• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2008년도 춘계학술대회논문집
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• pp.63-70
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• 2008

In this paper, we propose a bearing redundant coordinates and decoupled PD controller for 5-axes active magnetic bearing system, which consists of two bearing parts such as three-pole hybrid active magnetic bearing for stabilize the radial direction and ring-type permanent magnetic bearing stabilizing in axial and tilting motion. Based on derived system equation with decoupled control scheme, we conduct the modal analysis and measure of modal controllability and observability.

• 산업기술연구
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• 제29권B호
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• pp.157-163
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• 2009

In this paper, we implement a place information system for missing children using embedded board. In the implementation, the embedded board receives location information from GPS satellites, parsing GGA information which includes current time and location coordinates from the satellite information and sends them to the location management server. The server locates a missing child using the location information from embedded board together with server database. We implement an application program for the system. The program shows current location of a child and its moving path and browses the corresponding map from coordinates mapping.

• 소음진동
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• 제8권1호
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• pp.203-211
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• 1998

In order to find out relationship between hit probability and gun firing of a moving tank, a turret and flexible gun system model has been developed using a recursive flexible multibody dynamics. For a firing simulation model, nodal coordinates for a finite element model of a flexible gun have been employed to include transverse loads to the gun tube due to moving bullet and ballistic pressure. Modal coordinates are also used to represent the motion induced gun vibration before a firing occurs. An efficient switching technique from modal equations to nodal equation has been introduced for an entire gun firing simulation with a rotating turret.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 춘계학술대회논문집 - 한국공작기계학회
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• pp.543-548
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• 2000

In this study, an interactive programming method for robot in electronic part assembly task is proposed. Many of industrial robots are still taught and programmed by a teach pendant. The robot is guided by a human operator to the desired application locations. These motions are recorded and are later edited, within the robotic language using in the robot controller, and play back repetitively to perform robot task. This conventional teaching method is time-consuming and somewhat dangerous. In the proposed method, the operator teaches the desired locations on the image acquired through CCD camera mounted on the robot hand. The robotic language program is automatically generated and downloaded to the robot controller. This teaching process is implemented through an off-line programming software. The OLP is developed for an robotic assembly system used in this study. In order to transform the location on image coordinates into robot coordinates, a calibration process is established. The proposed teaching method is implemented and evaluated on an assembly system for soldering electronic parts on a circuit board. A six-axis articulated robot executes assembly task according to the off-line teaching in the system.

• 한국측량학회지
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• 제15권2호
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• pp.185-193
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• 1997

While close range photogrammetry has been widely applied for static deformation analysis, video cameras have many characteristics that make them the sensors of choice for dynamic analysis of rapidly changing situations. They also have limitations. The aim of this research is to explore the potential of a video system for monitoring dynamic objects. A pilot system consists of two camcorders, VCR, and PC with frame grabber. To estimte the performance of this system for moving objects, a car was imaged covering several phases when starting to drive. The sequential images of a moving car were recorded on VCR. 15 images per second were digitized in an off-line mode by frame grabber. The image coordinates of targets attached to the rear bumper of a car were acquired by IDRISI, and the object coordinates were derived based on DLT. This research suggests that home video cameras, PC, and photogrammetric principles are promising tools for monitoring of the moving objects and vibrations as well as other time dependent situations.

• Journal of Information Display
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• 제3권2호
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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.

• ETRI Journal
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• 제28권3호
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• pp.265-274
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• 2006

Recent advances in positioning and photogrammetry technologies have made it possible to build a mobile mapping system (MMS) that can obtain 3D coordinates of geographic objects from stereo images recorded from a moving vehicle. In this paper, we present a design and detailed implementation of an MMS called a 4S-Van. Furthermore, we present four issues that have made major contributions to the performance of an MMS: 1) CCD camera calibration, 2) GPS signal condition, 3) integrating a GPS, inertial navigation system (INS), distance measurement indicator (DMI), and CCD cameras, and 4) the orientation angle of CCD cameras. In the experimental results, the performance of an MMS was analyzed for each component, giving an idea of how to effectively design and integrate each component in developing an MMS to get a maximal accuracy of 3D coordinates.

• Journal of the Optical Society of Korea
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• 제16권3호
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• pp.228-235
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• 2012

It is very important to analyze effectively the tolerance of an optical system with high resolution as the projection lens of photolithography or as the objective lens of a microscope. We would like to find an effective assembly structure and compensators to correct aberrations through global wavefront sensitivity analysis using Zernike polynomial expansion from the field and pupil coordinates rather than from only pupil coordinates. In this paper, we introduce global wavefront coefficients by small perturbations of the optical system, and analyze the optical performance with these coefficients. From this analysis, it is possible to see how we can enlarge the tolerance through the proper assembly structure and compensators.

• 로봇학회논문지
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• 제13권4호
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• pp.213-219
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• 2018

In this paper, we introduce a target position reasoning system based on Bayesian network that selects destinations of robots on a map to explore compound disaster environments. Compound disaster accidents have hazardous conditions because of a low visibility and a high temperature. Before firefighters enter the environment, the robots notify information in advance, such as victim's positions, number of victims, and status of debris of building. The problem of the previous system is that the system requires a target position to operate the robots and the firefighter need to learn how to use the robot. However, selecting the target position is not easy because of the information gap between eyewitness accounts and map coordinates. In addition, learning the technique how to use the robots needs a lot of time and money. The proposed system infers the target area using Bayesian network and selects proper x, y coordinates on the map based on image processing methods of the map. To verify the proposed system, we designed three example scenarios based on eyewetinees testimonies and compared time consumption between human and the system. In addition, we evaluate the system usability by 40 subjects.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2015년도 춘계학술대회
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• pp.571-575
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• 2015

실시간으로 입력되는 영상으로부터 이동객체의 움직임 특징을 분석하는 시간적 히스토그램 기반의 행동패턴분석 알고리즘을 제안한다. 이동객체의 추적 및 분석을 위해 배경과 이동객체를 분리하는 배경학습을 행한다. 배경학습으로 추출된 이동객체는 무게중심 및 좌표연관성을 이용하여 객체를 식별한 후 객체별 추적을 행한다. 추적된 각 객체의 시작프레임, 종료프레임, 좌표정보, 크기정보를 연결리스트에 저장하여 관리한다. 시간적 히스토그램은 x, y좌표와 시간을 이용해 움직임 특징 패턴을 정의한 것으로 각 객체의 좌표정보와 비교하여 움직임특징 및 행동패턴을 파악한다. 시간적 히스토그램 기반 행동패턴분석시스템은 자체 수집한 데모영상에 대한 실험을 통해 초당 45~50 fps의 높은 처리속도를 유지하며 95%이상의 높은 추적율을 확인하였다.