• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.13 no.3
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• pp.202-209
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• 2003

A simply supported beam subjected to a uniformly distributed tangential follower force and the two successively moving spring-mass systems upon it constitute this vibration system. The influences of the velocities of the moving spring-mass system, the distance between two successively moving spring-mass systems and the uniformly distributed tangential follower force have been studied on the dynamic behavior of a simply supported beam by numerical method. The uniformly distributed tangential follower force is considered within its critical value of a simply supported beam without two successively moving spring-mass systems, and three kinds of constant velocities and constant initial displacement of two successively moving spring-mass systems are also chosen. Their coupling effects on the transverse vibration of the simply supported beam are inspected too. In this study the simply supported beam is deflected with small vibration proportional to natural frequency of the moving spring-mass systems. According to the increasing of initial displacement of the moving spring-mass systems the amplitude of the small vibration of the simply supported beam is increased due to the spring force. The velocity of the moving spring-mass system more affect on the transverse deflection of simply supported beam than other factors of the system and the effect is dominant at high velocity of the moving spring-mass systems.

• Journal of computational fluids engineering
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• v.11 no.3 s.34
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• pp.64-70
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• 2006

A Computational study was carried out in order to investigate the moving wall effect of a circular cylinder at a Reynolds number of $2.0{\times}10^4$. The viscous-incompressible Navier-Stokes equations and Spalart-Almaras turbulent model of the commercial CFD code were adopted for this numerical analysis. The moving wall was set parallel with the freestream, and moving speed was equal to the freestream velocity. The gap ratio is defined as the distance ratio between the circular cylinder diameter and the height from the moving wall. The results show that there is vortex shedding over the critical gap ratio and aerodynamic loads including amplitude and the Strouhal number change according to the gap ratio.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.164-164
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• 2000

This paper proposes a moving window technique that extracts lanes and vehicles using the images captured by a CCD camera equipped inside an automobile in real time. For the purpose, first of all the optimal size of moving window is determined based upon speed of the vehicle, road curvature, and camera parameters. Within the moving windows that are dynamically changing, lanes and vehicles are extracted, and the vehicles within the driving lanes are classified as obstacles. Assuming highway driving, there are two sorts of image-objects within the driving lanes: one is ground mark to show the limit speed or some information for driving, and the other is the vehicle as an obstacle. Using characteristics of three-dimension objects, a neural network can be trained to distinguish the vehicle from ground mark. When it is recognized as an obstacle, the distance from the camera to the front vehicle can be calculated with the aids of database that keeps the models of automobiles on the highway. The correctness of this measurement is verified through the experiments comparing with the radar and laser sensor data.

• Proceedings of the KSRS Conference
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• 2007.10a
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• pp.625-628
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• 2007

We present an efficient and robust technique to estimate the velocity of moving targets from a single SAR image. In SAR images, azimuth image shift is a well known phenomenon, which is observed in moving targets having slant-range velocity. Most methods estimated the velocity of moving targets from the distance difference between the road and moving targets or between ship and the ship wake. However, the methods could not be always applied to moving targets because it is difficult to find the road and the ship wake. We adopted a method estimating the velocity of moving targets from azimuth differentials of range-compressed image. This method is based on an assumption that Doppler center frequency shift of moving target causes a phase difference in azimuth differential values. The phase difference is linearly distorted by Doppler rate due to the geometry of SAR image. The linear distortion is eliminated from phase removal procedure, and the constant phase difference is estimated. Finally, range velocity estimates for moving targets are retrieved. This technique is tested using an ENVISAT ASAR image in which several unknown ships are presented. The theoretical accuracy of this technique is discussed by SAR simulation. The advantages and disadvantages of this method over the conventional method are also discussed.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2000.10a
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• pp.90-95
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• 2000

This paper presents the vergence control of a parallel stereo camera and its application to underwater stereo camera to enhance the working efficiency of underwater vehicles that equips with manipulators in seabed operation. The stereo camera consists of two parallel lenses mounted on a lateral moving base and two CCD cameras mounted on a longitudinal moving base, which is embedded in a small pressure canister for underwater application. Because the lateral shift is related to the backward shift with a nonlinear relation, only one control input is needed to control the vergence and focus of the camera with a special driving device. We can get a clear stereo vision with the camera for all the range of objects in air and in water, especially in short range objects. The control system of the camera is so simple that we are able to realize a small stereo camera system and to apply it to a stereo vision system for underwater vehicles. This paper also shows how to acquire the distance information of an underwater object with this stereo camera. Whenever we focus on an underwater object with the camera, we can obtain the three-dimensional images and the distance information in real-time.

