• 한국통신학회논문지
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• 제28권9A호
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• pp.694-701
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• 2003

본 논문에서는 CDMA2000 1X용 스마트 안테나 기지국을 구현하고 기지국 각 모듈의 구조와 새로운 기능을 소개한다. 구현된 스마트 안테나 기지국은 배열안테나, 주파수 상/하향 변환기, ADC/DAC, 확산기/역확산기, 길쌈 부호기/비터비 복호기, 탐색기, 추적기, 빔포머, 캘리브레이션(calibration) 등 여러 종류의 서브 시스템으로 구성되는 복합 시스템이다. 캘리브레이션 과정을 거친 후 순방향과 역방향 링크에서 원하는 빔패턴이 생성됨을 실험을 통해서 확인하였다. 또한, 본 논문의 스마트 안테나 기지국에 채택된 적응 알고리즘이 가입자당 4개의 핑거를 지원하는데 충분한 속도와 정확성을 가짐을 확인 하였으며, PCS 대역의 상용 단말기를 사용한 실험을 통해 제안된 스마트 안테나 기지국이 기존의 다이버시티 기지국에 비해 우수한 성능을 가짐을 FER(Frame Error Rate)로 확인하였다.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2006년도 춘계학술대회 학술발표 논문집 제16권 제1호
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• pp.56-58
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• 2006

Camera calibration in machine vision is the process of determining the intrinsic cameara parameters and the three-dimensional (3D) position and orientation of the camera frame relative to a certain world coordinate system. On the other hand, Takagi-Sugeno-Kang (TSK) fuzzy system is a very popular fuzzy system and approximates any nonlinear function to arbitrary accuracy with only a small number of fuzzy rules. It demonstrates not only nonlinear behavior but also transparent structure. In this paper, we present a novel and simple technique for camera calibration for machine vision using TSK fuzzy model. The proposed method divides the world into some regions according to camera view and uses the clustered 3D geometric knowledge. TSK fuzzy system is employed to estimate the camera parameters by combining partial information into complete 3D information. The experiments are performed to verify the proposed camera calibration.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.596-601
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• 1990

When using robot manipulator to carry out autonomous tasks, the positioning accuracy of the robot manipulator relative to a reference coordinate frame is of greate importance. The task program, which is generated by off-line CAD-system and used in actual robot positioning, may cause serious amount of the absolute positioning error of the robot manipulator. In this study, a robot performance test and calibration algorithms are proposed in order to improve the absolute positioning accuracy of the robot end effector. Experiments were also carried out by utilizing the HYUNDAI Robot AE 7601 and KIM2-Tester, a three dimensional measurement system, which is developed in Robotics & Fluid Power Control Lab. at Korea Institute of Science and Technology.

• Journal of Positioning, Navigation, and Timing
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• 제13권2호
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• pp.179-187
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• 2024

The performance of a Strapdown Inertial Navigation System (SDINS) relies heavily on the accuracy of sensor error calibration. Systematic calibration is usually employed when only a 2-axis turntable is available. For systematic calibration, the body frame is commonly defined with respect to sensor axes for ease of computation. The drawback of this approach is that sensor axes may undergo time-varying deflection under temperature change, causing pseudo gyro bias. The effect of pseudo gyro bias on navigation performance is negligible for low grade navigation systems. However, for higher grade systems undergoing rapid temperature change, the error is no longer negligible. This paper describes in detail conditions leading to the presence of pseudo gyro bias, and proposes two techniques for mitigating the error. Experimental results show that applying these techniques improves navigation performance for precision SDINS, especially under rapid temperature change.

• Journal of Astronomy and Space Sciences
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• 제38권3호
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• pp.157-164
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• 2021

We describe a method for the in-orbit calibration of body-mounted magnetometers based on the CHAOS-7 geomagnetic field model. The code is designed to find the true calibration parameters autonomously by using only the onboard magnetometer data and the corresponding CHAOS outputs. As the model output and satellite data have different coordinate systems, they are first transformed to a Star Tracker Coordinate (STC). Then, non-linear optimization processes are run to minimize the differences between the CHAOS-7 model and satellite data in the STC. The process finally searches out a suite of calibration parameters that can maximize the model-data agreement. These parameters include the instrument gain, offset, axis orthogonality, and Euler rotation matrices between the magnetometer frame and the STC. To validate the performance of the Python code, we first produce pseudo satellite data by convoluting CHAOS-7 model outputs with a prescribed set of the 'true' calibration parameters. Then, we let the code autonomously undistort the pseudo satellite data through optimization processes, which ultimately track down the initially prescribed calibration parameters. The reconstructed parameters are in good agreement with the prescribed (true) ones, which demonstrates that the code can be used for actual instrument data calibration. This study is performed using Python 3.8.5, NumPy 1.19.2, SciPy 1.6, AstroPy 4.2, SpacePy 0.2.1, and ChaosmagPy 0.5 including the CHAOS-7.6 geomagnetic field model. This code will be utilized for processing NextSat-1 and Small scale magNetospheric and Ionospheric Plasma Experiment (SNIPE) data in the future.

