• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.637-641
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• 1991

One of the most difficult problems in depth control for underwater vehicle is the effect of seaway disturbance. When a underwater vehicle operates in a near surface environment, the seaway generates essentially two types of stochastic disturbances that influence the boat notion. One component of the seaway forces is of large magnitude with a relatively narrow-band, first order component. The other component is generally of somewhat smaller magnitude, second order component. Since the magnitude of the first order component is generally such greater than the compensating force that can be generating by the planes, it is undesirable for the controller to generate a control command. In this paper, we used LPC(Linear Predictive Coding) processing to uncontrollable seaway disturbance. This method can be used extensively in sensor signal processing of underwater vehicles.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.590-593
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• 2001

In this paper we describe the 6-axes robot's position determination using a stereo vision and an image based control method. When use a stereo vision, it need a additional time to compare with mono vision system. So to reduce the time required, we use the stereo vision not image Jacobian matrix estimation but depth estimation. Image based control is not needed the high-precision of camera calibration by using a image Jacobian. The experiment is executed as devide by two part. The first is depth estimation by stereo vision and the second is robot manipulator's positioning.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.5
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• pp.173-179
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• 2000

While a cutting tool is machining a workpiece at various cutting depth, the feedrate is usually selected based on the maximum depth of cut. Even if this selection can avoid power saturation or tool breakage, it is very conservative compared to the capacity of the machine tools and can reduce the productivity significantly. Many adaptive control techniques that can adjust the feedrate to maintain the constant cutting force have been reported. However, these controllers are not very widely used in manufacturing industry because of the limitations in measuring the cutting force signals. In this paper, turning force control systems based on the estimated cutting force signals are proposed. A synthesized cutting force monitor is introduced to estimate the cutting force as accurately as a dynamometer does. Three control strategies of PI, adaptive and fuzzy logic controllers are applied to investigate the feasibility of utilizing the estimated cutting force fur turning force control. The experimental results demonstrate that the proposed systems can be easily realized in CNC lathe with requiring little additional hardware.

• Journal of Periodontal and Implant Science
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• v.31 no.2
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• pp.489-499
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• 2001

Bone graft and guided tissue regeneration have been used for the regeneration of periodontal tissue which is the ultimate goal of periodontal treatment. Recently, it was reported that some kind of growth factors were used for regeneration. Platelet rich plasma was researched that it could increase the density of bone and the rate of bone regeneration. For that, 25 patients which have pocket depth more than 5mm at any of 6 surfaces, of healthy patient without any systemic disease were treated. $Biogran^{?}$ Were grafted into 14 infrabony pockets as controls, and $Biogran^{(R)}$ with PRP were inserted into 31 infrabony pockets. And then, follwing evaluations were made at the end of 1, 3 and 6 months. 1. There was no statistical difference between control and experimental group in pocket depth, gingival recession, minimum probing attachment level and maximum probing attachment level at preoperation(p>0.05). 2. Decrease in probing pocket depth were reduced to 3.32mm for experimental group and 2.71mm for control group. The decrease was evident at the end of 1 month, they were 2.97mm and 2.29mm,and it was statistically difference(p<0.05). 3. Gingival recession was increased by 0.55mm in experimental group and 0.50mm in control group, it was evident at the end of 1 month. And it was statistically difference(p<0.05). 4. Minimum probing attachment level was increased by 0.35mm in experimental group and 0.36mm in control group, it was statistically difference(p<0.05). 5. Maximum probing attachment level was decreased by 3.19mm in experimental group and 2.93mm in control group, it was statistically difference(p<0.05). 6. There was no statistical difference between control and experimental group in pocket depth, gingival recession, minimum probing attachment level and maximum probing attachment level(p>0.05). There was statistical difference in decrease of pocket depth between pre-operation and 1 month after post-operation(p<0.05). In conclusion, bone graft using $Biogran^{?}$ and bone graft using $Biogran^{?}$ With platelet rich plasma were both effective in treatment of infrabony pocket, bone graft using $Biogran^{?}$ With platelet rich plasma was more effective in early soft tissue healing.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.383-388
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• 2005

