• Journal of Institute of Control, Robotics and Systems
• /
• v.7 no.9
• /
• pp.741-748
• /
• 2001

In this paper, we propose a method of tracking and capturing a moving object by a mobile robot. The position of the moving object is acquired from the relation through color-based image information from a 2-DOF active camera mounted on the mobile robot. The direction and rotational angular velocity of the moving object are estimated using a state estimator. A Kalman fiber is used as the state estimator for taking characteristics of robustness against noises and uncertainties included in the input data. After estimating the trajectory of the moving object, we decide on the optimal trajectory and plan the motion of the mobile robot to capture the target object within the shortest distance and time. The effectiveness of the proposed method is demonstrated by the simulations and experiments.

• Proceedings of the Korean Society for Technology of Plasticity Conference
• /
• 2002.05a
• /
• pp.77-81
• /
• 2002

A new method of optimal blank shape design using the initial nodal velocity (INOV) has been proposed for the drawings of arbitrary shaped cups. With the given information of tool shape and the final product shape, corresponding initial blank shape has been found from the motion of boundary nodes. Although the sensitivity method, the past work of Hynbo Shim and Kichan Son, has been proved to be excellent method to find optimal blank shapes, the method has a problem that a couple of deformation analysis is required at each design step and it also exhibits an abnormal behaviors in the rigid body rotation prevailing region. In the present method INOV, only a single deformation analysis per each design stage is required. Drawings of practical products as well as oil-pan have been chosen as the examples. At every case the optimal blank shapes have been obtained only after a few times of modification without predetermined deformation path. The deformed shape with predicted optimal blank almost coincides with the target shape at every case. Through the investigation the INOV is found to be very effective in the arbitrary shaped drawing process design.

• Transactions of Materials Processing
• /
• v.11 no.6
• /
• pp.487-494
• /
• 2002

A new method of optimal blank shape design using the initial nodal velocity (INOV) has been proposed for the drawings of arbitrary shaped cups. With the given information of tool shape and the final product shape, corresponding initial blank shape has been found from the motion of boundary nodes. Although the sensitivity method, the past work of the present authors, has been proved to be excellent method to find optimal blank shapes, the method has a problem that a couple of deformation analysis is required at each design step and it also exhibits an abnormal behaviors in the rigid body rotation prevailing region. In the present method INOV, only a single deformation analysis per each design stage is required. Drawings of practical products as well as oil-pan, have been chosen as the examples. At every case the optimal blank shapes have been obtained only after a few times of modification without predetermined deformation path. The deformed shape with predicted optimal blank almost coincides with the target shape at every case. Through the investigation the INOV is found to be very effective in the arbitrary shaped drawing process design.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.20 no.3
• /
• pp.113-118
• /
• 2012

Collision detection plays a key role in collision mitigation system. The malfunction of the collision mitigation system can result in another dangerous situation or unexpected feeling to driver and passenger. To prevent this situation, the collision time, offset, and collision decision should be determined from the appropriate collision detection algorithm. This study focuses on a method to determine the time to collision (TTC) and frontal offset (FO) between the ego vehicle and the target object. The path prediction method using the ego vehicle information is proposed to improve the accuracy of TTC and FO. The path prediction method utilizes the ego vehicle motion data for better prediction performance. The proposed algorithm is developed based on laser scanner. The performance of the proposed detection algorithm is validated in simulations and experiments.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.308-313
• /
• 2005

For a real-time quadruped robot running control, there are many important objectives to consider. In this paper, the running control architecture based on global states, which describe the cyclic target motion, and central pattern is proposed. The main goal of the controller is how the robot can have robustness to an unpredictable environment with reducing calculation burden to generate control inputs. Additional goal is construction of a single framework controller to avoid discontinuities during transition between multi-framework controllers and of a training-free controller. The global state dependent neuron network induces adaptation ability to an environment and makes the training-free controller. The central pattern based approach makes the controller have a single framework, and calculation burden is resolved by extracting dynamic equations from the control loop. In our approach, the model of the quadruped robot is designed using anatomical information of a cat, and simulated in 3D dynamic environment. The simulation results show the proposed single framework controller is robustly performed in an unpredictable sloped terrain without training.

