• The korean journal of orthodontics
• /
• v.25 no.2 s.49
• /
• pp.143-152
• /
• 1995

This study was performed, by Finite Element Method, to evaluate the stress distribution on the periodontal tissue according to activation of the various closing loops and to predict the pattern of movement of maxillary incisors. At the same time, bull loop, key-hole loop, T-loop, combination loop and asymmetrical T-loop which were used for retraction of maxillary incisors was analysed by Finite Element Method. The following results were obtained 1. Horizontal force was the greatest in bull loop, the followed by key-hole loop, combination loop, T-loop and initial tooth movement exhibited uncontrolled tipping. 2. Horizontal force in asymmetrical T-loop compared to other closing loops was remarkably decreased, and the intrusive force on the incisors occurred. 3. As torque was increased, the moment was increased as a linear increment. 4. As moment was increased, initial movement of tooth changed to root movement from uncontrolled tipping.

• 제어로봇시스템학회:학술대회논문집
• /
• 1991.10a
• /
• pp.268-273
• /
• 1991

Missile and target closing velocity is used in the proportional navigation(PN) missile guidance loop. But it is difficult to estimate the closing velocity when passive seeker is used and only the Line-of-Sight(LOS) rate is available in the guidance loop. In this study, new closing velocity estimation method is developed. This method uses LOS rate measurement only and uses some characteristics of PN guidance law. The Lyapunov method is used to analyze the stability of the developed estimation method.

• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.12
• /
• pp.1021-1026
• /
• 2016

The graph-based SLAM (Simultaneous Localization and Mapping) approach has been gaining much attention in SLAM research recently thanks to its ability to provide better maps and full trajectory estimations when compared to the filtering-based SLAM approach. Even though graph-based SLAM requires batch processing causing it to be computationally heavy, recent advancements in optimization and computing power enable it to run fast enough to be used in real-time. However, data association problems still require large amount of computation when building a pose graph. For example, to find loop closures it is necessary to consider the whole history of the robot trajectory and sensor data within the confident range. As a pose graph grows, the number of candidates to be searched also grows. It makes searching the loop closures a bottleneck when solving the SLAM problem. Our approach to alleviate this bottleneck is to sample a limited number of pose nodes in which loop closures are searched. We propose a heuristic for sampling pose nodes that are most advantageous to closing loops by providing a way of ranking pose nodes in order of usefulness for closing loops.

• Smart Media Journal
• /
• v.12 no.4
• /
• pp.41-46
• /
• 2023

UWB is a type of technology used for indoor positioning and is characterized by higher accuracy than RSSI-based schemes. Mobile equipment operating based on ROS can monitor the environment around the equipment using lidar and cameras. When applying the loop closing technique to determine the starting position in this monitoring process, the existing method has a problem of low accuracy because the closing operation occurs only when there are feature points on the image. In this paper, to solve this problem, we designed a system that increases the accuracy of loop closing work by providing location information by mounting a UWB tag on a mobile device. In addition, the accuracy of the UWB-based indoor positioning system was evaluated through experiments, and it was verified that it could be used for loop closing techniques.

• Journal of Institute of Control, Robotics and Systems
• /
• v.10 no.12
• /
• pp.1280-1286
• /
• 2004

A lot of industrial chemical processes contain certain input nonlinearities even though they are controlled by several linear controllers. Here we investigate a sequential loop closing identification method for MIMO Hammerstein nonlinear processes with diagonal nonlinearities. The proposed method separates the identification of the nonlinear static function from that of the linear subsystem by using a relay feedback test and a triangular type signal test. From 2 n activations for n n MIMO nonlinear processes, we sequentially identify the whole range of the nonlinear static function as well as the transfer function matrix of the linear subsystem.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.2
• /
• pp.93-101
• /
• 2011

For mobile robot, recognizing its current location is very important to navigate autonomously. Especially, loop closing detection that robot recognize location where it has visited before is a kernel problem to solve localization. A considerable amount of research has been conducted on loop closing detection and localization based on appearance because vision sensor has an advantage in terms of costs and various approaching methods to solve this problem. In case of scenes that consist of repeated structures like in corridors, perceptual aliasing in which, the two different locations are recognized as the same, occurs frequently. In this paper, we propose an improved method to recognize location in the scenes which have similar structures. We extracted salient regions from images using visual attention model and calculated weights using distinctive features in the salient region. It makes possible to emphasize unique features in the scene to classify similar-looking locations. In the results of corridor recognition experiments, proposed method showed improved recognition performance. It shows 78.2% in the accuracy of single floor corridor recognition and 71.5% for multi floor corridors recognition.

• Journal of Korea Multimedia Society
• /
• v.22 no.4
• /
• pp.417-423
• /
• 2019

This paper presents an evaluation system to determine the completeness of a space map obtained by a visual SLAM(Simultaneous Localization And Mapping) algorithm. The proposed system consists of three parts. First, the proposed system detects the occurrence of loop closing to confirm that users acquired the information from all directions. Thereafter, the acquired map is divided with regular intervals and is verified whether each area has enough map points to successfully estimate users' position. Finally, to check the effectiveness of each map point, the system checks whether the map points are identifiable even at the location where there is a large distance difference from the acquisition position. Experimental results show that space maps whose completeness is proven by the proposed system has higher stability and accuracy in terms of position estimation than other maps that are not proven.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.58 no.8
• /
• pp.1472-1478
• /
• 2009

The domestic power distribution system is operating in an open loop mode; however, it already has a loop structure. Power distribution systems must be changed for bi-directions power supply for smart networks due to a changing of paradigm in electric power industry. The simplest bi-directions distribution networks can make it closing of normally open switch. However, bi-directions power supply is very difficulty to be operated and there are many parts which it must study. This paper presented various models that are able to change a radial system for loop structures. Further, we compared the reliability index for each model by evaluating the amount of improvement reliability required in radial power distribution system. In addition, we calculated CIC(Customer Interruption Cost) for each model by comparing and analyzing.

• The Journal of Korea Robotics Society
• /
• v.7 no.2
• /
• pp.120-128
• /
• 2012

The loop closure problem is one of the most challenging issues in the vision-based simultaneous localization and mapping community. It requires the robot to recognize a previously visited place from current camera measurements. While the loop closure often relies on visual bag-of-words based on point features in the previous works, however, in this paper we propose a line-based method to solve the loop closure in the corridor environments. We used both the floor line and the anchored vanishing point as the loop closing feature, and a two-step loop closure algorithm was devised to detect a known place and perform the global pose correction. We propose an anchored vanishing point as a novel loop closure feature, as it includes position information and represents the vanishing points in bi-direction. In our system, the accumulated heading error is reduced using an observation of a previously registered anchored vanishing points firstly, and the observation of known floor lines allows for further pose correction. Experimental results show that our method is very efficient in a structured indoor environment as a suitable loop closure solution.

• Archives of Plastic Surgery
• /
• v.42 no.4
• /
• pp.511-512
• /
• 2015