• 제어로봇시스템학회논문지
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• 제19권12호
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• pp.1067-1071
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• 2013

A 3D visual sensing method using a laser structured beam is presented for robotic tracking applications in a simple and reliable manner. A cylindrical shaped laser structured beam is proposed to measure the pose and position of the target surface. When the proposed laser beam intersects on the surface along the target trajectory, an elliptic pattern is generated. Its ellipse parameters can be induced mathematically by the geometrical relationship of the sensor coordinate and target coordinate. The depth and orientation of the target surface are directly determined by the ellipse parameters. In particular, two discontinuous points on the ellipse pattern, induced by seam trajectory, indicate mathematically the 3D direction for robotic tracking. To investigate the performance of this method, experiments with a 6 axis robot system are conducted on two different types of seam trajectories. The results show that this method is very suitable for robot seam tracking applications due to its excellence in accuracy and efficiency.

• 한국군사과학기술학회지
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• 제11권3호
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• pp.50-57
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• 2008

A telemetry ground station has a highly directional, parabolic tracking antenna to receive a weak telemetry signal from a target at a distance. The tracking antenna with narrow beam-width normally uses the auto-track method for the target tracking. This paper presents several issues in the auto-track method and introduces a new tracking method using Self-Slaving technique. Self-Slaving means that the tracking antenna is slaved to not data measured by RADAR but GPS/INS informations received by the telemetry system for pointing. The Self-Slaving method shows good performance in comparison with auto-track method.

• 한국정밀공학회지
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• 제16권4호통권97호
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• pp.64-70
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• 1999

A new multi-beam optical system is presented on the grounds of tri-positioning systems in this paper. The system has been developed to improve the data transfer rate for the optical disk system. The actuating system is composed of a tracking and focusing actuating system basically and a newly developed beam rotating actuator. The beam rotating actuator is employed in a multi-beam optical system to trace more than one track simultaneously. The multi-beam optics is established through the optical simulation and several experimental trials. The differential phase tracking method is used in the tracking error signal detection based on the only one beam spot. We also analyze the characteristics of multi-beam optical system. The experimental result shows that the multi-beam positioning system has performance adequate to the multi-beam optical disk system.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제17권1호
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• pp.280-294
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• 2023

Unmanned aerial vehicles (UAVs) and millimeter-wave frequencies play key roles in supporting 5G wireless communication systems. They expand the field of wireless communication by increasing the data capacities of communication systems and supporting high data rates. However, short wavelengths, owing to the high millimeter-wave frequencies can cause problems, such as signal attenuation and path loss. To address these limitations, research on high directional beamforming technologies continue to garner interest. Furthermore, owing to the mobility of the UAVs, it is essential to track the beam angle accurately to obtain full beamforming gain. This study presents a beam tracking method based on the unscented Kalman filter using hybrid beamforming. The simulation results reveal that the proposed beam tracking scheme improves the overall performance in terms of the mean-squared error and spectral efficiency. In addition, by expanding analog beamforming to hybrid beamforming, the proposed algorithm can be used even in multi-user and multi-stream environments to increase data capacity, thereby increasing utilization in new-radio multiple-input multiple-output orthogonal frequency-division multiplexing systems.

• International Journal of Automotive Technology
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• 제7권2호
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• pp.209-216
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• 2006

A study has been conducted for an optimal processing and an apparatus for manufacturing a laser welded tube for one-body formed bumper beam. The tube dimensions used in calculation were the thickness of 1.4 mm, the diameter of 105.4 mm and the length of 2000 mm. The tube was formed of a cold rolled high strength steel plate(tensile strength of 600 MPa). The two-roll bending method was the optimal tube forming process in comparison with the UO-bending method, the bending method on the press brake, the multi-step continuous roll-forming method and the 3-roll bending method. Monitoring of the welding quality was conducted and the seam tracking along the butt-joint lengthwise to the tube axis was also examined. The longitudinal butt-joint was welded by using a $CO_2$ laser welding machine equipped with a seam tracker and a plasma sensor. The $CO_2$ laser tube welding machine could be used for precise seam tracking and real-time monitoring of the welding quality. As a result, the developed laser welded tube could be used for a one-body formed automobile bumper beam.

• 한국방사선학회논문지
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• 제12권3호
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• pp.343-349
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• 2018

