• Journal of Biosystems Engineering
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• 제32권1호
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• pp.44-49
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• 2007

A stereo vision system was developed for robot milking system (RMS) using two monochromatic cameras. An algorithm for inverse perspective transformation was developed for the 3-D information acquisition of all teats. To verify performance of the algorithm in the stereo vision system, indoor tests were carried out using a test-board and model teats. A real cow and a model cow were used to measure distance errors. The maximum distance errors of test-board, model teats and real teats were 0.5 mm, 4.9 mm and 6 mm, respectively. The average distance errors of model teats and real teats were 2.9 mm and 4.43 mm, respectively. Therefore, it was concluded that this algorithm was sufficient for the RMS to be applied.

• Ocean Systems Engineering
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• 제5권3호
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• pp.199-220
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• 2015

The paper described the nonlinear dynamic motion behavior of a barge equipped with the portable outboard Dynamic Positioning(DP) control system in short-crested waves. The DP system based on the fuzzy theory is applied to control the thrusters to optimally adjust the ship position and heading in waves. In addition to the short-crested waves, the current, wind and nonlinear drifting force are also included in the calculations. The time domain simulations for the six degrees of freedom motions of the barge with the DP system are solved by the $4^{th}$ order Runge-Kutta method. The results show that the position and heading deviations are limited within acceptable ranges based on the present control method. When the dynamic positioning missions are needed, the technique of the alternative portable DP system developed here can serve as a practical tool to assist those ships without equipping with the DP facility.

• Journal of Biosystems Engineering
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• 제33권2호
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• pp.130-135
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• 2008

The purpose of this study was to develop a preprocessor for real-time portable quality evaluation system of milk. The preprocessor consisted of two flow pump to supply milk sample and reaction reagent at given volume, a fan to mix milk with reaction reagent, a thermoelectric device to maintain sample temperatures of $40^{\circ}C$, and I/O interface to control signals. The tests conducted with different level of flow rate of pump, fan speed, ambient temperature, and intial temperature of mixtures. To evaluate performance of the preprocessor, the supplied volumes, color changes, and temperatures were measured and analyzed. The results showed that the preprocessor could control supplying volumes, mixing, temperatures of samples automatically. The preprocessor showed good performance to be used for portable quality evaluation system of milk.

• Journal of international Conference on Electrical Machines and Systems
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• 제1권2호
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• pp.70-78
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• 2012

Due to the variable nature of renewable energy resources and power demand by consumers, it is difficult to operate a power system installed with only one type of renewable energy resource. Grid-based renewable generation may be the only solution to overcome this problem. The conventional approach based on a low-voltage converter with power frequency transformer is commonly employed for grid connection of offshore renewable energy systems. Because of the heavy weight and large size of the transformer, the system can be expensive and complex in terms of installation and maintenance. In this paper, an 11-kV series connected H-bridge (SCHB) multilevel voltage source converter (VSC) is proposed to achieve a compact and light direct grid connection of renewable energy systems. This paper presents the design, simulation and analysis of a five level (5L)-SCHB and an eleven level (11L)-SCHB VSC for 11-kV grid-based renewable energy systems. The performance, cost, modulation scheme and harmonic spectra of the converter are analyzed.

• Journal of Biosystems Engineering
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• 제39권3호
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• pp.174-183
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• 2014

Purpose: A robust, efficient auto-grading computer vision system for meat carcasses is in high demand by researchers all over the world. In this paper, we discuss our study, in which we developed a system to speed up line processing and provide reliable results for pork grading, comparing the results of our algorithms with visual human subjectivity measurements. Methods: We differentiated fat and lean using an entropic correlation algorithm. We also developed a self-designed robust segmentation algorithm that successfully segmented several porkcut samples; this algorithm can help to eliminate the current issues associated with autothresholding. Results: In this study, we carefully considered the key step of autoextracting lean tissue. We introduced a self-proposed scheme and implemented it in over 200 pork-cut samples. The accuracy and computation time were acceptable, showing excellent potential for use in online commercial systems. Conclusions: This paper summarizes the main results reported in recent application studies, which include modifying and smoothing the lean area of pork-cut sections of commercial fresh pork by human experts for an auto-grading process. The developed algorithms were implemented in a prototype mobile processing unit, which can be implemented at the pork processing site.

• Journal of Biosystems Engineering
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• 제26권2호
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• pp.163-168
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• 2001

A manipulator for test-cup attachment modules, which was a part of a robot milking system, was developed to reduce cost and labor for cow milking processing. A Cartesian coordinate manipulator was designed for the milking process, because it was quite flexible and can be constructed more economically than any other configuration. The manipulator was made use of DC motors, screws for power transmission, a RS422 interface system for the transmission of coordinate values and a one-chip microprocessor, 89C52. Performance tests of the manipulator were conducted to measure experimentally the precision of all axes. Some of the results are as follows. 1. The Cartesian coordinate manipulator was designed and built. Dimension of the three perpendicular axes (X, Y, and Z) and one arm’s axis(W) to pick up and transfer the modules were 700㎜$\times$450㎜$\times$550㎜$\times$650㎜. The arm’s axis moved the teat-cup attachment module, which attached four teat-cup to four teats, detached four teat-cup from four teats, was designed and manufactured by using CAD, CAM and CNC. 3. After 10 replications of exercising the manipulator, mean precision values(positioning error) of X, Y, Z axes wee 0.48㎜, 0.20㎜, 0.19㎜, respectively. Therefore, we conclude the axes to have a precision better than 0.5㎜, had no problem to operate correctly the milking manipulator.

