• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.505-507
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• 2004

This paper presents a measurement of ZMP using FSR sensors, and then the ZMP control with measured ZMP on single leg. ZMP is mostly used as standard evaluation of stability of a humanoid robot. The ISHURO has 5 sensors which are mounted at each corner and center of a sole. ZMP is computed using a model of a humanoid robot and information from the joint encoders. And we may able to use measurement data from FSR sensors at the robot feet. IP(Integration Proportional) control algorithm is applied to position control of ZMP that is an error of desired ZMP between measured ZMP.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1191_1192
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• 2009

The objective of levitation control design is to stabilize a levitation system, or obtain certain transient response, bandwidth, and steady state error. An air gap signal from the each corner is important parameter to design levitation controller. A levitation controller using gap signals with measurement delay time can not make a expected performance. In this paper, a new air gap estimator to improve the performance of levitation controller is proposed. The estimated gap signal which has little measurement delay time is used as a feedback value in the levitation controller.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2001.04a
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• pp.3-8
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• 2001

This study is an investigation for the ADS optimum design by using FEA. We write out program which express ADS perfectly and reduce the required time for correcting of model to the minimum in solution and manufacture result. We complete algorithm which can plan optimum forming of model by feedback error information in CAE. Then we correct model by feedback date obtaining in solution process, repeat course following stress solution again and do modeling rachet wheel for optimum forming. That is our aim. In rachet wheel, greatest equivalence stress originates in key groove corner and KS standard is proved the design for security.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.406-409
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• 2001

This study is an investigation for the ADS optimum design by using FEA. We write out program which express ADS perfectly and reduce the required time for correcting of model to the minimum in solution and manufacture result. We complete algorithm which can plan optimum forming of model by feedback error information in CAE. Then we correct model by feedback date obtaining in solution process, repeat course following stress solution again and do modeling rachet wheel for optimum forming. That is our aim. In rachet wheel, greatest equivalence stress originates in key groove corner and KS standard is proved the design for security.

• Journal of the Korean Society for Precision Engineering
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• v.31 no.12
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• pp.1133-1139
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• 2014

This paper proposes a simple method to improve a sensitivity of a straightness measurement system for a linear stage, which is applied to a system based on a geometric optic method. An optical system for this method is composed of a corner-cube retro-reflector, a ball-lens and a twodimensional position sensitive detector (2D PSD). The effectiveness of the proposed method was examined theoretically, and verified experimentally using a prototype measurement system. The results show that the measuring sensitivity was dependent on the size of the ball-lens and the setup position of PSD from the ball-lens, and that the proposed method is efficient method to improve the measuring sensitivity.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2337-2340
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• 2002

This paper presents the method of AGV(Automatic guided vehicle)'s moving environment(plane, corner, edge) recognition using SONAR sensor configuration. As for the SONAR sensor, the Crosstalk effect has been generally considered as an inevitable noisy phenomenon in the indoor environment. However, this effect can be used as a clue for classifying and localizing targets in the indoor environment if those can be controlled and used well. EERUF(error eliminate rapid ultrasonic firing) is a method for firing multiple ultrasonic sensors in mobile robot application and multi-echo mode of POLARIOD Device can reduce the Crosstalk effect. Here, Crosstalk effect was reduced using EERUF and applied to the AGV with a simple wall-following algorithm in the indoor environment. This method was tesed by a typical AGV with multi SONAR sensors in the laboratory environment.

• Proceedings of the Korean Nuclear Society Conference
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• 1998.05a
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• pp.79-86
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• 1998

The nonlinear analytic function expansion nodal (AFEN) method is applied to the solution of the time-dependent neutron diffusion equation. Since the AFEN method requires both the particular solution and the homogeneous solution to the transient fixed source problem, the derivation solution method is focused on finding the particular solution efficiently. To avoid complicated particular solutions, the source distribution is approximated by quadratic polynomials and the transient source is constructed such that the error due to the quadratic approximation is minimized. In addition, this paper presents a new two-node solution scheme that is derived by imposing the constraint of current continuity at the interface corner points. The method is verified through a series of applications to the NEACRP PWR rod ejection benchmark problem.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.9
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• pp.2138-2144
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• 2015

Multimodal dual camera system has a stereo-like configuration equipped with an infrared thermal and optical camera. This paper presents stereo calibration methods on multimodal dual camera system using a target board that can be recognized by both thermal and optical camera. While a typical stereo calibration method usually performed with extracted intrinsic and extrinsic camera parameter, consecutive image processing steps were applied in this paper as follows. Firstly, the corner points were detected from the two images, and then the pixel error rate, the size difference, the rotation degree between the two images were calculated by using the pixel coordinates of detected corner points. Secondly, calibration was performed with the calculated values via affine transform. Lastly, result image was reconstructed with mapping regions on calibrated image.

• The KIPS Transactions:PartB
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• v.16B no.3
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• pp.203-214
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• 2009

In this paper, we could simply compute the user's gaze position based on 2D relations between the pupil center and four corneal specular reflections formed by four IR-illuminators attached on each corner of a monitor, without considering the complex 3D relations among the camera, the monitor, and the pupil coordinates. Therefore, the objectives of our paper are to detect the pupil center and four corneal specular reflections exactly and to compensate for error factors which affect the gaze accuracy. In our method, we compensated for the kappa error between the calculated gaze position through the pupil center and actual gaze vector. We performed one time user calibration to compensate when the system started. Also, we robustly detected four corneal specular reflections that were important to calculate gaze position based on Kalman filter irrespective of the abrupt change of eye movement. Experimental results showed that the gaze detection error was about 1.0 degrees though there was the abrupt change of eye movement.

• Journal of KIISE:Software and Applications
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• v.33 no.4
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• pp.402-410
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• 2006

This paper presents a method for feature based block motion estimation that uses multi -resolution image sequences to obtain the panoramic images in the continuous ultrasound image sequences. In the conventional block motion estimation method, the centers of motion estimation blocks are set at the predetermined and equally spaced locations. This requires the large blocks to include at least one feature, which inevitably requires long estimation time. In this paper, we propose an adaptive method which locates the center of the motion estimation blocks at the feature points. This make it possible to reduce the block size while keeping the motion estimation accuracy The Harris-Stephen corner detector is used to get the feature points. The comer points tend to group together, which cause the error in the global motion estimation. In order to distribute the feature points as evenly as Possible, the image is firstly divided into regular subregions, and a strongest corner point is selected as a feature in each subregion. The ultrasound Images contain speckle patterns and noise. In order to reduce the noise artifact and reduce the computational time, the proposed method use the multi-resolution image sequences. The first algorithm estimates the motion in the smoothed low resolution image, and the estimated motion is prolongated to the next higher resolution image. By this way the size of search region can be reduced in the higher resolution image. Experiments were performed on three types of ultrasound image sequences. These were shown that the proposed method reduces both the computational time (from 77ms to 44ms) and the displaced frame difference (from 66.02 to 58.08).