• The Transactions of the Korea Information Processing Society
• /
• v.6 no.11
• /
• pp.3165-3177
• /
• 1999

With the recent outstanding advance in computer software and hardware, a number of researches to enhance the manufacturing speed and the process accuracy has been undertaken in many fields of textile industry. Frequently issued problems of automatic recognition of textile wrinkles in a grey scale image are as follows. First, changes in grey level intensity of wrinkles are so minute. Second, as both colors and patterns in a grey scale image appear in grey level intensity, it is difficult to sort out the wrinkle information only. Third, it is also difficult to distinguish grey level intensity changed by wrinkles from those by uneven illumination. This paper suggests a method of automatic recognition of textile wrinkles that can solve above problems concerned with wrinkles, which can be raised in a manufacturing process as one of errors. In this paper, we first make the outline of wrinkles distinctly, apply the block matching algorithm used in motion estimation, and then estimate block locations of target images corresponding to blocks of standard images with the assumption that wrinkles are kind of textile distortions caused by directional forces. We plot a "wrinkle map" considering distances between wrinkles as depths of wrinkles. But because mismatch can occur by different illumination intensity and changes in tensions and directions of the force, there are also undesirable patterns in the map. Post processing is needed to filter them out and get wrinkles information only. We use average grey level intensity of wrinkle map to recognize wrinkles. When it comes to textile with colors and patterns, previous researches on wrinkles in grey scale image hasn't been successful. But we make it possible by considering wrinkles as distortion.istortion.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.16 no.5
• /
• pp.108-114
• /
• 2007

A new cutting force estimating approach and machining state monitoring examples are presented which uses a cylindrical displacement sensor built into the spindle. To identify the tool-spindle system dynamics with frequency up to 2 kHz, a home-built electro-magnetic exciter is used. The result is used to build an algorithm to extract the dynamic cutting force signal from the spindle error motion; because the built-in spindle sensor signal contains both spindle-tool dynamics and tool-workpiece interactions. This sensor is very sensitive and can measure broadband signal without affecting the system dynamics. The main characteristic is that it is designed so that the measurement is irrelevant to the geometric errors by covering the entire circumferential area between the target and sensor. It is also very simple to be installed. Usually the spindle front cover part is copied and replaced with a new one with this sensor added. It gives valuable information about the operating condition of the spindle at any time. It can be used to monitor cutting force and chatter vibration, to predict roughness and to compensate the form error by overriding spindle speed or feed rate. This approach is particularly useful in monitoring a high speed machining process.

• The Journal of the Korea Contents Association
• /
• v.13 no.6
• /
• pp.1-8
• /
• 2013

It is generally required to use modeling or animation tools for inserting dynamic objects into augmented reality, and this process demands high expertise and complexity. This paper proposes a video object based authoring method that enables augmentation with dynamic video objects without such process. Integrated grab-cut and grow-cut method strips initial area of video target off the existing video clips, and snap-cut method is then applied to track objects' boundaries over frames so as to augment real world with continuous motion frames. Experiment shows video cut-out and authoring results achieved by only a few menu selections and simple correcting sketch.

• Journal of the Korean Association of Geographic Information Studies
• /
• v.19 no.4
• /
• pp.17-35
• /
• 2016

Earthquake-induced disasters are often more severe in locations with soft soils than firm soils or rocks due to differences in ground motion amplification. On a regional scale, such differences can be estimated by spatially predicting subsurface soil thickness over the entire target area. In general, soil deposits are generally deeper in coastal or riverside areas than in inland regions. In this study, a coastal metropolitan area, Incheon, was selected to assess site effects and provide information on seismic hazards. Spatial prediction of geotechnical layers was performed for the entire study area within the GIS framework. Approximately 7,000 existing borehole drilling data in the Incheon area were gathered and archived into the GIS Database (DB). In addition, surface geotechnical data were acquired from a walkover survey. Based on the built geotechnical DB, spatial zoning maps of site-specific seismic response parameters were created and presented for use in a regional seismic strategy. Site response parameters were performed to determine site coefficients for seismic design over the entire target area and compared with each other. Site classifications and subsequent seismic zoning were assigned based on site coefficients. From this seismic zonation case study in Incheon, we verified that geotechnical GIS-DB can create spatial zoning maps of site-specific seismic response parameters that are useful for seismic hazard mitigation particularly in coastal metropolitan areas.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.22 no.10
• /
• pp.2236-2245
• /
• 1997

The DBS system is being highlighted as actual area for the information societics. Specially, the DBS have been proposed very useful system to access the broading service in more widely sea. But the antenna tracking system for maritime DBS receiving is requried complicated control system because of the those complex motion represented pitching, rolling and yowing etc. Our resesrch target is a development of tracking system to the KOREASEA(MUGUNGWHA-1,2) for the applicated small size shipping. So our development focus was concentrated the two development direction. The first focus was represented low-cost system for popularization of small-size shipping around sea of the Korea peninsula. The second focus was an adaptive possibilities with domestic eqdupiment which was developed satellite receiving for KOREASAT. The anntenna mount is designed a compact size and easy operation use to the Az/El 2-axis type which is operated by step motor. And this mount type is very useful on a ship in the near sea of Korea peninsula. Basic tracking method is used th step-tracking algorithm, and the ship's moving compensation is adapted to the closed loop control method by ship's moving detection of gyro sensor. Control part is consists of converter, countertime, VCO, micro-computer and it's software. Testing the operation by the ship's moving simulator, and algorithm is designed tracking and moving compensation by receiving state.