• Korean Journal of Remote Sensing
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• v.33 no.1
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• pp.1-13
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• 2017

This study investigates the geometric and spatial image quality analysis of KOMPSAT-3A stereo pair. KOMPSAT-3A is, the latest satellite of KOMPSAT family, a Korean earth observation satellite operating in optical bands. A KOMPSAT-3A stereo pair was taken on 23 November, 2015 with 0.55 m ground sampling distance over Terrassa area of Spain. The convergence angle of KOMPSAT-3A stereo pair was estimated as $58.68^{\circ}$. The investigation was assessed through the evaluation of the geopositioning analysis, image quality estimation and the accuracy of automatic Digital Surface Model (DSM) generation and compared with those of KOMPSAT-3 stereo pair with the convergence angle of $44.80^{\circ}$ over the same area. First, geopositioning accuracy was tested with initial rational polynomial coefficients (RPCs) and after compensating the biases of the initial RPCs by manually collected ground control points. Then, regarding image quality, relative edge response was estimated for manually selected points visible from two stereo pairs. Both of the initial and bias-compensated positioning accuracy and the quality assessment result expressed that KOMPSAT-3A images showed higher performance than those of KOMPSAT-3 images. Finally, the accuracy of DSMs generated from KOMPSAT-3A and KOMPSAT-3 stereo pairs were examined with respect to the reference LiDAR-derived DSM. The various DSMs were generated over the whole coverage of individual stereo pairs with different grid spacing and over three types of terrain; flat, mountainous and urban area. Root mean square errors of DSM from KOMPSAT-3A pair were larger than those for KOMPSAT-3. This seems due to larger convergence angle of the KOMPSAT-3A stereo pair.

• Journal of Information Display
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• v.3 no.2
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• pp.19-25
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• 2002

In this paper, a new target extraction algorithm is proposed, in which the coordinates of target are obtained adaptively by using the difference image information and the optical BPEJTC(binary phase extraction joint transform correlator) with which the target object can be segmented from the input image and background noises are removed in the stereo vision system. First, the proposed algorithm extracts the target object by removing the background noises through the difference image information of the sequential left images and then controlls the pan/tilt and convergence angle of the stereo camera by using the coordinates of the target position obtained from the optical BPEJTC between the extracted target image and the input image. From some experimental results, it is found that the proposed algorithm can extract the target object from the input image with background noises and then, effectively track the target object in real time. Finally, a possibility of implementation of the adaptive stereo object tracking system by using the proposed algorithm is also suggested.

• The Journal of Korea Robotics Society
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• v.13 no.4
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• pp.205-212
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• 2018

This paper deals with the paddle type end of arm tool for rescue robot instead of rescue worker in dangerous environments such as fire, earthquake, national disaster and defense. It is equipped at the dual arm manipulator of the rescue robot to safely lift up an injured person. It consists of the paddle for lifting person, sensors for detecting insertion of person onto the paddle, sensor for measuring the tilting angle of the paddle, and mechanical compliance part for preventing incidental injuries. The electronics is comprised of the DAQ module to acquire the sensors data, the control module to treat the sensors data and to manage the errors, and the communication module to transmit the sensors data. After optimally designing the mechanical and electronical parts, we successfully made the paddle type end of arm tool and evaluated its performance by using specially designed jigs. The developed paddle type end of arm tool is going to be applied to the rescue robot for performance verification through field testing.

• International journal of advanced smart convergence
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• v.7 no.3
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• pp.15-22
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• 2018

Nowadays multiple control methods are used in robot control systems. A model, predictor or error estimator is often used as feedback controller to control a robot. While robots have become more and more intensive with algorithms capable to acquiring independent knowledge from raw data. This paper represents experimental results of real time machine learning control that does not require explicit knowledge about the plant. The controller can be applied on a broad range of tasks with different dynamic characteristics. We tested our controller on the balancing problem of a single propeller pendulum. Experimental results show that the use of a supervised machine learning algorithm in a single propeller pendulum allows the stable swing of a given angle.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.2
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• pp.391-398
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• 2009

In this study, we introduce the design methodology of an optimized fuzzy cascade controller with the aid of hierarchical fair competition-based genetic algorithm(HFCGA) for ball & beam system. The ball & beam system consists of servo motor, beam and ball, and remains mutually connected in line in itself. The ball & beam system determines the position of ball through the control of a servo motor. The displacement change the position of ball leads to the change of the angle of the beam which determines the position angle of a servo motor. Consequently the displacement change of the position of the moving ball and its ensuing change of the angle of the beam results in the change of the position angle of a servo motor. We introduce the fuzzy cascade controller scheme which consists of the outer(1st) controller and the inner(2nd) controller as two cascaded fuzzy controllers, and auto-tune the control parameters(scaling factors) of each fuzzy controller using HFCGA. The inner controller controls the position of lever arm which corresponds to the position angle of a servo motor and the outer controller decides the set-point value of the inner controller. HFCGA is a kind of parallel genetic algorithms(PGAs), and helps alleviate the premature convergence being generated in conventional genetic algorithms (GAs). For a detailed comparative analysis from the viewpoint of the performance results and the design methodology, the proposed method for the ball & beam system which is realized by the fuzzy cascade controller based on HFCGA, is presented in comparison with the conventional PD cascade controller based on serial genetic algorithms.

