• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.1
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• pp.62-72
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• 1997

High flexibility and productivity using industrial robots are being achieved in manufacturing lines with off-line robot programmings. A good off-line programming system should have functions of robot modelling, trajectory planning, graphical teach-in, kinematic and dynamic simulations. Simulated results, however, can hardly be applied to on-line tasks until any calibration procedure is accompained. This paper proposes a visual calibration scheme in order to provide a calibration tool for our own off-line programming system of SCARA robots. The suggested scheme is based on the position-based visual servoings, and the perspective projection. The scheme requires only one camera as it uses saved kinematic data for three-dimensional visual calibration. Predicted images are generated and then compared with camera images for updating positions and orientations of objects. The scheme is simple and effective enough to be used in real time robot programming.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.6
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• pp.537-542
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• 2015

The measurement of 3D shape is important in inspecting the quality of product. In this paper, we present a 3D shape measurement system of fastener using a camera and a slit laser. Calibration structure with slits is used in the extrinsic calibration of the camera and laser. The pose of the camera and laser is computed under the same world coordinate system in the calibration structure. Reflection of laser light on the metal surface causes many difficulties in the robust detection of them on image. We overcome this difficulty by using color and dynamic programming. Motor stage is used to rotate the fastener to recover the whole 3D shape of the surface of it.

• International conference on construction engineering and project management
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• 2022.06a
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• pp.814-822
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• 2022

The deployment of sensors for Structural Health Monitoring requires a complicated network arrangement, ground truthing, and calibration for validating sensor performance periodically. Any conventional sensor on a structural element is also subjected to static and dynamic vertical loadings in conjunction with other environmental factors, such as brightness, noise, temperature, and humidity. A structural model with strain gauges was built and tested to get realistic sensory information. This paper investigates different deep learning architectures and algorithms, including unsupervised, autoencoder, and supervised methods, to benchmark blind drift calibration methods using deep learning. It involves a fully connected neural network (FCNN), a long short-term memory (LSTM), and a gated recurrent unit (GRU) to address the blind drift calibration problem (i.e., performing calibrations of installed sensors when ground truth is not available). The results show that the supervised methods perform much better than unsupervised methods, such as an autoencoder, when ground truths are available. Furthermore, taking advantage of time-series information, the GRU model generates the most precise predictions to remove the drift overall.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2012.10a
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• pp.430-431
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• 2012

• Proceedings of the Materials Research Society of Korea Conference
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• 2008.05a
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• pp.36.1-36.1
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• 2008

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.30-32
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• 2004

With 3-D vision measuring, camera calibration is necessary to calculate parameters accurately. Camera calibration was developed widely in two categories. The first establishes reference points in space, and the second uses a grid type frame and statistical method. But, the former has difficulty to setup reference points and the latter has low accuracy. In this paper we present an algorithm for camera calibration using perspective ratio of the grid type frame with different line widths. It can easily estimate camera calibration parameters such as lens distortion, focal length, scale factor, pose, orientations, and distance. The advantage of this algorithm is that it can estimate the distance of the object. Also, the proposed camera calibration method is possible estimate distance in dynamic environment such as autonomous navigation. To validate proposed method, we set up the experiments with a frame on rotator at a distance of 1, 2, 3, 4[m] from camera and rotate the frame from -60 to 60 degrees. Both computer simulation and real data have been used to test the proposed method and very good results have been obtained. We have investigated the distance error affected by scale factor or different line widths and experimentally found an average scale factor that includes the least distance error with each image. The average scale factor tends to fluctuate with small variation and makes distance error decrease. Compared with classical methods that use stereo camera or two or three orthogonal planes, the proposed method is easy to use and flexible. It advances camera calibration one more step from static environments to real world such as autonomous land vehicle use.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.28 no.3A
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• pp.305-313
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• 2008

