• Journal of Mechanical Science and Technology
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• 제17권10호
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• pp.1411-1422
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• 2003

The detection of free spaces between obstacles in a scene is a prerequisite for navigation of a mobile robot. Especially for stereo vision-based navigation, the problem of correspondence between two images is well known to be of crucial importance. This paper describes multi-range approach of area-based stereo matching for grid mapping and visual navigation in uncertain environment. Camera calibration parameters are optimized by evolutionary algorithm for successful stereo matching. To obtain reliable disparity information from both images, stereo images are to be decomposed into three pairs of images with different resolution based on measurement of disparities. The advantage of multi-range approach is that we can get more reliable disparity in each defined range because disparities from high resolution image are used for farther object a while disparities from low resolution images are used for close objects. The reliable disparity map is combined through post-processing for rejecting incorrect disparity information from each disparity map. The real distance from a disparity image is converted into an occupancy grid representation of a mobile robot. We have investigated the possibility of multi-range approach for the detection of obstacles and visual mapping through various experiments.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2011년 춘계학술대회논문집
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• pp.286-290
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• 2011

This paper introduces the optimum macro-siting of a potential site for an offshore wind farm around Jeju Island using the RDAPS sea wind model. The statistical model was developed by analyzing the sea wind data from RDAPS model, and the meso-scale digital wind map was prepared. To develop the high resolution spatial calibration model, Artificial Neural Network(ANN) models were used to construct the wind and bathymetric maps. Accuracy and consistency of wind/bathymetric spatial calibration models were obtained using analysis of variance. The optimization problem was defined to maximize the energy density satisfying the criteria of maximum water depth and maximum distance from the coastline. The candidate site was selected through Genetic Algorithm(GA). From the results, it is possible to predict roughly a candidate site location for the installation of the offshore wind jam, and to evaluate the wind resources of the proposed site.

• 전자공학회논문지CI
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• 제41권6호
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• pp.55-60
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• 2004

결정된 변속선도에 의한 자동변속 패턴은 운전자에게 편리한 변속을 제공한다. 하지만, 운전자의 운전 성향이 개인마다 다양함으로 고정된 변속선도를 여러 운전자에게 동일하게 제공하는 것은 불만의 요소로 인식되고 있다. 이에, 본 논문에서는 운전자의 성향을 결정할 수 있는 입력을 이용한 학습 모듈을 설계하여 운전 성향을 판단하고자 한다. 판단된 운전 성향을 이용하여 변속선도를 조정함으로써 운전자의 의지에 부합되는 변속패턴을 제공하고자 한다. 실제 주행 시 얻은 데이터를 이용하여 제안된 모듈의 성능의 우수함을 보인다.

• 동력기계공학회지
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• 제19권1호
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• pp.19-23
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• 2015

The swirling flow fields of a gun-type gas burner(GTGB) without a combustion chamber were measured by a straight-type five-hole pressure probe(FHPP) under the cold flow condition. The three kinds of velocity components and the static pressure were calculated by using a non-nulling calibration method covering the velocity reduction performance of the effective flow attack angle of ${\pm}80^{\circ}$. As a result, the velocity and static pressure measured by a FHPP comparatively shows the better performance on the swirling flow of a GTGB than those measured by X-probe.

• Structural Engineering and Mechanics
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• 제32권4호
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• pp.489-500
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• 2009

The aim of this paper is to compare wavelet, kurtosis and pseudofractal based techniques for structural health monitoring in the presence of measurement noise. A detailed comparison and assessment of these techniques have been carried out in this paper through numerical experiments for the calibration of damage extent of a simply supported beam with an open crack serving as an illustrative example. The numerical experiments are deemed critical due to limited amount of experimental data available in the field of singularity based detection of damage. A continuous detectibility map has been proposed for comparing various techniques qualitatively. Efficiency surfaces have been constructed for wavelet, kurtosis and pseudofractal based calibration of damage extent as a function of damage location and measurement noise level. Levels of noise have been identified for each technique where a sudden drop of calibration efficiency is observed marking the onset of damage masking regime by measurement noise.

• 대한기계학회논문집A
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• 제28권7호
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• pp.986-991
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• 2004

For volumetric error measurement and calibration for machine tools, manufacturing machine or coordinate measuring machine (CMM), are studied using a Ball-bar artifact. A design of the Ball-bar is suggested manufactured by Invar, which is a low thermal expansion material, and precision steel balls. The uncertainty for the artifact method is discussed. A method of the Ball-bar artifact for obtaining 3-D position errors in CMM is proposed. The method of error vector measurement is shown using the Ball-bar artifact. Finally, the volumetric error is calculated from the error vectors and it can be used for Pitch error compensation in conventional NC machine and 3-D position Error map for calibration of NC machine tools.

