• Structural Engineering and Mechanics
• /
• 제24권6호
• /
• pp.647-664
• /
• 2006

In this study, an improved finite element formulation with a scheme of solution for the large deflection analysis of inextensible prismatic and nonprismatic slender beams is developed. For this purpose, a three-noded Lagrangian beam-element with two dependent degrees of freedom per node (i.e., the vertical displacement, y, and the actual slope, $dy/ds=sin{\theta}$, where s is the curved coordinate along the deflected beam) is used to derive the element stiffness matrix. The element stiffness matrix in the global xy-coordinate system is achieved by means of coordinate transformation of a highly nonlinear ($6{\times}6$) element matrix in the local sy-coordinate. Because of bending with large curvature, highly nonlinear expressions are developed within the global stiffness matrix. To achieve the solution after specifying the proper loading and boundary conditions, an iterative quasi-linearization technique with successive corrections are employed considering these nonlinear expressions to remain constant during all iterations of the solution. In order to verify the validity and the accuracy of this study, the vertical and the horizontal displacements of prismatic and nonprismatic beams subjected to various cases of loading and boundary conditions are evaluated and compared with analytic solutions and numerical results by available references and the results by ADINA, and excellent agreements were achieved. The main advantage of the present technique is that the solution is directly obtained, i.e., non-incremental approach, using few iterations (3 to 6 iterations) and without the need to split the stiffness matrix into elastic and geometric matrices.

• 대한원격탐사학회:학술대회논문집
• /
• 대한원격탐사학회 1998년도 Proceedings of International Symposium on Remote Sensing
• /
• pp.116-121
• /
• 1998

Global land related datasets such as land use, land cover, vegetation cover percentage, forest cover percentage, are part of important global geospatial environmental datasets for global change studies. Since land cover varies place by place, continental production of dataset is a usual approach. Western academically developed countries have some projects to describe land cover related information in digital form using remote sensing technology in African, American continent and Oceania. In this paper, the author introduce his initiative to coordinate Asian scientists in order to develop land related dataset of Asia for our better understanding of the environment of Asia and for contribution to the development of global dataset. This paper explains activities by Land Cover Working Group (LCWG) of the Asian Association on Remote Sensing(AARS), Data and Information System(DIS) sub-committee of Japan national committee for the International Geosphere and Biosphere Program(IGBP), and the International Society for Photogrammetry and Remote Sensing(ISPRS) Working Group IV/6 on Global databases supporting environmental monitoring.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 1999년도 추계종합학술대회 논문집
• /
• pp.629-632
• /
• 1999

In this paper, color coordinate system transformation based visual servo controller has been considered. Mobile robot always has a position error and an orientation error resulted from wheel slipping etc.. Even more, the errors have accumulative properties. So feedback from environments is important. In this paper, by using color model faster land mark extraction can be achieved. And the global position and the orientation of mobile robot can be known by only two land marks positions in image coordinate system. Finally, the adoption of visual information in path tracking problem makes visual servo control.

• 한국소음진동공학회논문집
• /
• 제15권12호
• /
• pp.1398-1407
• /
• 2005

This paper is concerned with the vibration analysis of a rectangular plate with a rectangular hole. Even though there have been many methods developed for the addressed problem, they suffer from computational time. In this paper, we developed a new methodology called Independent Coordinate Coupling Method which can couple two independent coordinate systems for the entire plate domain and the hole. By matching the deflection condition imposed on the expressions, the relationship between the global axes and the local axes is derived. This formula is then used for the calculation of the eigenvalue problem. The numerical results show the efficacy of the proposed method.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 2000년도 ITC-CSCC -2
• /
• pp.591-595
• /
• 2000

In this paper color coordinate system transformation based visual servo controller has been considered Mobile robot always has a position error and an orientation error resulted from wheel slipping etc.. Even more, the errors have accumulative properties. So feedback from environments is important. In this paper by using color model faster land mark extraction can be achieved. And the global position and the orientation of mobile robot can be known by only two land mark positions in image coordinate system. Finally, the adoption of visual information in path tracking problem makes visual servo control.