• Steel and Composite Structures
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• 제11권3호
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• pp.251-271
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• 2011

To make direct comparisons regarding the cyclic behavior of thin steel plate shear walls (TSPSWs) with different infill-to-boundary frame connections, two TSPSWs were tested under quasi-static conditions, one having the infill plate attached to the boundary frame members on all edges and the other having the infill plate connected only to the beams. Also, the bare frame that was used in the TSPSW specimens was tested to provide data for the calibration of numerical models. The connection of infill plates to surrounding frames was achieved through the use of self-drilling screws to fish plates that were welded to the frame members. The behavior of TSPSW specimens are compared and discussed with emphasis on the characteristics important in seismic response, including the initial stiffness, ultimate strength and deformation modes observed during the tests. It is shown that TSPSW specimens achieve significant ductility and energy dissipation while the ultimate failure mode resulted from infill plate fracture at the net section of the infill plate-to-boundary frame connection after substantial infill plate yielding. Experimental results are compared to monotonic pushover predictions from computer analysis using strip models and the models are found to be capable of approximating the monotonic behavior of the TSPSW specimens.

• 한국정밀공학회지
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• 제23권11호
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• pp.58-67
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• 2006

Due to the variety of signal processing and complicated mathematical analysis, it is not easy to accomplish 3D bin-picking with non-contact sensor. To solve this difficulties the reliable signal processing algorithm and a good sensing device has been recommended. In this research, 3D laser scanner and CCD camera is applied as a sensing device respectively. With these sensor we develop a two-step bin-picking method and reliable algorithm for the recognition of 3D bin object. In the proposed bin-picking, the problem is reduced to 2D intial recognition with CCD camera at first, and then 3D pose detection with a laser scanner. To get a good movement in the robot base frame, the hand eye calibration between robot's end effector and sensing device should be also carried out. In this paper, we examine auto-calibration technique in the sensor calibration step. A new thinning algorithm and constrained hough transform is also studied for the robustness in the real environment usage. From the experimental results, we could see the robust bin-picking operation under the non-aligned 3D hole object.

• 천문학회보
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• 제43권1호
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• pp.68.2-68.2
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• 2018

Spectroscopic observations commonly use a slit or fiber; however, non-slit spectroscopy enables us to observe a larger number of targets in one frame of image. Hence, it has been adopted as an observational mode for observatories like HST and JWST. Slitless spectroscopy requires wavelength calibration solutions in order to distinguish and measure the absorption / emission lines from the spectra with high accuracy. We installed the Volume Phase Holographic (VPH) grating to SQUEAN camera on the McDonald 2.1m telescope and obtained images with spectral resolutions of ~ 100 and 200. In order to derive the wavelength calibration, we measured the distances between the 0th order images and spectral features of various quasars. The distances are converted to wavelengths using the known wavelengths of the emission lines. We tested several different methods of spectral extraction and peak estimation of emission lines. We will present the results for the wavelength calibration and suggest the reliable methods to find the solution.

• 한국정보과학회논문지:시스템및이론
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• 제30권11호
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• pp.621-628
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• 2003

본 논문은 한 장의 영상 속에 포함되어 있는 물체들이 외관상의 3차원 운동이 가능하도록 하는 방법을 제시한다. 이전 연구들은 여러 장의 영상으로부터 영상 기반 모델링 기법들을 이용하여 3차원 모델을 생성하거나 소실점을 이용한 카메라 보정을 통하여 장면을 입방체로 모델링하여 3차원 모델을 생성하는 방식으로 접근하였다. 그러나 본 논문에서는 장면의 기하학적 정보나 카메라 보정 없이 장면 속 물체의 영상 기반 운동(image-based motion)의 가능성을 제시한다. 구현된 시스템은 영상을 시점에 관한 사영 평면으로 생각하고 사용자에 의해 입력된 선과 점의 정보를 이용하여 사영된 3차원 물체의 2차원 모양을 모델링한다. 그리고 모델링된 물체는 3차원 운동을 하기 위한 지역 좌표계로서 소실점을 이용한다.

• Smart Structures and Systems
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• 제15권6호
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• pp.1543-1567
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• 2015

In this study, a wireless crack sensor is developed for monitoring cracks propagating in two dimensions. This sensor is developed by incorporating a laser-based optical navigation sensor board (ADNS-9500) into a smart wireless platform (Imote2). To measure crack propagation, the Imote2 sends a signal to the ADNS-9500 to collect a sequence of images reflected from the concrete surface. These acquired images can be processed in the ADNS-9500 directly (the navigation mode) or sent to Imote2 for processing (the frame capture mode). The computed crack displacement can then be transmitted wirelessly to a base station. The design and the construction of this sensor are reported herein followed by some calibration tests on one prototype sensor. Test results show that the sensor can provide sub-millimeter accuracy under sinusoidal and step movement. Also, the two modes of operation offer complementary performance as the navigation mode is more accurate in tracking large amplitude and fast crack movement while the frame capture mode is more accurate for small and slow crack movement. These results illustrate the feasibility of developing such a crack sensor as well as point out directions of further research before its actual implementation.