A reliability based calibration of dynamic load allowance (DLA) of highway bridge is performed by numerical dynamic analysis of various types of bridges taking into account of the road surface roughness and bridge-vehicle interaction. A total of 10 simply supported bridges with three girder types in the form of prestressed concrete girder, steel plate girder, and steel box girder is analyzed. The cross sections recommended in "The Standardized Design of Highway Bridge Superstructure" by the Korean Ministry of Construction are used for the prestressed concrete girder bridges and steel plate girder bridges while the box girder bridges are designed by the LRFD method. Ten sets of road surface roughness for each bridge are generated from power spectral density (PSD) function by assuming the roadway as "Average Road". A three dimensionally modeled 5-axle tractor-trailer with its gross weight the same as that of DB-24 design truck is used in the dynamic analysis. For the finite element modeling of superstructure, beam elements for the main girder, shell elements for concrete deck, and rigid links between main girder and concrete deck are used. The statistical mean and coefficient of variation of DLA are obtained from a total of 100 DLA results for 10 different bridges with each having 10 sets of road surface roughness. Applying the DLA statistics obtained, the DLA is finally calibrated in a reliability based LRFD format by using the formula developed in the calibration of OHBDC code.

• Aerospace Engineering and Technology
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• v.11 no.1
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• pp.98-102
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• 2012

These days, Uncooled IR Systems are more popular in the area of defense and aerospace than before. Uncooled IR Systems are widely used as core technology for making unmanned systems and detecting enemy objects during the day and night in the distance. Recently, researches on TEC-less IRFPA have been increased to minimize the power consumption and to make a smaller system than before. For this, it needs to find adequate NUC(Non-Uniformity Correction) coefficients as FPA(Focal Plane Array) temperature changes. In this paper, we propose a new NUC coefficient estimating technique, DCCE-LI(Dynamic Calibration Coefficients Estimation with Linear Interpolation), for TEC-less IRFPA. It is based on a linear interpolation method and it can estimate NUC coefficients in real-time. So, by testing and evaluating it with some IR images, we conclude that the quality of IR images using proposed method is better than applying static coefficients.

• Journal of Korea Society of Digital Industry and Information Management
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• v.18 no.2
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• pp.27-37
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• 2022

In this paper, we presents a Multiple User Multiple Input Multiple Output (MU-MIMO) test-bed system for Time Division Duplex (TDD) Long Term Evolution-Advanced (LTE-A). Using two parameters, the condition number of the channel matrix and the path gain, the MU-MIMO system could switch pre-coder to maintain target Bit Error Rate (BER) level. This paper also introduces a calibration procedure for compensating error of Radio Frequency (RF) paths of the antennas and RF transceivers. From experimental measurements, dynamic pre-coding scheme could maintain target BER, set to 10^-3, with the pre-coder set configured with Zero Forcing (ZF), Tomlinson Harashima Pre-coding (THP), Lattice Reduction (LR). The simplest pre-coder ZF is adopted in stable channel, and when path gain become less than 0.25, LR is adopted. Lastly, when condition number of channel matrix become larger than 7, THP is adopted.

• Journal of Korean Society of Transportation
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• v.22 no.3 s.74
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• pp.179-201
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• 2004

Online traffic flow modeling is attracting more attention due to intelligent transport systems and technologies. The flow-density relation plays an important role in traffic flow modeling and provides a basic way to illustrate traffic flow behavior under different traffic flow and traffic density conditions. Until now the research effort has focused mainly on the shape of the relation. The time series of the relation has not been identified clearly, even though the time series of the relation reflects the upstream/downstream traffic conditions and should be considered in the traffic flow modeling. In this paper the flow-density relation is analyzed dynamically and interpreted as a states diagram. The dynamic flow-density relation is quantified by applying fuzzy logic. The quantified dynamic flow-density relation builds the basis for online application of a macroscopic traffic flow model. The new approach to online modeling of traffic flow applying the dynamic flow-density relation alleviates parameter calibration problems stemming from the static flow-density relation.