• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2014.10a
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• pp.219-221
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• 2014

The objective of this paper is to simulate the dynamic behavior of a floating structure model, using image processing and close-range photogrammetry, instead of the contact sensors. Previously, the movement of structure was presented through the exterior orientation estimation of a single camera by space resection. The inverse resection yields the 6 orientation parameters of the floating structure, with respect to the camera coordinate system. The single camera solution is of interest in applications characterized by restriction in term of costs, unfavorable observation conditions, or synchronization demands when using multiple cameras. This article discusses the theoretical determinations of camera exterior orientation based on Direct Linear Transformation and photogrammetric resection using least squares adjustment. The proposed method was used to monitor the motion of a floating model. The results of six degrees of freedom (6-DOF) by inverse resection show that the appropriate initial values by DLT can be effectually applied in least squares adjustment, to obtain the precision of exterior orientation parameters. Additionally, a comparison between the close-range photogrammetry and total station results was feasibly verified. Therefore, the proposed method can be considered as an efficient solution to simulating the movement of floating structure.

• International Journal of Automotive Technology
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• v.6 no.5
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• pp.501-506
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• 2005

With the respective collapse characteristics of aluminum and CFRP (Carbon Fiber Reinforced Plastics) tubes in mind, axial collapse tests were performed for aluminum/CFRP compound tubes, which are composed of square or circular shaped aluminum tubes wrapped with CFRP outside. In this study, the collapse modes and the energy absorption characteristics were analyzed for aluminum/CFRP compound tubes which have different fiber orientation angle of CFRP. Fracture modes in the aluminum/CFRP compound tubes were rather stable than those in the CFRP tubes alone, probably due to the ductile nature of the inner aluminum tubes. The absorbed energy per unit volume of the aluminum or the aluminum/CFRP compound tubes was higher than that of CFRP tubes. Meanwhile, the absorbed energy per unit mass, for the light-weight design aspect was higher in the aluminum/CFRP compound tubes than in the aluminum tubes or the CFRP tubes. The energy absorption turned out to be higher in circular tubes than in square tubes. Beside the collapse modes and the energy absorption characteristics were influenced by the orientation angle, and the compound tubes took the most effective energy absorption when the fiber orientation angle of CFRP was 90 degrees.

• Journal of Industrial Technology
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• v.19
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• pp.173-178
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• 1999

In many areas of technology there are machines and systems controllable in up to six degrees of freedom. Helicopters and underwater vehicles, industrial robots are among the first representatives of this category. They need six degrees of freedom in order to move and orient within their workspace. An even broader and more explosively growing area is 3D computer graphics and virtual environment. In this work, functions of 3D input device are described and two types of commercial 3D input device are presented. Then, a preliminary experiment of a low cost 6 axis force/moment sensor is presented that can also be sued as a 3D input device. A low cost force/moment sensor and its application in robot teaching experiment is described. It computes the direction of 3 components of the force and 3 components of the moment applied by human holding the sensor by hand. The concept is shown by an experiment where the tool position and orientation of a robot in 3 dimensional space is controlled by the proposed sensor.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.2
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• pp.374-382
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• 2007

Robot mobility and intelligence become more important for robots to be used in various fields other than automation. The main purpose of providing mobility to a robot is to extend the robot's manipulability. In this paper, we introduce a small humanoid robot that can autonomously play golf as an example of incorporating robot intelligence, mobility, and manipulability. The robot has 12 degrees of freedom for legs and has various basic walking patterns. It can move to a desired position and change orientation by combining the basic waking patterns. The robot has a color CCD camera and can extract coordinates of the objects in the environments. The small humanoid robot has 8 degrees of freedom for arms and can play golf autonomously with two kinds of dexterous swing motions. Kinematic analysis of the robot arms, vision data processing for the recognition of the environments, algorithm for playing robotic golf have been performed or proposed. The experimental results show that the robot can play golf autonomously.

