• 대한기계학회논문집A
• /
• 제28권3호
• /
• pp.230-237
• /
• 2004

Lane Sensing techniques based on vision sensors are regarded promising because they require little infrastructure on the highway except clear lane markers. However, they require more intelligent processing algorithms in vehicles to generate the previewed roadway from the vision images. In this paper, a lane sensing algorithm using vision sensors is developed to improve the sensing robustness. The parallel stereo-camera is utilized to regenerate the 3-dimensional road geometry. The lane geometry models are derived such that their parameters represent the road curvature, lateral offset and heading angle, respectively. The parameters of the lane geometry models are estimated by the Kalman filter and utilized to reconstruct the lane geometry in the global coordinate. The inverse perspective mapping from the image plane to the global coordinate considers roll and pitch motions of a vehicle so that the mapping error is minimized during acceleration, braking or steering. The proposed sensing system has been built and implemented on a 1/10-scale model car.

• Korean Journal of Mathematics
• /
• 제17권2호
• /
• pp.219-231
• /
• 2009

We show the existence of at least four solutions for the perturbed parabolic equation with Dirichlet boundary condition and periodic condition when the nonlinear part cross two eigenvalues of the eigenvalue problem of the Laplace operator with boundary condition. We obtain this result by using the Leray-Schauder degree theory, the finite dimensional reduction method and the geometry of the mapping. The main point is that we restrict ourselves to the real Hilbert space instead of the complex space.

• 대한기계학회논문집A
• /
• 제21권12호
• /
• pp.1992-2007
• /
• 1997

A new algorithm for planning a collision-free path is developed based on linear prametric curve. In this paper robot is assumed to a point, and two linear parametric curve is used to construct a path connecting start and goal point, in which single intermediate connection point between start and goal point is considered. The intermediate connection point is set in polar coordinate(${\theta}{\delta}$) , and the interference between path and obstacle is mapped into CPS(connection point space), which is defined a CWS GM(circular work space geometry mapping). GM of all obstacles in workspace creates overlapping images of obstacle in CPS(Connection Point Space). The GM for all obstacles produces overlapping images of obstacle in CPS. The empty area of CPS that is not occupied by obstacle images represents collision-free paths in Euclidian Space. A GM based on connection point in elliptic coordinate(${\theta}{\delta}$) is also developed in that the total length of path is depend only on the variable .delta.. Hence in EWS GM(elliptic work space geometry mapping), increasing .delta. and finding the value of .delta. for collision-free path, the shortest path can be searched without carring out whole GM. The GM of obstacles expersses all possible collision-free path as empty spaces in CPS. If there is no empty space available in CPS, it indicates that path planning is not possible with given number of connection points, i.e. path planning is failed, and it is necessary to increase the number of connection point. A general case collision-free path planning is possible by appling GM to configuration space obstacles. Simulation of GM of obstacles in Euclidian space is carried out to measure performance of algorithm and the resulting obstacle images are reported.

• 대한기계학회논문집A
• /
• 제26권8호
• /
• pp.1666-1671
• /
• 2002

A lane sensing algorithm using vision sensors is developed based on lane geometry models. The parameters of the lane geometry models are estimated by a Kalman filter and utilized to reconstruct the lane geometry in the global coordinate. The inverse perspective mapping from image plane to global coordinate assumes earth to be flat, but roll and pitch motions of a vehicle are considered from the perspective of the lane sensing. The proposed algorithm shows robust lane sensing performance compared to the conventional algorithms.

• 호남수학학술지
• /
• 제43권3호
• /
• pp.385-402
• /
• 2021

The geometry of Poincaré disk itself is interpreted without any mapping to different spaces. Our approach might be one of the shortest and is intended for educational contribution.