• 한국전자통신학회논문지
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• 제16권6호
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• pp.1311-1316
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• 2021

본 논문에서는 이중시점 스테레오 이미지와 그에 상응하는 깊이맵을 생성하기 위해 서로 다른 초점거리를 가지고 있는 두 카메라를 결합한 이중시점 스테레오 카메라 시스템을 제안한다. 제안한 이중초점 스테레오 카메라 시스템을 이용해 깊이맵을 생성하기 위해서는 먼저 서로 다른 초점을 가진 두 카메라에 대한 카메라 정보를 추출하기 위한 카메라 보정(Camera Calibration)을 수행한다. 카메라 파라미터를 이용해 깊이맵 생성을 위한 공통 이미지 평면을 생성하고 스테레오 이미지 정렬화(Image Rectification)를 수행한다. 마지막으로 정렬화된 스테레오 이미지를 이용하여 깊이맵을 생성하였다. 본 논문에서는 깊이맵을 생성하기 위해서 SGM(Semi-global Matching) 알고리즘을 사용하였다. 제안한 이중초점 스테레오 카메라 시스템은 서로 다른 초점 카메라들이 수행해야 하는 기능을 수행함과 동시에 두 카메라를 이용한 스테레오 정합(Stereo Matching)을 통해서 현재 주행 중인 환경에서의 차량, 보행자, 장애물과의 거리 정보까지 생성할 수 있어서 보다 안전한 자율주행 차량 설계를 가능하게 하였다.

• 한국농공학회논문집
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• 제54권3호
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• pp.65-74
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• 2012

In this study, three different unit hydrograph methods (NRCS, Snyder and Clark) in the HEC-HMS were compared to find better fit with the observed data in the Namgang-Dam watershed. The Sancheong, Shinan, and Changchon in Namgang-Dam watershed were selected as the study watersheds. The input data for HEC-HMS were calculated land use, digital elevation map, stream, and watershed map provided by WAter Management Information System (WAMIS). Sixty six storms from 2004 to 2011 were selected for model calibration and validation. Three unit hydrograph methods were compared with the observed data in terms of simulated runoff volume, and peak runoff for the selected storms. The results showed that the coefficient of determination ($R^2$) for the peak runoff was 0.8295~0.9999 and root mean square error (RMSE) was 0.029~0.086 mm/day for calibration stages. In the model validation, $R^2$ for the peak runoff was 0.9061~0.9916 and RMSE was 0.030~0.088 mm/day which were more accurate than calibrated data. Analysis of variance showed that there was no significant difference among the three unit hydrograph methods.

• 한국농공학회논문집
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• 제58권4호
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• pp.57-66
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• 2016

Harmonized World Soil Database (HWSD) including the global soil information has been implemented to the runoff analysis in many watersheds of the world. However, its accuracy can be a critical issue in the modeling because of the limitation the low resolution reflecting the physical properties of soil in a watershed. Accordingly, this study attempted to assess the effect of HWSD in modeling by comparing parameters of the rainfall-runoff model using HWSD with the detailed soil map. For this, Grid based Rainfall-runoff Model (GRM) was employed in the Hyangseok watershed. The results showed that both of two soil maps in the rainfall-runoff model are able to well capture the observed runoff. However, compared with the detailed soil map, HWSD produced more uncertainty in the GRM parameters related to soil depth and hydraulic conductivity during the calibrations than the detailed soil map. Therefore, the uncertainty from the limited information on soil texture in HWSD should be considered for better calibration of a rainfall-runoff model.

• 한국농공학회논문집
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• 제61권5호
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• pp.69-77
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• 2019

The objective of this study was to calibrate and validate the HSPF (Hydrological Simulation Program-Fortran) model for estimating the runoff of the Hapcheon dam watershed. Spatial data, such as watershed, stream, land use, and a digital elevation map, were used as input data for the HSPF model. Observed runoff data from 2000 to 2016 in study watershed were used for calibration and validation. Hydrologic parameters for runoff calibration were selected based on the user's manual and references, and trial and error method was used for parameter calibration. The $R^2$, RMSE (root-mean-square error), RMAE (relative mean absolute error), and NSE (Nash-Sutcliffe efficiency coefficient) were used to evaluate the model's performance. Calibration and validation results showed that annual mean runoff was within ${\pm}4%$ error. The model performance criteria for calibration and validation showed that $R^2$ was in the rang of 0.78 to 0.83, RMSE was 2.55 to 2.76 mm/day, RMAE was 0.46 to 0.48 mm/day, and NSE was 0.81 to 0.82 for daily runoff. The amount of inflow to Hapcheon Dam was calculated from the calibrated HSPF model and the result was compared with observed inflow, which was -0.9% error. As a result of analyzing the relation between inflow and storage capacity, it was found that as the inflow increases, the storage increases, and when the inflow decreases, the storage also decreases. As a result of correlation between inflow and storage, $R^2$ of the measured inflow and storage was 0.67, and the simulated inflow and storage was 0.61.