Depth recovery in robot vision is an essential problem to infer the three dimensional geometry of scenes from a sequence of the two dimensional images. In the past, many studies have been proposed for the depth estimation such as stereopsis, motion parallax and blurring phenomena. Among cues for depth estimation, depth from lens translation is based on shape from motion by using feature points. This approach is derived from the correspondence of feature points detected in images and performs the depth estimation that uses information on the motion of feature points. The approaches using motion vectors suffer from the occlusion or missing part problem, and the image blur is ignored in the feature point detection. This paper presents a novel approach to the defocus technique based depth from lens translation using sequential SVD factorization. Solving such the problems requires modeling of mutual relationship between the light and optics until reaching the image plane. For this mutuality, we first discuss the optical properties of a camera system, because the image blur varies according to camera parameter settings. The camera system accounts for the camera model integrating a thin lens based camera model to explain the light and optical properties and a perspective projection camera model to explain the depth from lens translation. Then, depth from lens translation is proposed to use the feature points detected in edges of the image blur. The feature points contain the depth information derived from an amount of blur of width. The shape and motion can be estimated from the motion of feature points. This method uses the sequential SVD factorization to represent the orthogonal matrices that are singular value decomposition. Some experiments have been performed with a sequence of real and synthetic images comparing the presented method with the depth from lens translation. Experimental results have demonstrated the validity and shown the applicability of the proposed method to the depth estimation.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.29B no.2
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• pp.40-49
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• 1992

In this paper,a new approach-using the linear movement of the lens location in a camera and focal distance in each location for the measurement of the depth of the 3-D object from several 2-D images-is proposed. The sharply focused edges are extracted from the images obtained by moving the lens of the camera, that is, the distance between the lens and the image plane, in the range allowed by the camera lens system. Then the depthin formation of the edges are obtained by the lens location. In our method, the accurate and complicated control system of the camera and a special algorithm for tracing the accurate focus point are not necessary, and the method has some advantage that the depth of all objects in a scene are measured by only the linear movement of the lens location of the camera. The accuracy of the extracted depth information is approximately 5% of object distances between 1 and 2m. We can see the possibility of application of the method in the depth measurement of the 3-D objects.

• Proceedings of the Korea Concrete Institute Conference
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• 2001.05a
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• pp.345-350
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• 2001

Reinforced concrete is, in general, known as a high durability material due to a strong alkalinity of cement. Probable concrete cracks could incur steel corrosion of RC structures and then could easily deteriorate the concrete durability, which can be fully secured by a systematic quality control for the construction of concrete structures. For the corrosion protection of reinforcing steels in concrete, however, current design specifications of concrete cover depth do not in-depth consider the effect of the cracks as well as the chloride content of RC structures. Therefore, appropriate provisions for concrete cover depth should be coded by considering the influence of concrete cracks on the corrosion of reinforcing steels. The objective of this research is to investigate pertinent cover depth, which can prohibit rebar corrosion, on the basis of experimental corrosion measurements of reinforcing steels on crack characteristics such as the width, depth and frequency of concrete cracks.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1122-1124
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• 1996

Depth between the robot and the target is an essential information in the robot control. However, in case of eye-in-hand robot with one camera, it is not easy to get an accurate depth information in real-time. In this paper, the techniques of depth-from-motion and depth-from-focus are combined to accomplish the real-time requirement. Integration of the two approaches are accomplished by appropriate use of confidence factors which are evaluated by fuzzy rules. Also a fuzzy logic based calibration technique is proposed.

• Computers and Concrete
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• v.26 no.6
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• pp.497-504
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• 2020

Concrete can lose its alkalinity by concrete carbonation causing steel corrosion. Thus, the determination of the carbonation depth is necessary. An empirical model is proposed in this research to predict the carbonation depth of concrete using Gene expression programming (GEP). The GEP model was trained and validated using a large and reliable database collected from the literature. The model was developed using the six parameters that predominantly control the carbonation depth of concrete including carbon dioxide CO2 concentration, relative humidity, water-to-cement ratio, maximum aggregate size, aggregate to binder ratio and carbonation period. The model was statistically evaluated and then compared to the Jiang et al. model. A parametric study was finally performed to check the proposed GEP model's sensitivity to the selected input parameters.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.3
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• pp.408-413
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• 2013

Micro-features such as grooves and lenses, which perform optical functions in flat displays, should be manufactured with a good form accuracy because this is directly related to their optical performance. As the size of the display increases, it is very difficult to maintain a high relative accuracy because of the inherent geometric errors such as the waviness of a large-area plate. In this paper, the optical effect of these geometric errors is investigated, and surface-referenced micro-grooving to measure and compensate for such geometric errors on line is proposed to improve the form accuracy of the micro-grooves. A PZT-based fast depth adjustment servo system is implemented in the tool holder to maintain a uniform groove depth in reference to the wavy surface. Through experiments, the proposed method is shown to be an efficient way to produce high-quality micro- grooves on a wavy die surface.