• Journal of the Korean Society for Precision Engineering
• /
• v.23 no.4 s.181
• /
• pp.75-82
• /
• 2006

In this paper, we propose an optimal trajectory for biped robots to move up-and-down stairs using a genetic algorithm and a computed-torque control for biped robots to be dynamically stable. First, a Real-Coded Genetic Algorithm (RCGA) which of operators are composed of reproduction, crossover and mutation is used to minimize the total energy. Constraints are divided into equalities and inequalities: Equality constraints consist of a position condition at the start and end of a step period and repeatability conditions related to each joint angle and angular velocity. Inequality constraints include collision avoidance conditions of a swing leg at the face and edge of a stair, knee joint conditions with respect to the avoidance of the kinematic singularity, and the zero moment point condition with respect to the stability into the going direction. In order to approximate a gait, each joint angle trajectory is defined as a 4-th order polynomial of which coefficients are chromosomes. The effectiveness of the proposed optimal trajectory is shown in computer simulations with a 6-dof biped robot that consists of seven links in the sagittal plane. The trajectory is more efficient than that generated by the modified GCIPM. And various trajectories generated by the proposed GA method are analyzed in a viewpoint of the consumption energy: walking on even ground, ascending stairs, and descending stairs.

• Journal of Ocean Engineering and Technology
• /
• v.31 no.1
• /
• pp.60-68
• /
• 2017

In this study, we analyzed the real time video image obtained from the video monitoring system to grasp the shoreline, beach width, and area change of Haeundae beach. The video monitoring techniques enabled continuous monitoring for a long period at a much lower cost than general survey methods. It was possible to grasp quantitative beach variation characteristics of Haeundae beach through image acquisition, rectification, and image processing of video images. According to the monitoring results, the erosion rate of Haeundae beach in spring and summer was -19.8% in 2014 and -6.7% in 2015. The erosion rate in 2016 was -6.4%, which showed that the erosion rate in spring and summer continued to decrease. In particular, the influence of the erosion at the time of typhoon CHABA was revealed to be smaller than in the past. It can be concluded that these variations were due to beach width expansion by beach nourishment and the installation of submerged breakwaters.

• Journal of Technologic Dentistry
• /
• v.25 no.1
• /
• pp.21-28
• /
• 2003

The purpose of this study was to process bio-active glass ceramic composite, reinforced with sapphire fibers, by hot press. Also to study the interface of the matrix and the sapphire fiber, and the mechanical properties. Glass raw materials melted in Pt crucible at 1300$^{\circ}C$ during 3.5 hours. The melt was crushed in ball mill and then crushed material, ground and sieved to $<40{\beta}{\mu}m$. Sapphire fibers cut (30mm) and aligned. Powder and fibers hot pressed. The micrographs show good bonding between the matrix and the fiber and no porosity in the glass matrix. This means ideal fracture phenomena. Glass is fractured before the fiber. This is indication of good fracture strength. EDXS showing aluminum rich phase and crystalline phase. Bright field image of the matrix showing crystalline phase. Also diffraction pattern of TEM showing the crystalline phase and more than one phase. Strength of the samples was determined by 3 point bend testing. Strength of the 10vol% sample was approximately 69MPa, while strength of the control sample is 35MPa. Conclusions through this study as follow: 1. Micrographs show no porosity in the glass matrix and the interface. 2. The interface between the fiber and the glass matrix show no gaps. 3. Fracture of the glass indicates characteristic fiber-matrix separation. 4. Presence of crystalline phase at high processing temperature. 5. Sapphire is compatible with bioactive glass.

• Journal of Electrical Engineering and Technology
• /
• v.11 no.3
• /
• pp.733-740
• /
• 2016

To achieve bipedal walking in real human environments, a bipedal robot should be capable of modifiable walking both on uneven terrain with different heights and on flat terrain. In this paper, a novel walking pattern generator based on a 3-D linear inverted pendulum model (LIPM) is proposed to achieve this objective. By adopting a zero moment point (ZMP) variation scheme in real time, it is possible to change the center-of-mass (COM) position and the velocity of the 3-D LIPM throughout the single support phase. Consequently, the proposed method offers the ability to generate a modifiable pattern for walking on uneven terrain without the necessity for any extra footsteps to adjust the COM motion. In addition, a control strategy for bipedal walking on uneven terrain with unknown height is developed. The torques and ground reaction force are measured through force-sensing resisters (FSRs) on each foot and the foot of the robot is modeled as three virtual spring-damper models for the disturbance compensation. The methods for generating the foot and vertical COM of 3-D LIPM trajectories are proposed to achieve modifiable bipedal walking on uneven terrain without any information regarding the height of the terrain. The effectiveness of the proposed method is confirmed through dynamic simulations.

