• The Journal of Korea Robotics Society
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• v.1 no.2
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• pp.125-134
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• 2006

The problem of establishing the servo system to reach the desired location keeping all features in the field of view and following a straight line is considered. In addition, robustness of camera calibration parameters is considered in this paper. The proposed approach is based on switching from position-based visual servoing (PBVS) to image-based visual servoing (IBVS) and allows the camera path to follow a straight line. To achieve the objective, a pose estimation method is required; the camera's target pose is estimated from the obtained images without the knowledge of the object. A switched control law moves the camera equipped to a robot end-effector near the desired location following a straight line in Cartesian space and then positions it to the desired pose with robustness to camera calibration error. Finally simulation results show the feasibility of the proposed visual servoing technique.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.527-530
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• 1996

The Kalman filter has been used as a self-localization method for the mobile robot. To satisfy the assumptions inherent in the Kalman filter, we should calibrate the sensors of the robot before use of them. However, it is generally hard to find exact sensor parameters, and the parameters may change during the robot task as the environment varies. Thus we need to perform on-line sensor calibration, by which we can obtain more credible location of the mobile robot. In this paper, we present an on-line sensor calibration scheme which estimates the unknown sensor bias and the current position of the robot. To this end, first we find out the calibration errors of the sensor from redundant sensory data using the parity vector and recursive minimum variance estimation. Then we calculate the current position of the robot by weighted least square estimation without internal encoder data. The performance of the proposed method is evaluated through computer simulation.

• Journal of Ocean Engineering and Technology
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• v.20 no.4 s.71
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• pp.24-30
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• 2006

Different methods exist for the estimation of thermaldeformation of plates in the line heating process. These are based on the assumption of residual strains in the heat-affected zone, known as the method of inherent strains, or simulated relations between heating conditions and residual deformations. The purpose of this paper is to develop a simulator of thermal deformation in the line heating, using the artificial neural network. Curvature deformations for the plate-forming are investigated, which can be used as a prime deformation parameter in the process. The curvature of plates are calculated using the approximation of plate surface by NURBS. Line heating experiments for 11 specimens of different thickness and heating conditions were performed. Two neural networks predicting the maximum temperature and curvature deformations at the heating line are studied. It was concluded that the thermal deformations predicted by the neural network can be used in a line heating simulator, which is considered an attractive and practical alternative to the existing methods.

• Journal of Mechanical Science and Technology
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• v.20 no.8
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• pp.1224-1231
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• 2006

The stability and control derivatives of DURUMI-lI UAV using the flight test are obtained. The flight test data is gathered from the normal flight condition (normal mode) and the flight condition assumed as the right elevator fixed (fault mode). Using real-time parameter estimation techniques, applied to Fourier transform regression method, simulates the aircraft motion. From the result, the fault of control surface is to be detected. In this paper, the results of the real- time parameter estimation techniques are compared with the results of the Advanced Aircraft Analysis (AAA). Using the aerodynamic derivatives, it provides the base line of normal/failure for the control surface by using the on-line parameter estimation of Fourier transform regression. In flight, this approach maybe helpful to detect and isolate the fault of primary control surface. It is explained how to perform the flight condition assumed as the right elevator fixed in the flight test. Also, it is mentioned how to switch between the normal flight condition and the assumed fault flight condition.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.13 no.4
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• pp.120-126
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• 1999

;The consicErations for reminder life of transmission line is gradually higher. It is requisite for investigation of ACSR's life to test tensile load of ACSR as a fundamental data. It is vary important to analysis correlations between results of tensile load testing and elasped years. Estimation of ACSR's life can be obtained by statistics processing using mechanical experirrental results. It is a general method to use regression analysis as a statistics processing technique. In this paper, we did experiment on tensile strength of ACSR by using a new and old ACSR as sample experirrental materials. The limit of life estimation is decided by basic line using twenty percentage reduction of rate tensile strength. This basic line is like to results of Canada Ontario Hydro-research. There are $95[\textrm{mm}^2]$, $97[\textrm{mm}^2]$, $120[\textrm{mm}^2]$, $240[\textrm{mm}^2]$ ACSRs which are experimented on this study. 1be life estimation of these ACSR is presented by table 1 to be obtained through the linear regression and nonlinear regression analysis. SPSS and statistics toolbox of matlab is used for analysis.lysis.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.30 no.4
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• pp.341-349
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• 1994

From the results of model tests, statistical regression analysis for EHP estimation based on hull form parameters is adopted in this study. From this result, the method for estimation of EHP and optimization of hull form parameters at the initial design stage of fishing boats is developed. This method is applied to two standard fishing boats with chine lines. The EHP s are estimated and compared to experimental results. From the optimization of four principal hull form parameters of these fishing boats, approximately 19% of resistance reduction at the design speed is achieved and thus certifies that this method can be used efficiently for the initial design of hull forms of fishing boats.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.06a
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• pp.680-684
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• 1998

This paper presents an efficient method which estimates the systems with unmodeled dynamics using D-L networks. This method is applied for estimating the system with unmodeled dynamics from only input-output information , so it can exclude additional procedure for system description and reduce the computational burden required for real-time estimation. Higher convergence speed is achieved in this manner in comparison with widely-used conventional methods.

• Journal of Electrical Engineering and Technology
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• v.11 no.2
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• pp.508-518
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• 2016

In this paper, we propose a method combining an accelerometer with a cross structured light system to estimate the golf green slope. The cross-line laser provides two laser planes whose functions are computed with respect to the camera coordinate frame using a least square optimization. By capturing the projections of the cross-line laser on the golf slope in a static pose using a camera, two 3D curves’ functions are approximated as high order polynomials corresponding to the camera coordinate frame. Curves’ functions are then expressed in the world coordinate frame utilizing a rotation matrix that is estimated based on the accelerometer’s output. The curves provide some important information of the green such as the height and the slope’s angle. The curves estimation accuracy is verified via some experiments which use OptiTrack camera system as a ground-truth reference.

• Journal of Korean Society of Transportation
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• v.10 no.1
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• pp.41-54
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• 1992

The purpose of this thesis is to construct a model to estimate the delay that vehicles arriving randomly will be experienced at an isolated singalized intersection. To do this the following objectives are set in this study: (i) An what distance a random arrival pattern occurs after a platoon of vehicles are dis-charged from the stop line; (ii) A model which estimates the average delay per through-vehicle with respect to the de-gree of saturation; and (iii) The relation between the stepped delay and average approach delay per vehicle. The following are the findings of this study: (i) A random arrival pattern on the first second and third lanes occur 300,400 and 300m downstream from stop line rdspectively. A random arrival pattern on lane group occurs 500m downstream from the stop line ; (ii) A model for the estimation of approach delay has been developed in such a way that up to x=0.7 the delay increases linearly and beyond 0.7 the delay increases rapidly in a form of second order polynomial due to high degree of saturation : and (iii) Approach delay equals approximately 1.21 times of stopped delay.

• Journal of Information Technology Services
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• v.11 no.1
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• pp.197-210
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• 2012

This paper presents the ways that can improve the Software Cost Estimation Guidelines in order to replace those that are expected to be abolished at February, 2012, and solve the problems that are being occurred in the current Software Cost Estimation Guidelines. By using multidimensional modeling of OLAP(On-Line Analytical Processing), this paper does three dimensional modeling that considers the product/service view, process view and skill view. Also, it presents the identification method of cost estimation data through the view of each dimension. Furthermore, it defines the software cost estimation process and adapts them into the bottom up estimation and the top down estimation. Finally, it proposes the access of cost estimation data by the multidimensional analysis of OLAP.