• Transactions on Control, Automation and Systems Engineering
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• v.3 no.2
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• pp.124-132
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• 2001

Autonomous of welding process in shipyard is ultimately necessary., since welding site is spatially enclosed by floors and girders, and therefore welding operators are exposed to hostile working conditions. To solve this problem, a welding robot that can navigate autonomously within the enclosure needs to be developed. To achieve the welding ra나, the robotic welding systems needs a sensor system for the recognition of the working environments and the weld seam tracking, and a specially designed environment recognition strategy. In this paper, a three-dimensional laser vision system is developed based on the optical triangulation technology in order to provide robots with work environmental map. At the same time a strategy for environment recognition for welding mobile robot is proposed in order to recognize the work environment efficiently. The design of the sensor system, the algorithm for sensing the structured environment, and the recognition strategy and tactics for sensing the work environment are described and dis-cussed in detail.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.34.5-34
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• 2002

In this paper we propose a new method for modeling indoor environment with stereo camera and suggest a localization method for mobile robot navigation on the basis of it. From the viewpoint of easiness in map building and exclusion of artificiality, the main idea of this paper is that environment is represented as global topological map and each node has omni-directional metric and color information by using stereo camera and pan/tilt mechanism. We use the depth and color information itself in image pixel as feature for environmental abstraction. In addition, we use only the depth and color information at horizontal centerline in image, where optical axis is passing. The usefulness of this m...

• Proceedings of the Korea Information Processing Society Conference
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• 2003.11b
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• pp.1333-1336
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• 2003

최근의 인터넷은 기하급수적으로 폭증하는 트래픽을 원활히 수용하기 위하여 광인터넷으로 급속히 전환되고 있다. 이에 따라 새롭게 제시되는 네트워크 구조를 기반으로 네트워크 설계 단계에서 구축단계까지 새로운 운용관리 체계를 필요로 한다. 광인터넷 시뮬레이션 도구는 이러한 요구사항을 효과적으로 지원할 수 있는 도구로서 네트워크 요소시스템의 기능성 검증 및 네트워크 운용성 검증 등을 제공할 수 있다. 한편 광인터넷 시뮬레이션 도구에 있어서 광인터넷의 표현 및 모델링은 주요한 요구사항 중의 하나이며 이는 DML(Domain Modeling Language) 기반의 네트워크 모델링 컴포넌트를 통하여 구성될 수 있다. DML 은 간단하면서 고급의 모델 정의 기능을 제공하고 인터넷과 같은 대규모 모델로의 확장이 용이하며 이종 엔진과의 시뮬레이션 모델교환 형식으로도 사용이 가능하므로, 광인터넷 시뮬레이션 도구에서 시뮬레이션 모델의 표현에 매우 적합하다. 따라서 이 논문에서는 광인터넷 시뮬레이션 도구에 적용 가능한 DML 기반 네트워크 모델링 컴포넌트를 설계한다.

• Laser Solutions
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• v.11 no.4
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• pp.13-20
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• 2008

The damage threshold measurement of gold films is carried out with ultrashort-pulse laser. An enhanced two temperature model is developed to encounter the limitation of linear modeling during ultrashort pulse laser ablation. In which the electron heat capacity is calculated using a quantum mechanical approach based on a Fermi-Dirac distribution, temperature-dependent electron thermal conductivity valid beyond the Fermi temperature is adopted, and reflectivity and absorption coefficient are estimated by applying a temperature-dependent electron relaxation time. The predicted damage threshold using the proposed enhanced modelclosely agreed with experimental results, demonstrating the importance of considering transient thermal and optical properties in the modeling of ultrashort pulse laser ablation.

• The Bulletin of The Korean Astronomical Society
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• v.43 no.2
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• pp.56.3-56.3
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• 2018

We proceed to develop the control software of GMACS, which is a wide-field, multi-object, moderate-resolution optical spectrograph for the Giant Magellan Telescope (GMT). Flexure Compensation System (FCS) prototype is one of the electronics and mechanical prototypes for GMACS. In this poster, we present the software design for the FCS prototype by using the software system modeling language, SysML. We also show two development tools to control the prototype that communicates via EtherCAT: using TwinCAT and Visual C++ on Windows 10, and GMT Software Development Kit (SDK) and C++ on Linux. We discuss the way to design the GMACS control software, which would not depend on the development tools.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.22 no.11
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• pp.1-8
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• 2008

In this paper, the optical properties of the 54[W] LED module have confirmed by changing the angles of LED modules for street light applications. The angle of LED module changed from the $0[^{\circ}]$ to $60[^{\circ}]$ varying by $20[^{\circ}]$ as horizontal direction ${\ominus}_1$. Morever, the angle of LED module changed from the $0[^{\circ}]$ to $15[^{\circ}]$ varying by $5[^{\circ}]$ as vertical direction ${\ominus}_2$. As a result of simulation, the average illumination was about 17[lux] and the overall illuminance uniformity was 0.29 for a 10.39[m] long and 6[m] wide illuminance area at height of 6[m], which is acceptable for street lighting illumination in the Illuminating Engineering Society(IES) standard.