• Journal of Digital Convergence
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• v.16 no.11
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• pp.543-551
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• 2018

This study investigated the effects of corrective exercise and TECAR on cervical alignment, pain threshold, and pain in forward head posture patients. The subject includes 30 forward head posture patients. In the intervention methods, the experimental group combined corrective exercise and TECAR treatment. Only the corrective exercise was applied to the control group. Assessments were made on cervico vertebra angle (CV angle), pain pressure threshold (PPT) and neck disability index (NDI) visual analog scale (VAS). The intervention was conducted six times a week for two weeks. Both groups showed significant differences in CV angle, PPT, NDI, and VAS. Also, PPT, NDI, and VAS excluding CV angle were significantly improved in the study group compared to the control group. These results suggest that the intervention method that combines corrective exercise and TECAR treatment has a more positive effect on pain and ADL ability of forward head posture patient.

• Journal of the Society of Naval Architects of Korea
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• v.58 no.2
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• pp.121-128
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• 2021

According to the increasing interest and demand for the Autonomous Surface Vessels (ASV), the autonomous navigation system is being developed such as obstacle detection, avoidance, and path planning. In general, autonomous navigation algorithm controls the ship by detecting the obstacles with various sensors and planning path for collision avoidance. This study aims to construct and prove autonomous algorithm with integrated various sensor using the Robot Operating System (ROS). In this study, the safety zone technique was used to avoid obstacles. The safety zone was selected by an algorithm to determine an obstacle-free area using 2D LiDAR. Then, drift angle of the ship was controlled by the propulsion difference of the port and starboard side that based on PID control. The algorithm performance was verified by participating in the 2020 Korea Autonomous BOAT (KABOAT).

• Journal of the Korean Society of Industry Convergence
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• v.26 no.4_2
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• pp.623-628
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• 2023

The purpose of this study was to evaluate the fracture strength and removal torque value (RTV) of a conventional angled abutment and a newly developed angled abutment (Beauty up abutment) with an angulated screw access hole. Each abutment was divided into a control group and an experimental group (n = 20, respectively). To measure the fracture strength, the abutment was connected to the internal hex implant with 30 Ncm torque, and a load was applied at 30 degree angle with cross-head speed of 1 mm/min using a universal testing machine according to the ISO 14801:2016 standard. To measure RTV, each abutment was fastened to the implant with 30 Ncm torque. Retightening was performed after 10 minutes, and initial RTV was measured with a digital torque gauge. After retightening, a load of 250 N was applied to the abutment at a 30 degree angle using a chewing simulator. After a total of 100,000 repeated loads, RTV was measured. Statistical analysis was performed using Wilcoxon signed rank test and Mann-Whitney U test (α = .05). The fracture strength of the experimental group was statistically significantly lower than that of the control group (P = .009). There was no significant difference between initial RTV and post-loading RTV between the experimental group and the control group (P = .753, P = .527, respectively), and cyclic loading did not significantly affect RTV in both groups (P = .078).

• International journal of advanced smart convergence
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• v.11 no.4
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• pp.129-140
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• 2022

The purpose of this study to improve the shoulder wheel that is used frequently during shoulder circumduction exercise in a park, to link the shoulder wheel to a game application comprising various shoulder circumduction exercise and shoulder ROM exercise, and to enjoy the game during the exercises. A step motor was added to the shoulder wheel, and the rotating speed and rotating angle, and rotating direction can be controlled. The shoulder height, different for different people, can be controlled as well, so that any user can use this device. The developed application content includes the game elements, to enjoy the repetitive and boring exercise with fun and interest, and the control to adjust the degree of difficulty. This was to help users heighten their desire to rehabilitate by inducing active participation during repetitive shoulder rehabilitation exercise because the game vests users with intrinsic motivation and immersion. If the shoulder wheel and application contents proposed in this study are used, shoulder diseases can be prevented in advance by performing muscle strengthening exercises required in an aging society. This study is expected to contribute to the field of research related to serious games and rehabilitation.

• International Journal of Control, Automation, and Systems
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• v.3 no.3
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• pp.486-492
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• 2005

A practical recursive WLS (weighted least squares) algorithm is proposed to estimate relative range using LOS (line-of-sight) information for ASM (anti-ship missile) application. Apart from the previous approaches based on the EKF (extended Kalman filter), to ensure good convergence properties in long range engagement situations, the proposed scheme utilizes LOS rate measurements instead of conventionally used LOS angle measurements. The estimation error property for the proposed filter is investigated and a simple error compensator is devised to enhance its estimation error performances. Simulation results indicate that the proposed filter produces very accurate range estimates with extremely small computations.