• Smart Structures and Systems
• /
• v.19 no.6
• /
• pp.679-694
• /
• 2017

The complexity, enlargement and irregularity of structures and multi-directional dynamic loads acting on the structures can lead to unexpected structural behavior, such as torsion. Continuous torsion of the structure causes unexpected changes in the structure's stress distribution, reduces the performance of the structural members, and shortens the structure's lifespan. Therefore, a method of monitoring the torsional behavior is required to ensure structural safety. Structural torsion typically occurs accompanied by displacement, but no model has yet been developed to measure this type of structural response. This research proposes a model for measuring dynamic torsional response of structure accompanied by displacement and for identifying the torsional modal parameter using vision-based displacement measurement equipment, a motion capture system (MCS). In the present model, dynamic torsional responses including pure rotation and translation displacements are measured and used to calculate the torsional angle and displacements. To apply the proposed model, vibration tests for a shear-type structure were performed. The torsional responses were obtained from measured dynamic displacements. The torsional angle and displacements obtained by the proposed model using MCS were compared with the torsional response measured using laser displacement sensors (LDSs), which have been widely used for displacement measurement. In addition, torsional modal parameters were obtained using the dynamic torsional angle and displacements obtained from the tests.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.52 no.2
• /
• pp.85-92
• /
• 2003

In this paper, we propose a method to evaluate performances of mobile personal robots. A set of performance measures is proposed and the corresponding evaluation methods are developed. Different from industrial manipulators, personal robots need to be evaluated with its mobility, navigation, task and intelligent performance in environments where human beings exist. The proposed performance measures are composed of measures for mobility including vibration, repeatability, path accuracy and so on, as well as measures for navigation performance including wall following, overcoming doorsill, obstacle avoidance and localization. But task and intelligent behavior performances such as cleaning capability and high-level decision-making are not considered in this paper. To measure the proposed performances through a series of tests, we designed a test environment and developed measurement systems including a 3D Laser tracking system, a vision monitoring system and a vibration measurement system. We measured the proposed performances with a mobile robot to show the result as an example. The developed systems, which are installed at Korea Agency for Technology and Standards, are going to be used for many robot companies in Korea.

• Journal of Sensor Science and Technology
• /
• v.14 no.2
• /
• pp.116-124
• /
• 2005

In this paper range measurement systems are designed using an ultrasonic sensor and a camera. An ultrasonic sensor provides the range measurement to a target quickly and simply but its low resolution is a disadvantage. We tackle this problem by employing a camera. Instead using a stereoscopic sensor, which is widely used for 3D sensing but requires a computationally intensive stereo matching, the range is measured by focusing and structured lighting. In focusing a straightforward focusing measure named as MMDH(min-max difference in histogram) is proposed and compared with existing techniques. In the method of structure lighting, light stripes projected by a beam projector are used. Compared to those using a laser beam projector, the designed system can be constructed easily in a low-budget. The system equation is derived by analysing the sensor geometry. A sensing scenario using the systems designed is in two steps. First, when better accuracy is required, measurements by ultrasonic sensing and focusing of a camera are fused by MLE(maximum likelihood estimation). Second, when the target is in a range of particular interest, a range map of the target scene is obtained by using structured lighting technique. The systems designed showed measurement accuracy up to 0.3[mm] approximately in experiments.

• Journal of the Korea institute for structural maintenance and inspection
• /
• v.23 no.7
• /
• pp.87-94
• /
• 2019

Recently, the advance of accurate dynamic displacement measurement devices, such as GPS, computer vision, and optic laser sensor, has enhanced the structural monitoring technology. In this study, the dynamic displacement data was used to verify the applicability of the structural physical parameter estimation method through subspace system identification. The subspace system identification theory for estimating state-space model from measured data and physics-based interpretation for deriving the physical parameter of the estimated system are presented. Three-degree-freedom steel structures were fabricated for the experimental verification of the theory in this study. Laser displacement sensor and accelerometer were used to measure the displacement data of each floor and the acceleration data of the shaking table. Discrete state-space model generated from measured data was verified for precision. The discrete state-space model generated from the measured data extracted the floor stiffness of the building after accuracy verification. In addition, based on the story stiffness extracted from the state space model, five column stiffening and damage samples were set up to extract the change rate of story stiffness for each sample. As a result, in case of reinforcement and damage under the same condition, the stiffness change showed a high matching rate.

• The Korean Journal of Vision Science
• /
• v.20 no.4
• /
• pp.443-451
• /
• 2018

Purpose : To find out the reliability of autorefractometer after laser refractive surgery Methods : We measured and compared spherical and cylinder powers of those undergone LASEK surgery with 1.0 of naked vision after at least 3 months of the surgery with an autorefractometer(CANON Full Auto Ref-Keratometer RK-F1, Japan) and a retinoscope(Streak Retinoscope 18200, WelchAllyn, USA), and also applied spherical equivalent powers. The refractive status before surgery was divided into high, medium, and low myopia according to the results measured using an autorefractometer, and then analyzed again the reliability of the autorefractometer after surgery according to the preoperative refractive status. The agreement of two methods was identified using Bland-Altman(Bland-Altman limits of agreement(LoA)). Results : After the surgery, when comparing spherical, cylinder and equivalent powers in the whole data measured by autorefractometry and retinoscopy significant differences were found(p<0.01). According to the degree of refractive errors, all sort of refractive errors was shown significantly different(p<0.01) except for cylinder power of the medium myopia. In general, the refractive errors especially spherical and spherical equivalent powers by autorefractometry were shown a myopic trend from -0.38 D to -0.53 D. On the other hand, it was shown a hyperopic trend of approximately +0.30 D using retinoscopy. In comparison of two objective refractions, it was shown a myopic trend as $-0.51{\pm}0.45D$(LoA +0.36 D ~ -1.39 D) and compatible. Conclusion : Even though it would be positive in terms of compatibility of the methods, it is necessary that the glasses should be prescribed by subjective refraction since autorefractometry is shown myopic in those undergone the surgery and suffering from myopic regression.

