• Proceedings of the KIEE Conference
• /
• 2002.07d
• /
• pp.2421-2423
• /
• 2002

A global ultrasonic sensor system for self-localization of an indoor mobile robot is proposed in this paper. By the global ultrasonic sensor system, it is meant several ultrasonic transmitters fixed at some positions in the world coordinate and the receiver in the moving coordinate of a mobile robot. In order to achieve the synchronization between an ultrasonic transmitter and receiver and to avoid the crosstalk among the ultrasonic transmitters, simple radio frequency transmitters and receivers are adopted. Experiments are carried out to verify the effectiveness of the proposed ultrasonic sensor system.

• Journal of Biosystems Engineering
• /
• v.26 no.1
• /
• pp.21-28
• /
• 2001

Major deficiencies of current automation scheme including various robots for bioproduction include the lack of task adaptability and real time processing, low job performance for diverse tasks, and the lack of robustness of take results, high system cost, failure of the credit from the operator, and so on. This paper proposed a scheme that could solve the current limitation of task abilities of conventional computer controlled automatic system. The proposed scheme is the man-machine hybrid automation via tele-operation which can handle various bioproduction processes. And it was classified into two categories. One category was the efficient task sharing between operator and CCM(computer controlled machine). The other was the efficient interface between operator and CCM. To realize the proposed concept, task of the object identification and extraction of 3D coordinate of an object was selected. 3D coordinate information was obtained from camera calibration using camera as a measurement device. Two stereo images were obtained by moving a camera certain distance in horizontal direction normal to focal axis and by acquiring two images at different locations. Transformation matrix for camera calibration was obtained via least square error approach using specified 6 known pairs of data points in 2D image and 3D world space. 3D world coordinate was obtained from two sets of image pixel coordinates of both camera images with calibrated transformation matrix. As an interface system between operator and CCM, a touch pad screen mounted on the monitor and remotely captured imaging system were used. Object indication was done by the operator’s finger touch to the captured image using the touch pad screen. A certain size of local image processing area was specified after the touch was made. And image processing was performed with the specified local area to extract desired features of the object. An MS Windows based interface software was developed using Visual C++6.0. The software was developed with four modules such as remote image acquisiton module, task command module, local image processing module and 3D coordinate extraction module. Proposed scheme shoed the feasibility of real time processing, robust and precise object identification, and adaptability of various job and environments though selected sample tasks.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.24 no.1
• /
• pp.1-6
• /
• 2015

To improve the efficiency of a reverse engineering process, many researches have recently tried to develop efficient, automatic 3D scanning devices. A new automatic 3D scanning device using a spherical coordinate system mechanism is introduced in this study. This device incorporates a guide motion along the spherical coordinate to compound each 3D data point automatically. The experiments correlating the system assembling tolerance with the form accuracy were conducted to verify the efficiency of the system for the scanning of an object, including complex shapes and manifold sections. In addition, the required time and system accuracy, taken during the scanning process of complicated artifact models, were investigated. Further, based on these empirical results, it was ascertained that the superior productivity of this new device offers a more precise and efficient scan when compared to conventional methodologies.

• Journal of Mechanical Science and Technology
• /
• v.15 no.6
• /
• pp.693-698
• /
• 2001

The analysis of actuating forces (or torques) and joint reaction forces (or moments) are essential to determine the capacity of actuators, to control the system and to design the components. This paper presents an inverse dynamic analysis algorithm for flexible multibody systems with closed-loops in the relative joint coordinate space. The joint reaction forces are analyzed in Cartesian coordinate space using the inverse velocity transformation technique. The joint coordinates and the deformation modal coordinates are used as the generalized coordinates of a flexible multibody system. The algorithm is verified through the analysis of a slider-crank mechanism.

• Journal of Electrical Engineering and Technology
• /
• v.11 no.5
• /
• pp.1395-1403
• /
• 2016

• Proceedings of the KOSOMBE Conference
• /
• v.1997 no.11
• /
• pp.206-209
• /
• 1997

The stereostatic surgery becomes a important part of neurosurgery. The conventional style of stereostatic system uses a input method of film digitizing. It is time consuming and laborious. In this paper, we presented a system that can manage digital images from medical imaging machine to surgery assisting program. CT images were transferred in DICOM format to a surgery assisting computer in a operation room through PACS. The streotatic surgery assisting program processed the digital images and calculated the parameters that were required in steostatic surgery. The assisting program were developed that can detect the reference points automatically, transform CT coordinate to frame coordinate and calculate the RM (Riechert-Mundinger) frame. This system were applied to clinical cases in Seoul National Univ. Hospital. The two advantages of this system were revealed. The processing time from imaging to surgery parameters were much aster than conventional system. The surgery accuracy were more mininute as the digitizing error were reduced. This system were a good application of connecting imaging machines to clinical treatment system through PACS.

• 한국전산유체공학회:학술대회논문집
• /
• 2007.10a
• /
• pp.134-140
• /
• 2007

Nonlinear parabolized stability equations for compressible flow in general curvilinear coordinate system are derived to deal with a broad range of transition prediction problems on complex geometry. A highly accurate finite difference PSE code has been developed using an implicit marching procedure. Blasius flow is tested. The results of the present computation show good agreement with DNS data. Nonlinear interaction can make the T-S fundamental wave more unstable and the onset of its amplitude decay is shifted downstream relative to linear case. For nonlinear calculations, rather small difference in initial amplitude can produce large change during nonlinear region. Compressible secondary instability at Mach number 1.6 is also simulated and showed that 1.1% initial amplitude for primary mode is enough to trigger the secondary growth.

• Magazine of the Korean Society of Agricultural Engineers
• /
• v.33 no.2
• /
• pp.94-103
• /
• 1991

This study was carried out to investigate the engineering characteristics of the R.C circular ring sector plate with various boundary conditions and then to propose a rational and paraical method for application of finite element method to R.C structures. The stiffness matrix of the circular ring sector plate was obtained by using the multi-base coordinate system in which the base-coordinate systems were constructed for each nodal point of the quadrilateral element in order to reflect the complicated boundary conditions conveniently and correctly. The R.C element stiffness matrix was constructed by adding the stiffness coefficients of the steel-bar element into the plate bending element stiffness matrix. Herein, the steel-bar element was treated as the common beam element. Using the above method, the effects of steel-bar can be considered without increasing of the numbers of element and nodal points.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1992.04a
• /
• pp.237-241
• /
• 1992

Error calibration and frequent reverification of coordinate measuring machines(CMMs) and machine tools are currently acknowledge as essential processes in order to maintain high performance of the machines and high quality of products. This paper shows a micro computer integrated circular error calibration system, which is fast and efficient error calibration system

• Journal of the Korean Society of Industry Convergence
• /
• v.21 no.6
• /
• pp.361-368
• /
• 2018

This paper proposes a grid - connected CTTS system that can be soft switched to meet the government's effective resource allocation policy for emergency generator. In order to eliminate the system instability caused by the large inrush current generation in the system switching, a new virtual rotation coordinate method for the dissimilar power source is proposed. The proposed virtual rotation coordinate method improves the voltage detection accuracy of the voltage difference of the dissimilar power supply, and it is proved that the synchronous switching characteristic is excellent. In addition, zero current and system stabilization can be achieved by realizing zero current when blocking CTTS with instantaneous reactive power control. Simulation was carried out to verify the validity of the proposed method, and the 500[kVA] system was fabricated and verified to demonstrate the superiority of the proposed method.