• Proceedings of the KSRS Conference
• /
• 2008.03a
• /
• pp.207-212
• /
• 2008

연구에서는 SPOT-3 인공위성 영상으로부터 얻어진 영상 스테레오 스트립과 GCP(Ground Control Point)자료를 이용하여 다양한 GCP배치에 따른 궤도기반 센서모델의 정확성에 대해 분석하였다. 실험에 사용된 기준점자료는 춘천지역에서부터 나주지역에 이르기 까지 약 420km 길이의 지역에 대해 GPS측량을 통해 획득하였다. 궤도기반 센서모델에 적용된 미지수는 위성의 위치와 속도, 자세를 표현하는 방정식의 계수를 미지수로 선택하여 일곱 가지 방식으로 조합하였다. 실험은 우선 모델점의 위치를 일곱 가지 경우로 결정하고 각 경우에 대해 일정한 개수의 모델점을 선택하였다. 그리고 각 경우의 모델점의 위치에 대해 궤도기반 센서모델의 미지수 조합 모델을 각 각 다르게 적용해 본 후 그 결과를 시각적, 수치적으로 분석해 보았다. 실험 결과 모델점의 위치에 관계 없이 궤도기반 모델에 적용할 수 있는 높은 정확도를 나타내는 미지수 조합모델을 찾아낼 수가 있었고, 여러 가지 모델점의 위치를 궤도기반 센서모델에 적용해 본 결과 지리적, 시간적, 경제적 효율성을 갖는 최적의 미지수 조합을 찾을 수가 있었다.

• Proceedings of the KSRS Conference
• /
• 1998.09a
• /
• pp.186-191
• /
• 1998

The first step in change detection in any SAR monitoring, including SAR interferometry, is the co-registration of the images. CCPs (Ground Control Points) for co-registration are usually detected manually, but for qualitative analyses of enormous volumes of data, some automation of the process will become necessary. An automated determination of common CCPs for the same path/row data is especially desirable. We selected the intersections of linear features as the candidates of common GCPs Very bright point targets, which are commonly used as GCPs, have the drawback of appearing and disappearing depending on the conditions of the observation. But in the case of linear features, some detailed elements may appear differently in some case, but the overall line-likeness will remain. In this study, we selected 18 common GCPs for a single-look JERS-1 SAR image of Omaezaki area in central Japan. Although the GCPs in the first image had to be selected either interactively or semi-automatically, the same GCPs in all other images were successively detected automatically using a tiny sub-image around each GCP and a dilated mask of each linear feature in the first image as the reference data.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
• /
• 2004.11a
• /
• pp.275-279
• /
• 2004

This study was done to detect the topographic and terrain change of the vicinity of the west coast. To make the basic map of the change in topology and terrain, the mosaic images were made using the images from the satellite, which were given the geometric correction based on the GCP (Ground Control Point) and DEM (Digital Elenation Model) data. The accuracy of the images was examined by .empaling them with CCP through 1:25,000's digital map. After that, among the resultant images of the 1970s and 2000s, those of Sihwa, Hwaong and Ansan, the lands reclaimed by drainage were compared to observe the change in the area. From this study, the accuracy of the images of the west coast from satellite could be acquired and the change of the topology and terrain was detected effectively. From the results, it was known that, in case of the land the topological change was not so big due to the development in the reclaimed land or the bare land. In Sihwa, the size of the land was increased 180 $\textrm{km}^2$ and that of the seashore was decreased 110 km. in Hwaong the size was increased 50 $\textrm{km}^2$ and in Ansan the city space was increased 71 $\textrm{km}^2$ due to the formation of the industrial complex.

• Journal of Korean Society for Geospatial Information Science
• /
• v.16 no.1
• /
• pp.43-48
• /
• 2008

In this study, it was estimated efficiency of GPS/INS photogrammetry by comparison of accuracy and economical efficiency between conventional aerial triangulation and GPS/INS aerial triangulation at the base of large scale digital mapping using GPS/INS aerial survey. The results of aerial triangulation with GPS/INS showed that 40% of working amount was reduced in the process of ground control point survey compared to conventional aerial triangulation. In case of 1/5000 scale aerial triangulation, the results showed that 55% GCP work was reduced in 10 and 20 block size, and 60% GCP work was reduced in 30 block size, under the assumption of keeping the same accuracy.

• Aerospace Engineering and Technology
• /
• v.5 no.2
• /
• pp.90-101
• /
• 2006

In this paper, the calibration parameters of the gyros and star hackers are estimated by using an on-orbit AOCS sensor calibration algorithm. The calibration algorithm was implemented by Kalman filter. In order to estimate gyro calibration parameters, the calibration algorithm requires calibration maneuver and it was analyzed whether the star trackers are protected by Sun, Moon and Earth or not. Also the star tracker calibration algorithm used the camera image information. This kinds of camera image information simulated ground control point and orbit information. The estimated accuracy of star tracker calibration parameters depends on camera image information.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.13 no.6
• /
• pp.951-957
• /
• 2010

An optimal path generation method considering the safety of UGV(Unmanned Ground Vehicle) is proposed and demonstrated through examples. Among various functions of UGV, real-time obstacle avoidance is a key issue to realize realistic scenario in FCS(Future Combat Systems). A two-dimensional narrow corridor environment is considered as a test field. For each step of UGV movement, two objectives are considered: One is to minimize the distance to the target and the other to maximize the distance to the nearest point of an obstacle. A weighted objective function is used in the optimization problem. Equality and inequality constraints are taken to secure the UGV's dynamics and safety. The weighting factors are controlled by a fuzzy controller which is constructed by a fuzzy rule set and membership functions. Simulations are performed for two cases. First the weighting factors are considered as constant values to understand the characteristics of the corresponding solutions and then as variables that are adjusted by the fuzzy controller. The results are satisfactory for realistic situations considered. The proposed optimal path generation with the fuzzy control is expected to be well applicable to real environment.