• 로봇학회논문지
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• 제17권1호
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• pp.8-15
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• 2022

In this paper, we proposed the method of virtual reality-based surgical navigation to reproduce the pre-planned position and angle of the pedicle screw in spinal fusion surgery. The goal of the proposed method is to quantitatively save the surgical plan by applying a virtual guide coordinate system and reproduce it in the surgical process through virtual reality. In the surgical planning step, the insertion position and angle of the pedicle screw are planned and stored based on the virtual guide coordinate system. To implement the virtual reality-based surgical navigation, a vision tracking system is applied to set the patient coordinate system and paired point-based patient-to-image registration is performed. In the surgical navigation step, the surgical plan is reproduced by quantitatively visualizing the pre-planned insertion position and angle of the pedicle screw using a virtual guide coordinate system. We conducted phantom experiment to verify the error between the surgical plan and the surgical navigation, the experimental result showed that target registration error was average 1.47 ± 0.64 mm when using the proposed method. We believe that our method can be used to accurately reproduce a pre-established surgical plan in spinal fusion surgery.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 추계학술대회논문집 - 한국공작기계학회
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• pp.20-25
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• 2000

In this paper, a methodology of geometrical error identification and compensation for NC machine tool position. We have proposed a reference artifact with which, in measuring the coordinate system of NC machine, the robust coordinate systems are given. The coordinate system of the NC machine could be compensated successfully with the information obtained by measuring the reference artifact and our compensation algorithm. Monte Carlo simulation is used to evaluate coordinate referencing ability and, the uncertainties of the machine tool position is estimated and observed through the compensation process by simulation.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2014년도 춘계학술대회
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• pp.447-450
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• 2014

본 논문에서는 갤럭시노트를 사용하여 PC에 대한 무선 태블릿 장치의 효율적으로 구현하는 방안을 제시하였다. 무선 태블릿 장치는 갤럭시 노트, 스타일러스 펜과 블루투스 신호를 직렬 통신신호로 변환하는 장치로 구성된다. 무선 태블릿 장치는 스타일러스 펜이 가리키는 좌표정보를 PC로 전송하기 위해 블루투스 통신을 사용한다. 자체 개발한 윈도우 마우스 필터 드라이버는 전송받은 좌표를 X, Y값으로 분리한 후에 변환된 좌표값으로 윈도우 응용 프로그램이 동작하는 동안 마우스 포인터의 위치를 제어한다.

• 한국정밀공학회지
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• 제14권11호
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• pp.118-125
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• 1997

Non-contacting optical microscopes are increasingly used in recent industrial applications of probes for coordinate measuring machines. They have been found more efficient than conventional touch trigger porbes with ball tips especially in inspecting small-sized objects. There are two major factors affecting measuring accuracy: (1) geometric relations between coordinate systems, (2) magnification ratios of a microscope. In order to determine the magnification ratios exactly, optical imaging of edge was theroretically analyzed and practically adopted to image processing for edge detection. In addition, this paper proposes a geometric calibration method to obtain exact coordinates of measured points from the relations between the machine coordinate system and the image. In the method, the error according to the squareness between the machine axises was also removed. The method was practically adopted to a real coordinate measuring machine. An ultraprecision measurement of 0.2 um uncertainty can be practically achieved.

• International Journal of Naval Architecture and Ocean Engineering
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• 제10권3호
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• pp.235-249
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• 2018

The Artificial Neural Network (ANN) model has been known as one of the most effective theories for automatic ship berthing, as it has learning ability and mimics the actions of the human brain when performing the stages of ship berthing. However, existing ANN controllers can only bring a ship into a berth in a certain port, where the inputs of the ANN are the same as those of the teaching data. This means that those ANN controllers must be retrained when the ship arrives to a new port, which is time-consuming and costly. In this research, by using the head-up coordinate system, which includes the relative bearing and distance from the ship to the berth, a novel ANN controller is proposed to automatically control the ship into the berth in different ports without retraining the ANN structure. Numerical simulations were performed to verify the effectiveness of the proposed controller. First, teaching data were created in the original port to train the neural network; then, the controller was tested for automatic berthing in other ports, where the initial conditions of the inputs in the head-up coordinate system were similar to those of the teaching data in the original port. The results showed that the proposed controller has good performance for ship berthing in ports.