• Transactions of the Korean Society of Automotive Engineers
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• v.13 no.3
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• pp.48-57
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• 2005

This paper presents a novel algorithm in order to extract lane-related information based on machine vision techniques. The algorithm makes up for the weak points of the former method, the Edge Distribution Function(EDF)-based approach, by introducing a Lane Boundary Pixel Extractor (LBPE) and the well-known Hough Transform(HT). The LBPE that serves as a filter to extract pixels expected to be on lane boundaries enhances the robustness of machine vision, and provides its results to the HT implementation and EDF construction. The HT forms the accumulator arrays and extracts the lane-related parameters composed of orientation and distance. Furthermore, as the histogram of edge magnitude with respect to edge orientation angle, the EDF has peaks at the orientations corresponding to lane slopes on the perspective image domain. Therefore, by fusing the results from the EDF and the HT the proposed algorithm improves the confidence of the extracted lane-related information. The system shows successful results under various degrees of illumination.

• The Journal of Korea Robotics Society
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• v.6 no.4
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• pp.344-352
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• 2011

A mobile manipulator is a system with a robotic manipulator mounted on top of a mobile base. It has both indoor and outdoor applications for transporting or transferring materials. When a user gives commands, they are usually at high levels such as "move the object to the table," or "tidy the room." By intelligently decomposing these complex commands into several subtasks, the mobile manipulator can perform the tasks with a greater efficiency. One of the crucial subtasks for these commands is the pick-and-place task. For the mobile manipulator, selection of a good base position and orientation is essential to accomplishing this task. This paper presents an algorithm that determines one of the position and orientation of a mobile manipulator in order to complete the pick-and-place task without human intervention. Its effectiveness are shown for a mobile manipulator with 9 degrees-of-freedom in simulation.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.4
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• pp.27-40
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• 1996

This paper proposed a kinematic modeling methodlogy and feedback control system based on kinematics for 2 degrees of freedom of 4-wheeled mobile robot. We assigned coordinate systems to specify the transformation matirx and write the kinematic equation of motion. We derived the actuated inverse and sensed forwared solution for the calculation of actual robot orientation and the desired robot orientation. It is the most significant error and has the largest impact on the motion accuracy. To calculate the WMR position in real time, we introduced the dead-reckoning algorithm and composed two feedback control system that is based on kinematics. Through the simulation result, we compare with the ffedback control system for position control.

• Journal of the Korean Ceramic Society
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• v.43 no.3 s.286
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• pp.152-155
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• 2006

Silicon carbide ceramics seeded with 10-30 wt% SiC whiskers are fabricated by hot pressing and annealing. A quantitative texture analysis including calculation of the Orientation Distribution Function (ODF) is used for obtaining the degrees of preferred orientation of the fabricated samples. The microstructure and crystallographic texture are discussed with respect to the effect of ${\beta}-SiC$ whisker seeds on the resulting fracture toughness values. The SEM microstructures and the texture data reveal a correlation between texture and fracture toughness anisotropy.

• The Journal of Korean Physical Therapy
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• v.22 no.3
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• pp.45-48
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• 2010

Patients with the pusher syndrome show severe misperception of their own upright body orientation although visual vestibular processing is almost intact. They recognize their body as oriented upright when it is actually tilted nearly 20 degrees to the affected side. These patients resist any attempts to passively correct their tilted body posture towards an earth vertical upright orientation. They use the non-affected side arm and/or leg to actively push towards the affected side. Pusher syndrome patients have different prognoses and symptoms than general stroke patients without pusher syndrome. Pusher syndrome patients have a poor prognosis, so they need a long duration of treatment. Therefore, accurate diagnosis and proper treatment are important. In this study, we reviewed the symptoms, causes, evaluation, and treatment for pusher syndrome.

• Steel and Composite Structures
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• v.21 no.4
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• pp.883-919
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• 2016

In this research, buckling analysis of an embedded laminated composite plate is investigated. The elastic medium is simulated with spring constant of Winkler medium and shear layer. With considering higher order shear deformation theory (Reddy), the total potential energy of structure is calculated. Using Principle of Virtual Work, the constitutive equations are obtained. The analytical solution is performed in order to obtain the buckling loads. A detailed parametric study is conducted to elucidate the influences of the layer numbers, orientation angle of layers, geometrical parameters, elastic medium and type of load on the buckling load of the system. Results depict that the highest buckling load is related to the structure with angle-ply orientation type and with increasing the angle up to 45 degrees, the buckling load increases.