• Journal of Institute of Control, Robotics and Systems
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• v.13 no.7
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• pp.664-670
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• 2007

This study deals with image-based visual servoing for automatic recharging of mobile robot. Because mobile robot must be recharged periodically, it is necessary to detect and move to docking station. Generally, laser scanner is used for detect of position of docking station. CCD Camera is also used for this purpose. In case of using cameras, the position-based visual servoing method is widely used. But position-based visual servoing method requires the accurate calibration and it is hard and complex work. Another method using cameras is image-based visual servoing. Recently, image based visual servoing is widely used for robotic application. But it has a problem that cannot have linear trajectory in the 3-dimensional space. Because of this weak point, image-based visual servoing has a limit for real application. In case of 2-dimensional movement on the plane, it has also similar problem. In order to solve this problem, we point out the main reason of the problem of the resolved rate control method that has been generally used in the image-based visual servoing and we propose an image-based visual servoing method that can reduce the curved trajectory of mobile robot in the cartesian space.

• Journal of the Korean Society of Clothing and Textiles
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• v.40 no.2
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• pp.273-286
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• 2016

Protective coveralls are very uncomfortable to work in comparison to ordinary top and bottom separated clothing. A pattern maker has to consider the size of the human body and human motion range when designing protective coverall patterns. It is difficult to produce well-fitted coveralls because of the lack of readymade patterns despite the increased need for protective coveralls at various jobs. Patterns are decomposed by unsewing 18 products in the domestic market to provide the fundamental information on developing patterns for protective coveralls. The characteristics and differences of pattern types are compared after grouping patterns with information taken from the analysis of the shapes and measurements of patterns from the acquired patterns. The results of the analysis showed that on-market protective coveralls were less curved but much linear when compared to ordinary clothing patterns; however, the breasts and crotch circumferences were very loose and bulky, which is quite different from the other all-in one style working clothes. For the pattern shapes, patterns are classified into waistline-seamed and bustline-seamed types. The result of the hierarchical cluster analysis with 27 measurement variables were classified into four groups. Types by shape and measurements were related to each other; therefore, we expect the information of each type to be used in developing protective clothing patterns.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.471-471
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• 2000

This paper presents a new kurtosis-based algorithm for blind separation of convolutively mixed source signals. The algorithm whitens the signals not only spatially but also temporally beforehand. A separator is built for the whitened signals and it exists in the set of para-unitary matrices. Since the set forms a curved manifold, it is hard to treat its elements. In order to avoid the difficulty, this paper introduces the Cayley transformation for the para-unitary matrices. The transformed matrix is referred to as para-skew-Hermitian matrix and the set of such matrices forms a linear space. In the set of all para-skew-Hermitian matrices, the kurtosis-based algorithm obtains a desired separator. This paper also shows the algorithm's application to electrogastrogram datum which are observed by 4 electrodes on subjects' abdomen around their stomachs. An electrogastrogram contains signals from a stomach and other organs. This paper obtains independent components by the algorithm and then extracts the signal corresponding to the stomach from the data.

• Journal of Welding and Joining
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• v.28 no.2
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• pp.39-46
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• 2010

IIn this study, used is the equivalent loading method based on the inherent strain to predict the welding deformation of panel members. Equivalent loads are computed from the inherent strain distribution around weld line, and then applied for the linear finite element analysis. Thermal deformation of panel members can be, of course, carried out through the rigorous thermal elasto-plastic analysis procedure but it is not practical in applying to predicting the welding deformation of large structures such as blocks found in a ship structure from view of computing time. The present equivalent load approach has been applied to flat plate model to verify the present approach, and to several curved plate models having the curvature in the welding direction to investigate the effect of the longitudinal curvature upon the weld-induced deformation. The results are compared with those by thermal elasto-plastic analysis. As far as the present results are concerned, it can be said that the present approach shows good agreement with the results by welding experiment and the rigorous thermal elasto-plastic analysis. The present approach has been also applied to predict the welding deformation of panel block as for application illustration to practical model.

• Proceedings of the Korean Geotechical Society Conference
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• 2009.03a
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• pp.1161-1170
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• 2009

The Roads in Gangwon Province generally was made on purpose to use the military road. In case of these roads, tremendous dangerous cut slopes do exist and its road linear shape was badly designed. In order to make up for this situation, the government has continuously established the new road or performed the public works such as the straight line of the curved road. Soksil 2 cut slope was made through the road improvement work. This has small surface failures and collapses. In spite of dry season, this slope are leaking lots of groundwater at the unbelievable point. So as to get curious phenomenon right, we performed a detailed field investigation, the geomorphological analysis, the stability analysis considering field characteristic and ultimately proposed the countermeasure to make sure stability of Sokil 2 cut slope.

