 일반 X-ray의 영상 중첩현상과 전산화단층촬영장치 (computed tomography, CT)의 높은 선량의 문제점을 해결하기 위하여 개발되었다. 본 연구의 목적은 흉부 촬영용 디지털 단층영상합성 시스템 (chest digital tomosynthesis, CDT)의 재구성 알고리즘 개발 및 화질과 선량 평가를 수행하는 것이다. 영상의 재구성은 필터 후 역투영 (filtered back-projection, FBP)을 모델링하였고, 팬텀 영상을 획득하기 위한 X-선과 검출기 사이의 각도를 ${\pm}10^{\circ}$, ${\pm}15^{\circ}$, ${\pm}20^{\circ}$, 그리고 ${\pm}30^{\circ}$로 구성하였다. 영상의 화질 평가는 평균 제곱근 편차 (root mean square error, RMSE)와 신호대 잡음 변화율 (signal difference-to-noise ratio, SDNR)로 수행하였고, 선량 평가는 ${\pm}20^{\circ}$의 범위에서 유효선량으로 수행하였다. 결과적으로, 모든 각도에서 Slice thickness 필터를 적용한 팬텀영상이 가장 우수한 RMSE와 SDNR 결과를 나타내었고, 최종 유효 선량은 0.166 mSv로 측정되었다. 결론적으로, 개발한 CDT 재구성 알고리즘의 유용성을 증명하였고, 최종 유효 선량을 측정하여 CDT의 기초 실험 데이터를 구축할 수 있었다.

• 대한방사선기술학회지:방사선기술과학
• /
• 제38권3호
• /
• pp.221-228
• /
• 2015

목적: 디지털 유방촬영에서 QC 프로그램을 이용하여 방사선 피폭 선량의 감소와 고화질의 영상을 목적으로 하였다. 재료 및 방법: 디지털 유방촬영술에서 QC phantom을 사용하여 노출 방식에 따른 평균유선선량을 MLO view에서 $0^{\circ}C$, $30^{\circ}C$, $45^{\circ}C$, $50^{\circ}C$, $55^{\circ}C$, $70^{\circ}C$, $90^{\circ}C$ 구간에서 측정하였고, Hologic사의 QC 프로그램으로 영상에서 SNR과 CNR을 측정하여 평가하였다. 결과: 평균유선선량은 $90^{\circ}C$ 일 때 1.75 mGy로 최대치였고, $45^{\circ}C$에서 약 6 % 감소한 1.65 mGy 측정되었다. 또한 auto filter에서 1.67 mGy, manual에서는 1.52 mGy의 평균유선선량을 기록하여 노출 방식에 따라 선량이 차이가 있었다. 화질평가의 모든 각도 구간에서 SNR 50~52, CNR 11~12로 근소한 차이를 나타내고, 제조사의 권고치 내에 포함되었다. 결론: MLO view $45^{\circ}C$에서 가장 적은 선량이었고, SNR 및 CNR의 차이는 미미하였다. 이때의 노출방식은 환자의 체형이나 특성을 고려한 설정으로 차이를 두어 불필요한 환자의 피폭 선량을 줄이기 위한 방법이 필요하다.

• Nuclear Engineering and Technology
• /
• 제54권2호
• /
• pp.479-485
• /
• 2022

At the Korea Institute of Radiological and Medical Sciences, physical human phantoms were developed to evaluate various radiation protection quantities, based on the mesh-type reference computational phantoms of the International Commission on Radiological Protection. The physical human phantoms were fabricated such that a radiophotoluminescent glass dosimeter (RPLGD) with a Tin filter, namely GD-352M, could be inserted into them. A Tin filter is used to eliminate the overestimated signals in low-energy photons below 100 keV. The measurement uncertainty of the RPLGD reader system based on GD-352M should be analyzed for obtaining reliable protection quantities before using it for practical applications. Generally, the measurement uncertainty of RPLGD systems without Tin filters is analyzed for quality assurance of radiotherapy units using a high-energy photon beam. However, in this study, the measurement uncertainty of GD-352M was analyzed for evaluating the protection quantities. The measurement uncertainty factors in the RPLGD include the reference irradiation, regression curve, reproducibility, uniformity, energy dependence, and angular dependence, as described by the International Organization for Standardization (ISO). These factors were calculated using the Guide to the Expression of Uncertainty in Measurement method, applying ISO/ASTM standards 51261(2013), 51707(2015), and SS-ISO 22127(2019). The measurement uncertainties of the RPLGD reader system with a coverage factor of k = 2 were calculated to be 9.26% from 0.005 to 1 Gy and 8.16% from 1 to 10 Gy. A blind test was conducted to validate the RPLGD reader system, which demonstrated that the readout doses included blind doses of 0.1, 1, 2, and 5 Gy. Overall, the E_n values were considered satisfactory.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• 제4권1호
• /
• pp.101-110
• /
• 2004

The robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, humans and robots need to be in close proximity to each other as much as possible. Moreover, it is necessary for their interactions to occur naturally. It is desirable for a robot to carry out human following, as one of the human-affinitive movements. The human-following robot requires several techniques: the recognition of the moving objects, the feature extraction and visual tracking, and the trajectory generation for following a human stably. In this research, a predictable intelligent space is used in order to achieve these goals. An intelligent space is a 3-D environment in which many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents providing humans with services. A mobile robot is controlled to follow a walking human using distributed intelligent sensors as stably and precisely as possible. The moving objects is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time trajectory to follow the walking human, the linear and angular velocities are estimated and utilized. The computer simulation and experimental results of estimating and following of the walking human with the mobile robot are presented.