• 대한인간공학회지
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• 제21권2호
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• pp.47-58
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• 2002

This research suggested the mathematical model (forward kinematics method) to provide the reference points of driver space more easily and accurately in designing the package layout of vehicle interiors. For this purpose, the lengths of body segments of drivers and various joint angles occurred while were used. The length data between joints for the mathematical model were extracted from $SAFEWORK^{\circed{R}}$ as well as 95th percentile male and 5th percentile female body dimensions were utilized. In addition, the angles of body segments were applied on its diverse values within proper ranges in order to compare them each other. the mathematical model in this study was based on the concept of converting polar coordinate system to Cartesian coordinate system so that reference points of driver space were acquired in Cartesian coordinate system after using the segment lengths of drivers and the joint angles of driving postures as an input of polar coordinate system. It is expected that reference points of driver space obtained from this research are helpful to the study on package layout that is appropriate for physical characteristics of drivers.

• 한국멀티미디어학회논문지
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• 제13권2호
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• pp.237-248
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• 2010

컴퓨터/로봇 비전 분야에서 실세계 장면들을 촬영할 때, 상당 부분의 텍스처 기반 패턴들이 발견되는데, 본 논문에서는 그런 다양한 패턴들을 적절하게 표현할 수 있는 수학적 모델(Gabor 함수)을 기반으로 한 특징 측정 좌표 체계를 소개한다. 그 체계를 통한 텍스처 패턴의 여러 특징들에 대한 측정값의 표현은 텍스처 패턴분류 작업을 수행하는데 보다 효율적인 성능을 가능케 한다. 또한 실험에 사용된 텍스처 이미지 데이터의 좌표 체계에서의 표현 정보가 추후 유사 연구들에 의해 활용될 수 있으며, 제안된 좌표 체계에서 표현된 패턴 데이터를 분류하는데 가장 적합한 의사결정나무 알고리듬을 사용한다. 최종적으로, 다양한 텍스처 패턴분류 실험을 통해 기존 연구 방법들에 비해 연구 결과의 개선이 있음을 보여준다.

• 한국측량학회지
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• 제13권2호
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• pp.117-124
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• 1995

본 연구는 GPS위성측량의 기준좌표계로 채택된 세계측지계(WGS-84)와 현재 우리나라에서 사용되고 있는 베셀타원체에 근거한 측지계와 좌표변환을 위하여 Bursa-Wolf모델, Molodensky-Badekas모델과 Veis모델의 3가지 7-매개변수 좌표변환 방법을 수행하고 좌표변환 정밀도를 비교하였다. 본 연구의 결과, 우리나라에서는 Bursa-Wolf 모델이 7-매개변수 결정모델로 적합하다는 것을 알 수 있었다.

• Interaction and multiscale mechanics
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• 제2권4호
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• pp.413-430
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• 2009

The stator tooth is a key component of the electromechanical integrated toroidal drive system. The stator tooth is spiral in shape and the calculation of its displacements is difficult. In this paper, using the coordinate transformation method, the displacements of the stator tooth in the local coordinate system are expressed as the function of the variable in the drive coordinate system. Using the minimum potential energy principle, the equations of the displacements of the stator tooth under the loads are deduced. The displacement distributions within the stator tooth are investigated and the changes of the displacement distributions along with the main parameters are analyzed. This research can offer the basis for the strength and stiffness design of the drive system.

• 한국정밀공학회지
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• 제23권7호
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• pp.51-58
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• 2006

This study analyzes the uncertainty of the compensation method of a sensing error of three-DOF measuring system. This compensation method utilizes a reference coordinate system using a three point by moving a position of an endpoint of a three-DOF manipulator. The coordinate transformation between the three-DOF manipulator and the measuring system is identified by the reference coordinate system. According to the concept of this compensation method, each positioning error at any position of the end-point of the manipulator is derived. Uncertainty analyses of the compensation values on the basis of sensitivity analysis and Monte Carlo simulation are used to investigate a feasibility and effectiveness of the compensation method.