• Journal of Biosystems Engineering
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• 제33권5호
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• pp.317-325
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• 2008

The electrocardiogram (ECG) measurement system consists of I/O interface to input the ECG signals from two electrodes, FPGA (Field programmable gate arrays) module to process the signal conditioning, and real time module to control the system. The algorithms based on wavelet transform were developed to remove the noise of the ECG signals and to determine the QRS-waves. Triangular wave tests were conducted to determine the optimal factors of the wavelet filter by analyzing the SNRs (signal to noise ratios) and RMSEs (root mean square errors). The hybrid rule, soft method, and symlets of order 5 were selected as thresholding rule, thresholding method, and mother wavelet, respectively. The developed wavelet filter showed good performance to remove the noise of the triangular waves with 10.98 dB of SNR and 0.140 mV of RMSE. The ECG signals from a total of 6 subjects were measured at different measuring postures such as lying, sitting, and standing. The durations of QRS-waves, the amplitudes of R-waves, the intervals of RR-waves were analyzed by using the finite impulse response (FIR) filter and the developed wavelet filter. The wavelet filter showed good performance to determine the features of QRS-waves, but the FIR filter had some problems to detect the peaks of Q and S waves. The measuring postures affected accuracy and precision of the ECG signals. The noises of the ECG signals were increased due to the movement of the subject during measurement. The results showed that the wavelet filter was a useful tool to remove the noise of the ECG signals and to determine the features of the QRS-waves.

• 한국자동차공학회논문집
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• 제9권3호
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• pp.164-172
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• 2001

Various HILS systems for developing and testing vehicle mechatronic systems have been proposed and constructed during the last few years. However, performance of those systems have not been evaluated in a systematic way. Based on the transfer function approach, this paper presents a method far evaluating performance such as stable dynamic simulation range of a proposed steering HILS system. In the evaluation, we have investigated effects of time delays that exist in the real-time dynamic simulation, additional actuators, and data transmission on the stable dynamic simulation range, simulation frequency range, and steering feel. This evaluation methodology may be useful to help engineers develop a HILS system for their own purposes.

• 한국지역사회생활과학회지
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• 제24권2호
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• pp.251-258
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• 2013

Korean oil and honey Yukwa has been paid attention as formal cake for traditional national seasons' holiday and religious service. Quality of Yukwa, however, has been maintained arbitrarily by each Yukwa manufacturer. Since even same Yukwa had severe differences in size, weight, and pattern, it has given the negative effect to the consumer. Yukwa industries need to setup the quantitative quality specifications instead of qualitative ones to maintain the uniformity of Yukwa quality. Efficient and economical inspection and process control system should be developed. In developing quality standards of Yukwa, features which can measure quality quantitatively in real time should be properly chosen. Existing quality features such as acidity, oxidization, hardness, viscosity, and texture were measured by the chemical or physical base destructive methods. Many research and developments have been performed in investigating and analyzing chemical transition states of those quality features as environment or storage condition changes. Most methods, however, require either off-line or complex treatment or time consuming process of analysis in evaluating quality features. Consumer, however, selects products mostly based on the external features such as shape, size, and color. Therefore, critical visual quality features should be chosen and the efficient real time measurement system must be developed. In this paper, computer image acquisition and processing system were developed and software modules were developed to extract the quantitative data of those features in real-time. Computer image processing system will promote in maintaining uniform quality of Yukwa and establishing quality standards of Yukwa.

• 생물환경조절학회지
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• 제10권3호
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• pp.172-180
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• 2001

본 연구에서는 포도 수확기 개발을 위하여 가장 중요한 영상처리 알고리즘을 개발하고자 두 대의 카메라를 이용한 스트레오 영상 시스템을 개발하였다. 따라서 3차원 공간상의 포도를 카메라로부터 얻어진 2차원 평면 영상을 분석한 후 알고리즘을 개발하였다. 이를 이용하여 포도 수확을 위한 3차원 공간영상의 거리정보를 획득할 수 있도록 알고리즘을 연구한 결과, 다음과 같은 결론을 얻었다. 가. 모형 포도를 이용한 실내에서의 스트레오 영상 거리 계측 결과 실제거리 1100mm까지는 오차가 5mm 이하로 비교적 정확하게 계측할 수 있었다. 그러나 실제거리 1200mm이상에서는 10mm 이상으로 비교적 오차가 크게 나타났다. 이는 거리가 멀어지면서 영상의 화소값을 통한 거리 계측에서 단위화소에 해당하는 실제거리의 정확도가 감소하였기 때문인 것으로 판단되었다. 나. 현장에서 획득한 포도 영상을 이용한 스트레오 영상 거리계측 결과 실제거리와 계측거리간의 오차가 5mm 이내로서 비교적 정확하게 측정되었다. 따라스 스트레오 영상을 이용한 포도까지의 거리계측용 영상처리 시스템은 현장에서도 적용가능 할 것으로 판단되었다.