• Journal of Ocean Engineering and Technology
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• v.15 no.1
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• pp.79-84
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• 2001

This paper present the control of the image disparity of a parallel stereo camera and its application to an underwater stereo camera to enhance the working efficiency of underwater vehicles that are equiped with manipulators in seabed operation. The stereo camera consists of two parallel lenses mounted on a lateral moving base and two CCD cameras mounted on a longitudinal moving base, which is embedded in a small pressure canister for underwater application. Because the lateral shift is related to the backward shift with a nonlinear relation, only one control input is needed to control the vergence and focus of the camera with a special driving device. We can get clear stereo vision with the camera for all the range of objects in air and in water, especially in short range object. The control system of the camera is so simple that we are able to realize a small stereo camera system and apply it to a stereo vision system for underwater vehicles. This paper also shows how to acquire the distance information of an underwater object with this stereo camera. Whenever we focus on an underwater object with the camera, we can obtain three-dimensional images and distance information in real-time.

• Fisheries and Aquatic Sciences
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• v.27 no.1
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• pp.1-6
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• 2024

In this study, the swimming behavior of a small box jellyfish (Carybdea brevipedalia), which consists of inhaling external seawater and expelling it through its mouth to generate forward thrust, was characterized using particle image velocimetry (PIV). The flow rate and structure during the suction and discharge process were quantitatively analyzed. During swimming, there was a change in the ratio of the internal area during inhalation and expulsion. Specifically, there was a 1.10-fold difference between the maximum area after inhalation and the minimum area after discharge. The maximum distance traveled after discharge was inversely proportional to the size of the inner area, with a 2.48-fold difference in the minimum distance traveled after suction. Depending on the propulsion stage, the inner area decreased and then increased in proportion to the moving distance and speed. The moving distance of the small box jellyfish was measured for each period. The speed for each swimming stage increased and then decreased at intervals of 0.15 to 0.2 seconds, and the suction and discharge cycle period was measured at approximately 0.5 seconds. Collectively, our findings provide a methodological basis for studying the swimming behavior of small and highly active trailing jet jellyfish, as well as the biological mechanisms that determine this behavior.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2021.10a
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• pp.505-507
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• 2021

In a Wireless Sensor Network (WSN), the wireless data transmission environment plays an important role in system performance. In the proposed mobility model moving distance of sensor nodes has a great influences on communication performance. Transmission/receiving distance (d), path loss (L), sensitivity, Bit Error Rate (BER), Signal-to-Noise Ratio (SNR) are considerations when designing a wireless communication system. MANET is a form of network in which only wireless terminals communicate with each other independently and move without any assistance of an existing infrastructure network. This paper is research on the optimized power usage method which is study on the effect of the moving distance of mobile nodes on the overall energy efficiency of the system in WSN. The purpose of this study is to extend the life of the entire network by proposing the mobile distance of sensor nodes within the communication available range.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.41.3-41
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• 2002

Motion estimation using Full-Search(FS) and Block-Matching Algorithm(BMA) is often used in the case of moving object tracking by vision sensors. However these methods often miss the real-time vision data because these schemes suffer the heavy computational load. When the image size of moving object is changed in an image frame according to the distance between the camera of mobile robot and the moving object, the tracking performance of a moving object may decline with these methods because of the shortage of active handling. In this paper, the variable-representative block that can reduce a lot of data computations, is defined and optimized by changing the size of representative block accor...

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.12
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• pp.1033-1041
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• 2003

A new visual tracking scheme is proposed for a mobile robot that tracks a moving object in 3D space in real time. Visual tracking is to control a mobile robot to keep a moving target at the center of input image at all time. We made it possible by simplifying the relationship between the 2D image frame captured by a single camera and the 3D workspace frame. To precisely calculate the input vector (orientation and distance) of the mobile robot, the speed vector of the target is determined by eliminating the speed component caused by the camera motion from the speed vector appeared in the input image. The problem of temporary disappearance of the target form the input image is solved by selecting the searching area based on the linear prediction of target motion. The experimental results have shown that the proposed scheme can make a mobile robot successfully follow a moving target in real time.