• 한국인터넷방송통신학회논문지
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• 제11권4호
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• pp.187-194
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• 2011

본 논문에서는 JPEG(Joint Photographic Experts Group)영상 디코더에서 영상데이타를 디코딩하는 기술에 관한 것으로, 종래의 정지영상 처리기에서는 허프만 코드화 처리를 하여 제1영상을 부호화한후 분할기반 부호화 방식의 연속영상 처리기법을 사용하였으나 작은화면의 코드화시에도 많은 계산 알고리즘이 필요하고 이미지의 닮음정도를 객관적수치로 표현할 수 없어서 비슷한 이미지를 중복 코드화 및 전송 작업을 하는 결함이 있었다. 본 논문에서는 이를 해결하기 위하여 이미지의 닮음정도를 수치화하고 기준값 이하의 영상은 코드화 작업을 하지않고 계산된 영상 변화값에 의해 구현된 영상으로 대체하여 저장 및 전송하도록 저장용량의 감축 및 시각적으로 전혀 거부감이 없는 정지영상을 구현하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.211-214
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• 2000

An error analysis is very important for a precision machine tool to estimate its performance. This study proposes a new parallel device, a cubic parallel manipulator. Errors of the proposed cubic parallel manipulator include universal joint errors, errors occurring due to changes in the fore directions in the links, and actuation errors. An error analysis is performed for the manipulator platform moving at uniform velocity. The analysis shows how the position and orientation of the platform influences the directional link forces that change the errors in the manipulator. The analysis shows that the method can be used in predicting the accuracy of parallel devices.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.729-733
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• 1997

Due to the variety of disturbance, it is not ease to accomplish the in-process detection of weld line with non-contact sensor. To get around this difficulties problem develop an automatic seam tracking weld system, the reliable signal processing algorithm has been recommanded. In this research, laser displacement sensor is applied as a seam finder in the automatic tracking system. The sensor is controlled by a dc servo motor which is mounted at X-Y moving table. X-Y moving table manipulated by an ac servo motor controls the position and velocity of the welding torch. First, X-Y table moves to Y-axis to search the welding joint feature before starting the welding, and welding joint is from the scanning data and weighting factor for each other. Second, weld line is determined using proposed signal processing algorithm during welding process. Form the experimental results, we could see the possibility that laser displacement sensor with procesed algorithm can be used as a seam finder in welding process under the severe noise (spatter,arc light etc.) condition

• 한국정밀공학회지
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• 제5권2호
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• pp.23-32
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• 1988

A control system for improving the moving accuracy of robotic manipulators with elastic joints is devloped. The dynamics of manipulator system is splitted into two sub-dynamics; of arm-link and actuator rotor- link, which are coupled statically through joint torque. Two contorl loops are implemented respectively around both sub-dynamic systems. Computed torque algorithm with acceleration feedback is used for the arm-link control loop, and for the actuator rotor-link control loop PID algorithm is adopted. The resulting control system is tested through a series of computer simulation for a PUMA type manipulator, The reaults show good performance of the developed control system for wide range of joint stiffness and moving speed.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2007년도 춘계학술대회 논문집
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• pp.1056-1061
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• 2007

Railroad roadbed was consisted into structure types that earthwork, tunnel, bridge and joint sections. Joint section was affected a large factor confidence and safety of the train running by stiffness transition zone that track substructure stiffness change section as like between tunnel and earthwork from ballast track to concrete track. These problems are the results of increased dynamic wheel loads, which also lead to wear and tear on vehicle components and contribute to poor ride quality. The study presented in this paper was conducted on model test by using Wheel Moving Loading System.

• 전자공학회논문지D
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• 제34D권7호
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• pp.88-96
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• 1997

As the need of automatized system has been increased recently together with the development of industrial and military technologies, the adaptive real-time target detection technologies that can be embedded on vehicles, planes, ships, robots and so on, are hgihly demanded. Accordingly, this paper proposes a novel approach to detect and segment the moving targets using the binary phase extraction joint transform correlator (BPEJTC), the advanced image subtraction filter and convex hull processing. The BPEJTC which was used as a target detection unit mainly for target tracking compensating the camera movement. The target region has been detected by processing the successful three frames using the advanced image subtraction filter, and has become more accurate by applying the developed convex hull filter. As shown by some experimental results, it is expected that the proposed approaches for compensation of the camera movement and segmentationof of target region, can be used for th emissile guiddance, aero surveillance, automatic inspectin system as well as the target detection unit of automatic target recognition system that request adaptive real-time processing.

• 제어로봇시스템학회논문지
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• 제11권8호
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• pp.688-695
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• 2005

This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The manipulability is a functionality of manipulator system in a given configuration under the limits of joint ability with respect to the task required to be performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method is presented. The dynamic equation of motion of underwater manipulator is derived based on the Lagrange-Euler equation considering with the hydrodynamic forces caused by added mass, buoyancy and hydraulic drag. The hydrodynamic drag term in the equation is established as analytical form using Denavit-Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based oil manipulability ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torques in joint space, while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid as much as gravity and velocity dependent forces in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.

• 한국통신학회논문지
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• 제17권7호
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• pp.749-757
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• 1992

본 논문에서는 maneuvering 하는 이동 표적을 실시간으로 추적하기 위한 보다 효과적인 접근 방법으로, 방대한 입력 표적 영상 데이터를 몇 개의 간단한 상관신호로 변환이 가능한 광 JTC(Joint Trasform Correlator)를 이용하여 실시간 이동 표적추적 시스템을 구현하였다. 실시간 구현을 위해 고해상도를 갖는 LCD(Liquid Crystal Display) 공간 광 변조기를 사용하여 광 JTC를 구성하고, 상관 첨두치의 배경 잡음에 대한 영향을 효과적으로 감소시키기 위한 이진화 방법으로 mean 방법을 사용하였으며, maneuvering하는 이동 표적에 대한 추적 실험을통해 광 JPC를 이용한 실시간 이동 표적 추적 시스템의 구현 가능성을 제시하였다.

• 산업기술연구
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• 제21권B호
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• pp.325-330
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• 2001

In this research, the early-age movements of joint at JPCP(Jointed Plain Concrete Pavement) were measured by field tests. The field tests were carried out for 5 days just after concrete placement, for 1 day after 52 and 72 days on Chung-Ang Expressway construction site in Dan-yang on the 28th and 29th of May 2001. The joint movements were measured by demec gauge and clip gauge. The results of regression analysis for the data measured during early 5 days showed that the joints of No.4, No.5, No.6, No.10, No.13, and No.15 could be considered as a moving joint. From data analysis on july 20, the joints of No.2, No.9, and No.10 showed the significant correlations from the minus value of coefficient of regression. As a result of regression data on August 8, joint movements occurred at all joints. Joint freezing and closure could be judged from the regression analysis using joint opening and total temperature measured at field tests.

• 전자공학회논문지B
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• 제32B권5호
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• pp.777-787
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• 1995

This paper presents a new method for automatically calibrating robot link (Kinematic) parameters during the process of estimating motion parameters of a moving object. The motion estimation is performed based on stereo cameras mounted on the end-effector of a robot manipulator. This approach significantly differs from other calibration approaches in that the calibration is achieved by simply observing the motion of the moving object (without resorting to any other external calibrating tools) at numerous and widely varying joint-angle configurations. A differential error model, which expresses the measurement errors of a robot in terms of robot link parameter errors and motion parameters, is developed. And then a measurement equation representing the true measurement values is derived. By estimating the above two kinds of parameters minimizing the difference between the measurement equations and the true moving pattern, the calibration of the robot link parameters and the estimation of the motion parameters are accomplished at the same time.