• The Bulletin of The Korean Astronomical Society
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• v.38 no.2
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• pp.37.1-37.1
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• 2013

We present our study of analyzing the photometric properties of the globular cluster (GC) system which resides in the extended halo of the central bright Coma cluster galaxy NGC 4874. The core of the Coma cluster of galaxies (Abell 1656) was observed with both the HST Advanced Camera for Surveys (ACS) in the F475W (g475) and F814W (I814) and Wide Field Camera 3 IR Channel (WFC3/IR) in the F160W (H160) filters. The data analysis procedure and GC candidate selection criteria are briefly described. We investigate the interesting "tilt" features in color-magnitude diagrams for this GC system and their link to the nonlinear color-metallicity relation for GCs. The NGC 4874's GC system exhibits a bimodal distribution in the optical g475-I814 color and much more than half the GCs fall in the red side at g475-I814 ~ 1.1. This bimodality is weakened in the optical-IR I814-H160 color; the quantitative analysis on the features of both color distributions using the Gaussian Mixture Modeling code proves the bimodalities are different. Both colors, thus, cannot linearly reflect the bimodality of an underlying metallicity, supporting the suggestion that observed bimodalities in extragalactic GC colors are the metallicity-to-color projection effect.

• Journal of Ocean Engineering and Technology
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• v.17 no.1
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• pp.1-7
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• 2003

Autonomous underwater vehicles (AUVs) are unmanned, underwater vessels that are used to investigate sea environments in the study of oceanography. Docking systems are required to increase the capability of the AUVs, to recharge the batteries, and to transmit data in real time for specific underwater works, such as repented jobs at sea bed. This paper presents a visual :em control system used to dock an AUV into an underwater station. A camera mounted at the now center of the AUV is used to guide the AUV into dock. To create the visual servo control system, this paper derives an optical flow model of a camera, where the projected motions of the image plane are described with the rotational and translational velocities of the AUV. This paper combines the optical flow equation of the camera with the AUVs equation of motion, and deriver a state equation for the visual servo AUV. Further, this paper proposes a discrete-time MIMO controller, minimizing a cost function. The control inputs of the AUV are automatically generated with the projected target position on the CCD plane of the camera and with the AUVs motion. To demonstrate the effectiveness of the modeling and the control law of the visual servo AUV simulations on docking the AUV to a target station are performed with the 6-dof nonlinear equations of REMUS AUV and a CCD camera.

• Transactions on Electrical and Electronic Materials
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• v.12 no.5
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• pp.189-192
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• 2011

A flexible back-light unit (FBLU) is fabricated by embedding plasma discharge clusters in a flexible polymer matrix. The brightness uniformity of an FBLU was measured for various combinations of optical sheets and compared with the simulated results for various bending angles. A gap between light sources causes distinctive integrated brightness curves which have two inflection points depending on bending angle. The brightness distribution of a simulated BLU was in good agreement with that of an actual plasma BLU except for a dark area that appeared at the center of the simulated BLU. The real and simulated BLUs both clearly showed an angle dependency caused by mirror images located between point light sources. On the basis of these results, it is suggested that these mirror-like images could be a major factor in determining the characteristics of FBLUs.

• The Journal of Korea Robotics Society
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• v.8 no.4
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• pp.266-272
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• 2013

Facial feature extraction and tracking are essential steps in human-robot-interaction (HRI) field such as face recognition, gaze estimation, and emotion recognition. Active shape model (ASM) is one of the successful generative models that extract the facial features. However, applying only ASM is not adequate for modeling a face in actual applications, because positions of facial features are unstably extracted due to limitation of the number of iterations in the ASM fitting algorithm. The unaccurate positions of facial features decrease the performance of the emotion recognition. In this paper, we propose real-time facial feature extraction and tracking framework using ASM and LK optical flow for emotion recognition. LK optical flow is desirable to estimate time-varying geometric parameters in sequential face images. In addition, we introduce a straightforward method to avoid tracking failure caused by partial occlusions that can be a serious problem for tracking based algorithm. Emotion recognition experiments with k-NN and SVM classifier shows over 95% classification accuracy for three emotions: "joy", "anger", and "disgust".