• KSBB Journal
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• v.9 no.5
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• pp.457-463
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• 1994

A new method that considers the pellet sedimentation characteristics for fungal cell concentration measurement was developed using optical density. Appropriate mixing of the pellet suspension almost homogeneously was tried to prevent the sedimentation of the pellet by a small magnetic bar in cuvette, giving a stable optical density. The linear relationship between optical density and the dry cell weight was obtained. However, different curved lines were observed according to the pellet size. Optical density couldn't be detectable in the size range of $355{\mu}m$above. It was concluded from the result that the use of optical density for measuring cell concentration in fungal broth became possible by considering the characteristics.

• Bulletin of the Korean Chemical Society
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• v.29 no.3
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• pp.580-584
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• 2008

Second-order rate constants (kN) have been measured spectrophotometrically for reactions of Y-substituted phenyl benzoates (1a-h) with azide ion (N3) in 80 mol % H2O/20 mol % DMSO at 25.0 0.1 oC. The Brnsted-type plot for the azidolysis exhibits a downward curvature, i.e., the slope (b lg) changes from 0.97 to 0.20 as the basicity of the leaving group decreases. The pKao (defined as the pKa at the center of the Brnsted curvature) is 4.8, which is practically identical to the pKa of the conjugate acid of N3 ion (4.73). Hammett plots correlated with s o and s constants exhibit highly scattered points for the azidolysis. On the contrary, the corresponding Yukawa-Tsuno plot results in an excellent linear correlation with r = 2.45 and r = 0.40, indicating that the leaving group departs in the rate-determining step. The curved Brnsted-type plot has been interpreted as a change in the rate-determining step in a stepwise mechanism. The microscopic rate constants (k1 and k2/k1 ratio) have been calculated for the azidolysis and found to be consistent with the proposed mechanism.

• Transactions of Materials Processing
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• v.27 no.1
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• pp.18-27
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• 2018

As one of the functional metal parts in steam turbine diaphragm assembly, the hollow-partitioned turbine nozzle (stator) has large and thick geometries, as well as an asymmetric configuration. Therefore it is hard to support a metal blank in the die cavity. To ease this situation and control posture and position of metal blank (workpiece), a blank support structure is newly introduced. The blank support structure is basically composed of enlarged arms from the blank, guide pins and linear bearings. It can help to control the intermediate blank without a critical sliding phenomenon. The operation mechanism of this blank support structure, during thick plate forming for the hollow-partitioned turbine nozzle stator, is first evaluated. A series of FEM-based numerical simulations, with respect to the width of the guide arm as geometric design parameters, are carried out to investigate its applicable range. As the results, it is observed the blank support structure for this thick plate forming can guide the workpiece to have stable posture during the plate forming process.

• Journal of Korean Society for Geospatial Information Science
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• v.10 no.5 s.23
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• pp.75-80
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• 2002

Depending upon geographical features and surrounding errors in the survey field, inaccurate positioning is inevitable in a kinematic DGPs survey. Therefore, a data inaccuracy detection algorithm and an interpolation algorithm are essential to meet the requirement of a digital map. In this study, GPS characteristics are taken into account to develop the data inaccuracy detection algorithm. Then, the data interpolation algothim is obtained, based on the feature type of the survey. A digital map for 20km of a rural highway is produced by the kinematic DGPS survey and the features of interests are lines associated with the road. Since the vertical variation of GPS data is relatively higher, the trimmed mean of vertical variation is used as criteria of the inaccuracy detection. Four cases of 0.5%, 1%, 2.5% and 5% trimmings have been experimented. Criteria of four cases are 69cm, 65cm, 61cm and 42cm, respectively. For the feature of a curved line, cublic spine interpolation is used to correct the inaccurate data. When the feature is more or less a straight line, the interpolation has been done by a linear polynomial. Difference between the actual distance and the interpolated distance are few centimeters in RMS.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.19 no.2
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• pp.138-145
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• 2009

Structural vibration and noise are hot issues in underwater vehicles such as submarines for their survivability. Therefore, active vibration and noise control of submarine, which can be modeled as hull structure, have been conducted by the use of piezoelectric materials. Traditional piezoelectric materials are too brittle and not suitable to curved geometry such as hull structures. Therefore, advanced anisotropic piezocomposite actuator named as Macro-Fiber Composite(MFC), which can provide great flexibility, large induced strain and directional actuating force is adopted for this research. In this study, dynamic model of the smart hull structure is established and active vibration control performance of the smart hull structure is evaluated using optimally placed MFC. Actuating performance of MFC is evaluated by finite element analysis and dynamic modeling of the smart hull structure is derived by finite element method considering underwater condition. In order to suppress the vibration of hull structure, Linear Quadratic Gaussian(LQG) algorithm is adopted. After then active vibration control performance of the proposed smart hull structure is evaluated with computer simulation and experimental investigation in underwater. Structural vibration of the hull structure is decreased effectively by applying proper control voltages to the MFC actuators.