• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.762-766
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• 2003

In this paper, we present a new approach to solve the problem of estimating the camera 3-D location and orientation from a matched set of 3-D model and 2-D image features. An iterative least-square method is used to solve both rotation and translation simultaneously. Because conventional methods that solved for rotation first and then translation do not provide good solutions, we derive an error equation using roll-pitch-yaw angle to present the rotation matrix. To minimize the error equation, Levenberg-Marquardt algorithm is introduced with uniform sampling strategy of rotation space to avoid stuck in local minimum. Experimental results using real images are presented.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.14 no.3
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• pp.189-200
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• 2010

A numerical method is proposed and analyzed to approximate a mathematical model of age-dependent population dynamics with spatial diffusion. The model takes a form of nonlinear and nonlocal system of integro-differential equations. A finite difference method along the characteristic age-time direction is considered and primal mixed finite elements are used in the spatial variable. A priori error estimates are derived for the relevant variables.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.7
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• pp.586-591
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• 2007

The effects of cancellation errors on the convergence characteristics of preconditioned Euler equations at low Mach numbers are analyzed. Flows in a two-dimensional channel with a circular bump are calculated at different Mach numbers. It is shown that the cancellation error in the energy equation grows faster than those in the other equations as the Mach number decreases. It is also shown that the cancellation problem of the energy equation can be alleviated by multiplying the inversion of the preconditioner.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.262-264
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• 2005

We propose a filter design method to suppress the effect of gyroscope mixed random errors at INS system level. It is based on the result that mixed random errors can be represented by a single equivalent ARMA model. At first step, the time difference of equivalent ARMA process is performed, which consider the characteristic of indirect feedback Kalman filter used in INS filter. Next, a state space conversion of time differenced ARMA model is achieved. If the order of AR is greater than that of MA, the controllable or observable canonical form is used. Otherwise, we introduce the state equation of which the state variable is composed of the ARMA model output and several step ahead predicts of that. At final step, a complete form state equation is presented. The simulation results shows that the proposed method gives less transient error and better convergence compared to the conventional filter which assume the mixed random errors as white noise.

• Proceedings of the KIEE Conference
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• 1993.11a
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• pp.307-309
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• 1993

Robot's kinematic equation is not perfect. In this paper, a method for reducing the positioning error which comes from the imperfect robot kinematics is introduced. This method compensates the parameter of the kinematic equation using real positioning error. And the trajectories using these compensated parameterare compared with uncompensated ones.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.177.4-177
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• 2001

In this paper, we propose a new type of nonlinear fixed interval smoothing filter which is modified from the existing nonlinear smoothing filter. A nonlinear smoothing filter is derived from two-filter formulas. For the backward filter, the propagation and update equation of error states are derived. Particularly the modified update equation of the backward filter use the estimated error terms from the forward filter. Smoothing algorithm is altered into the compatible form with the new type of the backward fitter. An advantage of the proposed algorithm is more efficient than the existing one because propagation in backward filter is very simple from the implementation point of view. We apply the proposed nonlinear smoothing ...

• Journal of applied mathematics & informatics
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• v.15 no.1_2
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• pp.173-184
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• 2004

In this paper, we find the approximate solution of a second order nonlinear partial differential equation on a simple connected region in $R^2$. We transfer this problem to a new problem of second order nonlinear partial differential equation on a rectangle. Then, we transformed the later one to an equivalent optimization problem. Then we consider the optimization problem as a distributed parameter system with artificial controls. Finally, by using the theory of measure, we obtain the approximate solution of the original problem. In this paper also the global error in $L_1$ is controlled.

• Journal of applied mathematics & informatics
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• v.15 no.1_2
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• pp.363-375
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• 2004

In this paper, We show that the bandpass random signals of the form ∑$_{\alpha}$$\alpha$$_{\alpha}$ a Sin(2$\pi$f$_{\alpha}$t + b$_{\alpha}$) where a$_{\alpha}$ being a random number in [0,1], f$_{\alpha}$ a random integer in a given frequency band, and b$_{\alpha}$ a random number in [0, 2$\pi$], generate Gaussian white noise signals and hence they are adequate for simulating Continuous Markov processes. We apply the result to the fluctuation-dissipation formula for the Johnson noise and show that the probability distribution for the long term average of the power of the Johnson noise is a X$^2$ distribution and that the relative error of the long term average is (equation omitted) where N is the number of blocks used in the average.error of the long term average is (equation omitted) where N is the number of blocks used in the average.

• Proceedings of the KSME Conference
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• 2001.11b
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• pp.410-416
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• 2001

An algorithm of 3-D particle image velocimetry(3D-PIV) was developed for the measurement of 3-D velocity field of complex flows. The measurement system consists of two or three CCD camera and one RGB image grabber. In this study, stereo photogrammetty was applied for the 3-D matching of tracer particles. Epipolar line was used to decect the stereo pair. 3-D CFD data was used to estimate algorithm. 3-D position data of the first frame and the second frame was used to find velocity vector. Continuity equation was applied to extract error vector. The algorithm result involved error vecotor of about 0.13 %. In Pentium III 450MHz processor, the calculation time of cross-correlation for 1500 particles needed about 1 minute.

• The Research Journal of the Costume Culture
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• v.2 no.2
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• pp.385-394
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• 1994

Data of the body surface is a necessary unit for the measuring of metabolism energy and activity energy. And also, these data are referring to check the degree of retaining warmth of clothes, to find the effect of heat insulation according to body surface, to calculate an average temperature of skin, and to study the several fields of clothing. In measuring of body surface, it si actually impossible to measure a subject's body surface in each experiment. As the experimental method, both gypsum method, by which the shape of body an be copied as it is, and the weighting method from which planed body surface area can be measured with consistent thickness of polyprophylene film as used. In fact, every female subject feels uncomfortable to measure her body surface as a naked body. There, it is providing a simple, accurate regressive equation with weight & height as variable factors in this study. This equation is as=117.02W+77.31H-3344.94 with average error : 0.1%, absolute average error : 2.07%.