• 한국측량학회지
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• 제37권5호
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• pp.331-341
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• 2019

With the popularity of sensor-rich environments, smartphones have become one of the major platforms for obtaining and sharing information. Since it is difficult to utilize GNSS (Global Navigation Satellite System) inside the area with many buildings, the localization of smartphone in this case is considered as a challenging task. To resolve problem of localization using smartphone a four step image-based localization method and procedure is proposed. To improve the localization accuracy of smartphone datasets, MMS (Mobile Mapping System) and Google Street View were utilized. In our approach first, the searching for candidate matching image is performed by the query image of smartphone's using GNSS observation. Second, the SURF (Speed-Up Robust Features) image matching between the smartphone image and reference dataset is done and the wrong matching points are eliminated. Third, the geometric transformation is performed using the matching points with 2D affine transformation. Finally, the smartphone location and attitude estimation are done by PnP (Perspective-n-Point) algorithm. The location of smartphone GNSS observation is improved from the original 10.204m to a mean error of 3.575m. The attitude estimation is lower than 25 degrees from the 92.4% of the adjsuted images with an average of 5.1973 degrees.

• Earthquakes and Structures
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• 제8권1호
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• pp.185-204
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• 2015

This study investigates the impact of the earthquake incident angle on the structural demand and the influence of ground motion selection and scaling methods on seismic directionality effects. The structural demand produced by Non-Linear Time-History Analyses (NLTHA) varies with the seismic input incidence angle. The seismic directionality effects are evaluated by subjecting four three-dimensional reinforced concrete structures to different scaled and un-scaled records oriented along nine incidence angles, whose values range between 0 and 180 degrees, with an increment of 22.5 degrees. The results show that NLTHAs performed applying the ground motion records along the principal axes underestimate the structural demand prediction, especially when plan-irregular structures are analyzed. The ground motion records generate the highest demand when applied along the lowest strength structural direction and a high energy content of the records increases the structural demand corresponding to this direction. The seismic directionality impact on structural demand is particularly important for irregular buildings subjected to un-scaled accelerograms. However, the orientation effects are much lower if spectrum-compatible combinations of scaled records are used. In both cases, irregular structures should be analyzed first with pushover analyses in order to identify the weaker structural directions and then with NLTHAs for different incidence angles.

• 융합신호처리학회논문지
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• 제15권3호
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• pp.104-111
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• 2014

이 논문에서는 자동차의 제동장치에 사용되는 브레이크 모듈 조립 작업을 로봇을 사용하여 자동화한 사례를 소개한다. 브레이크 모듈은 하나의 토크 멤버에 두 개의 브레이크 패드와 두 개의 패드 라이너를 장착하여 조립을 완성한다. 이 조립 작업은 로봇의 방향을 자주 바꾸어 주어야하기 때문에 일반적인 산업용 로봇 핸드를 사용하면 조립 시간이 오래 걸린다. 이 논문에서는 두 가지 방법을 제안한다. 첫 번째 방법은 다섯 개의 그리퍼를 갖는 로봇 엔드 이펙터를 설계, 제작하여 기존의 산업용 6축 머니퓰레이터에 장착하여 조립 작업을 수행하는 방법이다. 이 방법에서는 두 개의 브레이크 패드와 두 개의 패드 라이너를 한꺼번에 파지하여 조립 작업을 수행하며 따라서 하나의 그리퍼 만을 가지고 있는 기존의 엔드 이펙터에 비해 조립 시간을 줄일 수 있었다. 두 번째 방법에서는 첫 번째 방법을 더욱 개선하여 엔드 이펙터가 하나의 부가적인 자유도를 가지도록 설계, 제작하여 기존의 산업용 6축 머니퓰레이터에 장착하였다. 이 방법에서는 전체 로봇 머니퓰레이터가 7 자유도를 갖는 여유자유도 머니퓰레이터가 되어 로봇의 동작을 최소화하면서 조립에 필요한 다양한 로봇 방향을 구현할 수 있었다.

• 한국정밀공학회지
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• 제21권10호
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• pp.162-169
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• 2004

High temperature uniaxial compression tests in the alpha single phase region were carried out on the Ti -43mo1%Al intermetallic compound, in order to obtain oriented lamellar microstructure. The compression deformation temperatures and strain rates are from 1573k to 1623k and 1.0x10$^{-4}$ s to 5.0x10$^{-3}$ s, respectively. Fully lamellar microstructure was observed after the uniaxial compression deformation in a single phase region followed by cooling to room temperature. Lamellar colony diameter depended on strain rates and test temperatures. The diameter varied between 8601m and 300fm. Stress-strain curve showed a work softening and the size of lamellar colony diameter varied depending on peak stresses. This shows the occurrence of dynamic recrystallization. Texture measurements after the uniaxial compression deformation, showed the development of fiber during dynamic recrystallization. It is seen that the area for the maximum pole density existed in 35 degrees away from the compression plane. The texture sharpens with a decrease in strain rate

• Journal of Advanced Marine Engineering and Technology
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• 제28권2호
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• pp.382-392
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• 2004

The usage of constant velocity (CV) joint is effective for motorboats on gliding regime of the motion. During transition on the gliding when angle of the CV differs from null on driving and driven composite shafts there are moments of the second order. Excitation of oscillations of the second order moments occurs when driving shafts transmits a variable torque. which generates through CV joint a lateral moment acting on the bearing. As a result of oscillations from a resonating harmonic of a shafting the harmonic with the greater or periodically varying amplitude for power condition trough transferring to nominal power 144kW. Beating conditions coincide with third mode having frequency 45.486 Hz. In that case there is high increasing of the equivalent stresses. The forming of the stiffness of the composite material is concerned to use most orientation of the layer angle in the range of $\pm$60 degrees relatively of shaft axis. Application of that angles for layer orientation gives possibility to avoid high disturbance of the shafting for motorboat transition regime.