• Journal of Astronomy and Space Sciences
• /
• v.29 no.4
• /
• pp.381-387
• /
• 2012

The planetary exploration rover executes various missions after moving to the target point in an unknown environment in the shortest distance. Such missions include the researches for geological and climatic conditions as well as the existence of water or living creatures. If there is any obstacle on the way, it is detected by such sensors as ultrasonic sensor, infrared light sensor, stereo vision, and laser ranger finder. After the obtained data is transferred to the main controller of the rover, decisions can be made to either overcome or avoid the obstacle on the way based on the operating algorithm of the rover. All the planetary exploration rovers which have been developed until now receive the information of the height or width of the obstacle from such sensors before analyzing it in order to find out whether it is possible to overcome the obstacle or not. If it is decided to be better to overcome the obstacle in terms of the operating safety and the electric consumption of the rover, it is generally made to overcome it. Therefore, for the purpose of carrying out the planetary exploration task, it is necessary to design the proper suspension system of the rover which enables it to safely overcome any obstacle on the way on the surface in any unknown environment. This study focuses on the design of the new double 4-bar linkage type of suspension system applied to the Korea Aerospace Research Institute rover (a tentatively name) that is currently in the process of development by our institute in order to develop the planetary exploration rover which absolutely requires the capacity of overcoming any obstacle. Throughout this study, the negative moment which harms the capacity of the rover for overcoming an obstacle was induced through the dynamical modeling process for the rocker-bogie applied to the Mars exploration rover of the US and the improved version of rocker-bogie as well as the suggested double 4-bar linkage type of suspension system. Also, based on the height of the obstacle, a simulation was carried out for the negative moment of the suspension system before the excellence of the suspension system suggested through the comparison of responding characteristics was proved.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.24 no.3
• /
• pp.271-278
• /
• 2014

In spite of that stop line and crosswalk should be aware of the most basic objects in transportation system, its features extracted are very limited. In addition to image-based recognition technology, laser and RF, GPS/INS recognition technology, it is difficult to recognize. For this reason, the limited research in this area has been done. In this paper, the algorithm to recognize the stop line and crosswalk is designed and implemented using image-based recognition technology with the images input through a vision sensor. This algorithm consists of three functions.; One is to select the area, in advance, needed for feature extraction in order to speed up the data processing, 'Region of Interest', another is to process the images only that white color is detected more than a certain proportion in order to remove the unnecessary operation, 'Color Pattern Inspection', the other is 'Feature Extraction and Recognition', which is to extract the edge features and compare this to the previously-modeled one to identify the stop line and crosswalk. For this, especially by using case based feature comparison algorithm, it can identify either both stop line and crosswalk exist or just one exists. Also the proposed algorithm is to develop existing researches by comparing and analysing effect of in-vehicle camera installation and changes in recognition rate of distance estimation and various constraints such as backlight and shadow.

• The Korean Journal of Vision Science
• /
• v.20 no.4
• /
• pp.543-551
• /
• 2018

Purpose : The purposes of this study were to evaluate the changes of intraocular pressure according to corneal ablation amount after corneal refractive surgery and the changes of intraocular pressure according to refractive errors before corneal refractive surgery. Methods : The mean age of adults who underwent LASIK corneal refractive surgery were $37.34{\pm}7.42years$, and 108 adults(48 males, 60 females) were participated in this study. Refractive errors, intraocular pressure, and corneal ablation amount were measured using an autorefractor, a noncontact tonometer, and an excimer laser. All test values were considered statistically significant when p<0.05. Results : The mean intraocular pressure before corneal refractive surgery was $15.08{\pm}2.60mmHg$ in males and $14.16{\pm}2.67mmHg$ in females. The decrease of intraocular pressure after corneal refractive surgery were 4.22mmHg in males and 3.61mmHg in females. Spherical equivalent power were $-3.89{\pm}2.17D$ in males and $-4.45{\pm}2.92D$ in females before corneal refractive surgery, and $-0.10{\pm}0.46D$ in males and $-0.04{\pm}0.46D$ in females after corneal refractive surgery. The corneal ablation amount after corneal refractive surgery were statistically significant, with $53.95{\mu}m$ in males and $61.26{\mu}m$ in females. There was significant correlation between corneal ablation amount and decrease of intaocluar pressure(r=0.2299, p<0.001). As the growth of corneal ablation amount in males, the decrease of intraocular pressure was significantly increased. As the growth of refractive error, the amount of decrease in intraocular pressure was also significant. The decrease of intraocualr pressure were $3.04{\pm}2.18mmHg$ in low refractive error, $4.10{\pm}2.16mmHg$ in middle refractive error, and $4.65{\pm}3.29mmHg$ in high refractive error. Conclusion : We found that intraocular pressure decreased after corneal refractive surgery by noncontact tonometer and the change of intraocular pressure which is an important index for glaucoma diagnosis, may affect the judgment of eye disease. We think that a preliminary questionnaire whether corneal refractive surgery is necessary for the measurement of intraocular pressure.