• Journal of the Optical Society of Korea
• /
• 제20권1호
• /
• pp.107-117
• /
• 2016

We develop a new method to globally calibrate the feature points that are derived from the binocular systems at different positions. A three-DOF (degree of freedom) global calibration system is established to move and rotate the 3D calibration board to an arbitrary position. A three-DOF global calibration model is constructed for the binocular systems at different positions. The three-DOF calibration model unifies the 3D coordinates of the feature points from different binocular systems into a unique world coordinate system that is determined by the initial position of the calibration board. Experiments are conducted on the binocular systems at the coaxial and diagonal positions. The experimental root-mean-square errors between the true and reconstructed 3D coordinates of the feature points are 0.573 mm, 0.520 mm and 0.528 mm at the coaxial positions. The experimental root-mean-square errors between the true and reconstructed 3D coordinates of the feature points are 0.495 mm, 0.556 mm and 0.627 mm at the diagonal positions. This method provides a global and accurate calibration to unity the measurement points of different binocular vision systems into the same world coordinate system.

• 한국정밀공학회지
• /
• 제16권3호통권96호
• /
• pp.164-173
• /
• 1999

Robot calibration needs accurate measurements of robot end-effector position at a number of different robot configurations. One of the efficient ways of the measurement is "Touching on Jig" method suggested in [7], which utilizes a touch sensor and a fixture consisting of various sizes of blocks. By moving the end-effector to touch the surface of a block whose position relative to the other is known, the end-effector position relative to the fixture coordinate system can be obtained at the instant of touching. However, the global size of fixture is too small to cover the various configurations of the robot. Because of the manufacturing difficulties, the fixture cannot be manufactured large enough for well distributed position measurement. It results in the improvement of robot accuracy only in the limited space near to the fixture rather than over the whole space of the robot working volume. The paper proposes a method to resolve the above problem by measuring the end-effector positions with respect to several different coordinate system using the same measurement devices. It is found that the proposed method leads the improvements of robot position accuracy over the large space of working volume. The experimental studies are performed to show the validity of the method and their results are discussed.

• Journal of Information Processing Systems
• /
• 제17권4호
• /
• pp.737-753
• /
• 2021

As the demand for high-quality rendering for mixed reality, videogame, and simulation has increased, global illumination has been actively researched. Monte Carlo path tracing can realize global illumination and produce photorealistic scenes that include critical effects such as color bleeding, caustics, multiple light, and shadows. If the sampling rate is insufficient, however, the rendered results have a large amount of noise. The most successful approach to eliminating or reducing Monte Carlo noise uses a feature-based filter. It exploits the scene characteristics such as a position within a world coordinate and a shading normal. In general, the techniques are based on the denoised pixel or sample and are computationally expensive. However, the main challenge for all of them is to find the appropriate weights for every feature while preserving the details of the scene. In this paper, we compare the recent algorithms for removing Monte Carlo noise in terms of their performance and quality. We also describe their advantages and disadvantages. As far as we know, this study is the first in the world to compare the artificial intelligence-based denoising methods for Monte Carlo rendering.

• 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.

• 한국정보통신학회논문지
• /
• 제25권6호
• /
• pp.799-806
• /
• 2021

정합은 고유 좌표를 가지고 있는 점군을 전역 좌표로 변환하는 과정이다. 지역 정합은 계산 시간이 오래 걸리고 대략적인 위치를 맞춘 후 정밀 정합을 수행하고, 전역 정합은 정합에 이용할 대응점을 계산하고 한 번에 정합하기 때문에 일반적으로 지역 정합법에 비해 속도가 빠르고, 초기 위치에도 상관이 없다. 전역 정합 방법 중 고속 전역 정합법은 성능이 우수하여 많이 사용하는 방법 중 하나이다. 하지만 정합 정밀도와 속도를 높이기 위해서는 많은 매개변수가 필요하다. 본 논문에서는 이와 같은 매개변수들을 분석하고 실험하여 실제 정합 시 유효하게 작용하는 매개변수를 제안한다. 제안한 결과는 고속 전역 정합법을 활용해야 하는 경우 방향 설정에 도움이 될 것이다.