• 로봇학회논문지
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• 제6권3호
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• pp.263-273
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• 2011

This paper analyzes the motion of a horseback riding robot which has two actuators and three joints. It is impossible to control the saddle to get to any position and orientation using the two motors because the robot has less degrees of freedom than the number of joints. Therefore it is required to know the possible location and orientation along with the velocity characteristics of each pose prior to motion planning. For this purpose, this paper analyzes the characteristics of the robot motion. The authors derive the forward and inverse kinematics of the robot motion and developed the trajectory editor for motion planning. Also, Jacobian of the robot is analyzed. It reveals that one of the actuator has little influence to the speed of the saddle motion while the other affects the speed of the saddle motion dominantly. The approach of the paper can be applied for the analysis of characteristics of a robot which has less number of actuators than that of joints.

• Journal of Power Electronics
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• 제4권4호
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• pp.217-227
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• 2004

A robust controller that combines the merits of the feed-back, feed-forward and model-following control for induction motor drives utilizing field orientation control is designed in this paper. The proposed controller is a two-degrees-of­freedom (2DOF) integral plus proportional & rate feedback (I-PD) speed controller combined with a model-following (2DOF I-PD MFC) speed controller. A systematic mathematical procedure is derived to find the parameters of the 2DOF I-PD MFC speed controller according to certain specifications for the drive system. Initially, we start with the I-PD feed­back controller design, then we add the feed-forward controller. These two controllers combine to form the 2DOF I-PD speed controller. To realize high dynamic performance for disturbance rejection and set point tracking characterisitics, a MFC controller is designed and added to the 2DOF I-PD controller. This combination is called a 2DOF I-PD MFC speed controller. We then study the effect of the 2DOF I-PD MFC speed controller on the performance of the drive system under different operating conditions. A computer simulation is also run to demonstrate the effectiveness of the proposed controller. The results verify that the proposed 2DOF I-PD MFC controller is more accurate and more reliable in the presence of load disturbance and motor parameter variations than a 2DOF I-PD controller without a MFC. Also, the proposed controller grants rapid and accurate responses to the reference model, regardless of whether a load disturbance is imposed or the induction machine parameters vary.

• 한국의류학회지
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• 제25권6호
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• pp.1091-1099
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• 2001

Evaluation on jean products were varied although they were the identical jeans. Therefore, we could confirm the bias by price. brand, and store when consumer evaluating jean products. The various consumer characteristics also provided effects evaluation on jean products. An evaluation on jean products is very subjective and the degrees depending on these three cues could be varied by consumer's characteristics. For empirical study, experiments by the subjects among students of ewha womans university were done by using jeans as stimulus. Data was collected by a questionnaire made up by a researcher based on the theoretical and pretest. Data was analyzed by ANOVA, factor analysis, grouping analysis, F-test, and etc. 571 data were analysed out of the 600 data. Cues such as price, brand, and store affected significantly the evaluation of jeans. The most important cue of all three was store, then price, and then brand. These three cues affected the evaluation of jean products separately and together. The result of the study was that the consumers characteristics mediated the effects of extrinsic cues like price, brand, and store on jean products evaluation. Consumer's characteristics like prior knowledge and shopping orientation mediated the effects of price, and store cue on jean products evaluation.

• Transactions on Electrical and Electronic Materials
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• 제9권5호
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• pp.202-205
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• 2008

We have studied the liquid crystal (LC) orientation behavior on the organic hybrid overcoat layer with ion beam irradiation. Excellent LC alignments of the nematic liquid crystal (NLC) on the ion beam irradiated organic hybrid overcoat layers were observed in various intensities above 600 eV. Pretilt angles of the NLC on the organic hybrid overcoat layers for all ion beam energy intensities were observed from 0.2 to 0.5 degrees. Also, we used the atomic force microscopy (AFM) images for measuring the roughness of the organic hybrid overcoat layers with ion beam irradiation before and after. The surface of organic hybrid overcoat layers was leveled off by the ion beam irradiation. Finally, a good LC alignment thermal stability on the organic hybrid overcoat layer with ion beam irradiation can be achieved.

• Nuclear Engineering and Technology
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• 제6권4호
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• pp.219-230
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• 1974

강한 방향성이 있는 다결정에 의한 중성자회절강도에 대한 재래의 공식을 결정의 반사율에 관한 Kunitomi 의식을 사용하여 수정하였다. 시료내의 grain 에서 회절이 일어나는 정화한 위치가 회절강도의 Maxwell곡선의 소각부분에 관한 이론치와 계산치를 비교함으로써 발견된다는 사실과 위의 회절강도 공식을 사용하여 금속내의 Preferred orientation을 백색중성자를 가지고 조사한 수 있는 방법을 고안하였다. 결정 내에서 일어나는 중성자비 다중반사와 흡수에 대해서 교정하여 원자로의 중성자 스펙트럼을 측정함으로써 열중성자의 확실성있는 파장이 1.025$\pm$0.001$\AA$임을 알았다. 대부분 cube-on-face 방향을 갖인 씰리콘 강철을 본 연구방법으로 조사차였는바 grain들이 압연방향에서 5도 이내에 배열되어 있다는 사실을 발견하였다. 커다란 결정에 적합한 이론들이 강한 방향성이 있는 다결정 물체에도 적응될 수 있음을 알게 되었다.