선량률을 조절하면서 종양을 추적하는 방법은 호흡이 불규칙한 환자를 치료할 때 방사선을 적응적으로 전달하는 효율적인 방법으로 알려져 있다. 이 연구에서는 빔 켜기/끄기 스위칭을 제공하는 모션 관리 인터페이스 (MMI, Varian Medical System, CA)를 이용한 불규칙 호흡에 대해 적응성 종양 추적을 시행 할 수 있는지 확인하였다. 폐암 환자로부터 획득한 55개의 호흡 정보를 사용하였다. 첫날 환자의 RPM 흔적을 사용하여 사전 프로그래밍 된 추적 MLC 패턴을 디자인하는데, 치료 기간 중 환자의 호흡 불규칙성의 변화를 따라 잡기 위해 기간을 의도적으로 20% 줄였다. 이 기술의 적정성 기준은 진폭 및 주기의 20 % 미만의 표준편차이다. 사전 프로그래밍 된 MLC 위치와 현재 호흡 위치를 고려하여 100 ms마다 빔 켜기 / 끄기를 결정하는 알고리즘이 개발되었다. 추적 오류 및 전달 효율성은 RPM 추적에서 빔 스위칭 적응형 추적을 시뮬레이션하여 계산되었다. 38 명의 환자(70%)의 호흡 양상이 적합 기준을 충족 시켰습니다. 기준을 충족하는 모든 사례의 추적 오류는 2 mm 미만 (평균 1.4 mm)이며 평균 전달 효능은 71 % 였다. 기준을 충족하지 못한, 나머지 경우의 추적오류와 전달 효율은 1.9 mm와 48% 였다. 본 연구를 통해, 환자 선택이 적격 기준을 기반으로 하는 경우 빔 스위칭을 통한 적응형 추적 치료가 가능한 것을 확인하였다.

• 한국정밀공학회지
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• 제24권10호
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• pp.64-74
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• 2007

Because of the size and environment in the shipbuilding process, the portable type robot is required for the automatic seam tracking. For this reason, the structure of laser sensor should be considered in the initial design step and the coordinate transformation between welding robot and laser sensor, which is joint finder, must be identified exactly and the real time tracking algorithm based on these consideration could be developed. In this research, laser displacement sensor in which its structure is laser beam's vertical projection, is developed to recognize the location of weld joint. In practical applications, however, images of weld joints are often degraded because of the surface specularity or spatter. To overcome the problem, the constrained joint finding algorithm is proposed. In the approach of coordinate conversion rule for the visual feedback control among welding torch, robot body and laser sensor is applied by the same reference point method. In the real time seam tracking algorithms we propose constrained sampling method which uses look ahead distance. The RLS(Recursive Least Square) filter is applied to obtain the smooth tracking path from the sensitive edge data. From the experimental results, we could see the possibility that the developed laser sensor with proposed processing algorithm and real time seam tracking method can be used as a welding under the shipbuilding condition.

• 제어로봇시스템학회논문지
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• 제18권5호
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• pp.502-508
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• 2012

Heliostat, as a concentrator to reflect the incident solar energy to the receiver, is the most important system in the tower-type solar thermal power plant since it determines the efficiency and ultimately the overall performance of solar thermal power plant. Thus, a good sun tracking ability as well as a good optical property of it are required. Heliostat sun tracking system uses usually an open loop control system. Thus the sun tracking error caused by heliostat's geometrical error, optical error and computational error cannot be compensated. Recently use of sun tracking error model to compensate the sun tracking error has been proposed, where the error model is obtained from the measured ones. This work is a development of heliostat sun tracking error measurement and compensation method using BCS (Beam Characterization System). We first developed an image processing system to measure the sun tracking error optically. Then the measured error is modeled in linear polynomial form and neural network form trained by the extended Kalman filter respectively. Finally error models are used to compensate the sun tracking error. We also developed the necessary image processing algorithms so that the heliostat optical properties such as maximum heat flux intensity, heat flux distribution and total reflected heat energy could be analyzed. Experimentally obtained data shows that the heliostat sun tracking accuracy could be dramatically improved using either linear polynomial type error model or neural network type error model. Neural network type error model is somewhat better in improving the sun tracking performance. Nevertheless, since the difference between two error models in compensation of sun tracking error is small, a linear error model is preferred in actual implementation due to its simplicity.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.339-339
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• 2000

In this parer, a method of measuring the size of defects on the wall and restructing the defect image of 3-dimension is developed based on the tracking algorithm of a camera position which uses the inclination angle of line slit beam for overcoming the difficulty of the corresponding problem identifying the image point in the both image. In the experiments, an algorithm for estimating the horizontal angle of CCD camera is presented and validated by applying it to the measurement of area and length under the variations of both the distance and the angle of CCD camera. And its performance is compared to that of the rotating and mapping method of image which has the Euclidian distance.

• 수산해양교육연구
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• 제19권3호
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• pp.478-490
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• 2007

A technology of ultrasonic biotelemetry for tracking fish behavior is investigated. The ultrasonic biotelemetry system is constituted by a transmitter and a receiving system. Because a pinger was mainly used for the transmitter, the capability for pinger to possess was investigated and the efficient usage for pinger was examined. A source pressure level and a frequency were synthetically examined so that pinger could realize small size, a light weight, and a long life time. The receiving system is divided roughly into directional hydrophone systems and acoustic positioning systems by the receiving method. The directional hydrophone system is divided into single beam and multiple beam with the number of hydrophone, and the acoustic positioning systems is divided into LBL (Long Base Line), SBL (Short Base Line), and SSBL (Super Short Base Line) on the basis of base line. The present situation, the merits and demerits, and the principle of each receiving method were investigated in detail, and the efficient usage for each receiving method were examined.