• Steel and Composite Structures
• /
• 제29권2호
• /
• pp.219-229
• /
• 2018

This paper presents an analytical model to analyze the mapping relationship between bridge lateral deformation and track geometry of high-speed railway. Based on the rail deformation mechanisms, the deformation of track slab and rail at the locations of fasteners are analyzed. Formulae of rail lateral deformation are derived and validated against a finite element model. Based on the analytical model, a rail deformation extension coefficient is presented, and effects of different lateral deformations on track geometry are evaluated. Parametric studies are conducted to evaluate the effects of the deformation amplitude, fastener stiffness and mortar layer stiffness on the rail deformation. The rail deformation increases with the deformation of the girder, and is dependent on the spacing of the fasteners, the elastic modulus of the rail's material, and the moment of inertia of the rail's section.

• 한국측량학회지
• /
• 제36권6호
• /
• pp.443-449
• /
• 2018

SLAM (Simultaneous Localization and Mapping) 기반 모바일 매핑 시스템을 활용한 실내 공간의 포인트 클라우드 취득은 건축물의 유지, 관리를 위한 as-built BIM (Building Information Model) 구축의 기초 공정이다. 본 연구에서는 다중 2D 레이저 스캐너로 구성된 모바일 매핑 시스템의 구축을 위한 시뮬레이션 기반 검정(calibration) 표적의 구조 결정 방법을 제안하였다. 2D 레이저 스캐너의 외부 표정요소 검정을 위해 (1) 원형, (2) 사각형, (3) 이중 원형, (4) 이중 사각형 형태의 표적을 구성하였다. 시뮬레이션을 통해 얻어진 각 표적 관측 값을 토대로, 최소제곱법 기반의 외부 표정요소 검정을 수행하였다. 그 결과 사각형 형태의 표적 구조가 주어진 시스템의 검정에 가장 적합한 형태임을 확인하였다. 또한 외부 표정요소 간의 높은 상관성을 확인할 수 있었으며, 표적의 구조에 따른 외부 표정요소의 검정 결과가 상이한 것으로 나타났다.

• Journal of Welding and Joining
• /
• 제15권6호
• /
• pp.116-123
• /
• 1997

In GMA welding processes, bead contour and penetration patterns are criterion to estimate weld quality. Bead geometry is commonly defined with width, height and depth. When weaving is taken into account, selection of welding conditions is known to be difficult. Thus, empirical or trial-and-error method are usually introduced. This study examined the correlation of welding process variables including weaving parameters with bead geometry using srtificial neural networks(ANN). The main task of the Ann estimator is to realize the mapping characteristics from the sampled welding process variables to the actual bead geometry through training. After the neural network model is constructed, welding process variables for desired bead geometry is selected by inverse model. Experimental varification of the inverse model is conducted through actual welding.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2006년도 춘계학술대회 논문집
• /
• pp.423-424
• /
• 2006

This paper proposes a hexahedral mesh generation scheme based on mapping approach and improves the drawback of sweeping algorithm. In order to improve the drawback, the algorithm in this paper generates hexahedral meshes by three dimensional element mapping first. Then hexahedral meshes are equivalent to geometry of the volume by mapping and smoothing. Sample meshes are constructed to demonstrate the mesh generating capability of the proposed algorithm.

• 한국전산유체공학회지
• /
• 제9권4호
• /
• pp.55-63
• /
• 2004

The three-dimensional Stokes flow within a staggered screw channel is obtained by using a finite volume method. The geometry is intended to mimic the single screw extruder having staggered arrangement of flights. The flow solution is then subjected to the analysis of the stirring performance. In the analysis of the stirring performance, the stretching-mapping method developed by the author is employed for calculating the materials' stretching exponents, which are to be used in quantification of the mixing effect. The numerical results Indicate that the staggered geometry gives indeed far much better stirring-performance than the standard (nonstaggered) flight geometry. It was also shown that care must be given to the selection of the basis planes for evaluating the local stretching rate, and it turns out that the best method (H-method) has its basis plane just on the half way between the past and future evolution of fluid particles subjected to the defromation. In evaluating the stretching exponent, the expansion ratio must be considered which is one of the characteristic differences of the actual three-dimensional flows from the two-dimensionmal counterparts. The larger axial pressure-difference causes in general the smaller stirring performance while the flow rate is increased. The smaller channel length also increases the stirring performance.