• Journal of the Korean Society for Precision Engineering
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• v.23 no.4 s.181
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• pp.83-90
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• 2006

A robot manipulator is usually operated in two modes: free and constrained motion modes, depending on whether the robot is in contact with an environment or not. At the moment of contact, an impact occurs and can exert harmful effects to the robot or the object. In case of teleoperation, since a user may give an inadequately excessive velocity command to the slave due to insufficient visual information, the robot nay collide the object with an excessive speed and it possibly deteriorates the robot's performance causing vibrations and at worst, shortens its lifetime by its fracture. In this article, a new algorithm is proposed by introducing a command signal modification method on the basis of impedance control and validity of the proposed algorithm is demonstrated by performing simulations and experiments.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.149-153
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• 2005

The electron beam machining provides very high resolution up to nanometer scale, hence the E-beam writing technology is rapidly growing in MEMS and nano-engineering areas. In the optical column of the e-beam writer, there are several lenses condensing and focusing electron beams from electron gun with fringing magnetic fields. The polepieces of these lenses are usually made with high purity iron which is hard to fabricate and very expensive. In this paper, the possibility of using polepiece of object lens composed with pure iron and low carbon steel was examined to reduce cost. The magnetic field at object lens was calculated with finite element method, and practical focusing qualities of SEM pictures were observed comparing for the object lens polepieces with pure iron and two type of composed with low carbon steel.

• IEMEK Journal of Embedded Systems and Applications
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• v.19 no.2
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• pp.91-99
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• 2024

Collision avoidance system is important to improve the robustness and functional safety of autonomous vehicles. This paper proposes an object-level distance estimation method to develop a collision avoidance system, and it is applied to golfcarts utilized in country club environments. To improve the detection accuracy, we continually trained an object detection model based on pseudo labels generated by a pre-trained detector. Moreover, we propose object-aware depth estimation (OADE) method which trains a depth model focusing on object regions. In the OADE algorithm, we generated dense depth information for object regions by utilizing detection results and sparse LiDAR points, and it is referred to as object-aware LiDAR projection (OALP). By using the OALP maps, a depth estimation model was trained by backpropagating more gradients of the loss on object regions. Experiments were conducted on our custom dataset, which was collected for the travel distance of 22 km on 54 holes in three country clubs under various weather conditions. The precision and recall rate were respectively improved from 70.5% and 49.1% to 95.3% and 92.1% after the continual learning with pseudo labels. Moreover, the OADE algorithm reduces the absolute relative error from 4.76% to 4.27% for estimating distances to obstacles.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.402-406
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• 1995

The shadow moire is one the optical techniques which able to give contour lines of an object with respect to a master grating plane. The moire patterns are issued from the superposition of a grating and its shadow projected on the surface of an object. But in the conventional shadow moire method the reference grating and deformed grating are mutually dependent, it is impossible to obtain uniform phase shifts on the whole field by moving the reference grating. Here we propose ane trial to apply phase shifting to conventional shadow moire. When, in the conventional arrangement, Phase-shifting that is sctually constant regardless of fringe orders is achieved by moving the grating and the light source. Finally we obtained a better result by using this procedure and applied the phase shifting shadow moire to three dimensional measurement.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.751-755
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• 1995

It become more difficult to anticipate the performance of fluid power systems as the number of components increases because of nonlinearrities inherent in hydraulic components. In this situation, the computer simulation technique can be an effective tool in the analysis and design of fluid power systems. In this paper, simulation results are presented for dynamic characteriatics of a knuckle crane. Simple models for hydraulic components and relatively detailed motion equations for attachments are used. the simulation reaults are very close to those of experiments. The simulation is performed using a simulation package developed with object-oriented method. This package provides the encironment that user can construct desirct desired circuits form the component library, checks the continuity and compatibility conditions automatically and executes simulation

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.798-803
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• 2005

The increasing complexity of modem products requires the effective management of design knowledge, which partly resides in the product itself on the one hand. On the other hand, a lot of knowledge is gathered and/or generated during the design process, but disappears as the design project concludes. This paper describes a knowledge representation method to accommodate the implicit design knowledge. The method is based on the FBS(Function-Behavior-Structure) model and extends the object ontology with constraint entity. An example to represent the injection mold design knowledge is given to show its applicability.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.330-333
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• 2002

This study Presents improvement of Precision in the non-contacted laser application measuring techniques. The phase map of deformation obtained by phase shifting method in Electronic Speckle Pattern Interferometry displays the wrapped image by the arctangent function, which is a characteristic of 4-step phase shifting method. To obtain deformation distribution from the results, the wrapped phase map is processed by an unwrapping method. But a previous method cannot apply discontinuous object as like plate with a circular hole to obtain precious deformation distribution To solve this problem, new algorithm is developed and the result is compared with previous method.

• Journal of the Society of Naval Architects of Korea
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• v.42 no.4 s.142
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• pp.421-426
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• 2005

Scattering center extraction schemes for radar cross section reduction of large complex targets, like warships, was developed, which are an 1-D radar image method(range profile), and a direct analysis based on an object precision method. The analysis result of partial dihedral model shows that the presented direct analysis method is more efficient than the 1-D radar image method for scattering center extraction of interested targets, in terms of radar cross section reduction design, not signal processing. In order to verify the accuracy of the direct analysis method, a scattering center analysis of an naval weapon system was carried out, and the result was coincident with that of another well-known RCS analysis program. Finally, an analysis result of RCS and its scattering center of an 120m class warship-like model presented that the direct analysis method can be an efficient and powerful tools for radar cross section reduction of large complex targets.

• Journal of Korea Multimedia Society
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• v.20 no.1
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• pp.17-31
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• 2017

The aim of the paper is to present an object recognition method toward augmented reality system that utilizes existing education instruments that was designed without any consideration on image processing and recognition. The light reflection, sizes, shapes, and color range of the existing target education instruments are major hurdles to our object recognition. In addition, the real-time performance requirements on embedded devices and user experience constraints for children users are quite challenging issues to be solved for our image processing and object recognition approach. In order to meet these requirements we employed a method cascading light-weight weak classification methods that are complimentary each other to make a resultant complicated and highly accurate object classifier toward practically reasonable precision ratio. We implemented the proposed method and tested the performance by video with more than 11,700 frames of actual playing scenario. The experimental result showed 0.54% miss ratio and 1.35% false hit ratio.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.5
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• pp.168-176
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• 2014

Detecting moving objects from a video sequence is a fundamental and critical task in video surveillance, traffic monitoring and analysis, and human detection and tracking. It is very difficult to detect moving objects in a video sequence degraded by the environmental factor such as fog. In particular, the color of an object become similar to the neighbor and it reduces the saturation, thus making it very difficult to distinguish the object from the background. For such a reason, it is shown that the performance and reliability of object detection and tracking are poor in the foggy weather. In this paper, we propose a novel method to improve the performance of object detection, combining a haze removal algorithm and a local histogram-based object tracking method. For the quantitative evaluation of the proposed system, information retrieval measurements, recall and precision, are used to quantify how well the performance is improved before and after the haze removal. As a result, the visibility of the image is enhanced and the performance of objects detection is improved.