• Journal of Ubiquitous Convergence Technology
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• v.2 no.2
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• pp.67-77
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• 2008

Representation of various types of information in an interactive virtual reality environment on mobile devices had been an attractive and valuable research in this new era. Our main focus is presenting spatial indoor location sensing information in 3D perception in mind to replace the traditional 2D floor map using handheld PDA. Designation of 3D virtual reality by Virtual Reality Modeling Language (VRML) demonstrates its powerful ability in providing lots of useful positioning information for PDA user in real-time situation. Furthermore, by interpolating portal culling algorithm would reduce the 3D graphics rendering time on low power processing PDA significantly. By fully utilizing the CC2420 chipbased sensor nodes, wireless sensor network was established to locate user position based on Received Signal Strength Indication (RSSI) signals. Implementation of RSSI-based indoor tracking method is low-cost solution. However, due to signal diffraction, shadowing and multipath fading, high accuracy of sensing information is unable to obtain even though with sophisticated indoor estimation methods. Therefore, low complexity and flexible accuracy refinement algorithm was proposed to obtain high precision indoor sensing information. User indoor position is updated synchronously in virtual reality to real physical world. Moreover, assignment of magnetic compass could provide dynamic orientation information of user current viewpoint in real-time.

• Journal of Biomedical Engineering Research
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• v.26 no.2
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• pp.117-122
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• 2005

The elastic modulus and the apparent density of the trabecular bone were evaluated from spherical indentation tests and Computed Tomography (CT) and their relationship was quantified. The femurs were prepared for trabecular bone analysis. Embedded with respect to their anatomical orientation, the transverse planes of the trabecular bone specimens were scanned at 1㎜ intervals using a CT scanner. The metaphyseal regions of femurs were sectioned with a diamond-blade saw, producing 8㎜ cubes. Using a specially made spherical indentation tester, the cubes were mechanically tested in the anterior-posterior (AP), medial-lateral (ML), and inferior-superior (IS) directions. After determination of modulus from the mechanical testing, the apparent densities of the specimens were measured. The results showed that the IS modulus was significantly greater than both the AP and ML moduli with the AP modulus greater than the ML modulus. This demonstrated that orthogonality was a structural characteristic of the trabecular bone. The power relationship between the modulus and the apparent density was also found to be statistically significant.

• The Proceedings of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.6 no.5
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• pp.27-37
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• 1992

We studied the dielectric and dynamic mechanical losses according to the quenching condition in low density polyethylene being used to power cables. According to severe quenching condition, characteristics of the temperature in internal friction los peak have decreased the magnitude of loss peak as amorphous region lengthen. From now on, the frequency dependent characteristics of dielectric loss have investigated at room temperature, and the dielectric loss peak due to interface polarization, between crystal and amorphous region, occurs about 30[Hz], and that, the peak due to orientation polarization in correspondence to the loss peak in internal friction has observed at about 3 [MHz]. As quenching velocity increased, the effect on quenching condition about the dielectric loss has decreased the magnitude of the loss peak. Thus, estimation has been carried out on the activation energies nd the degree of crystallinity by means of X-ray diffraction are obtained as follows: room quenching : 26.4 [kal/mole] and 54.73 [%], ice quenching : 25.6 [kcal/mole] and 48.47 [%], liquid nitrogen quenching specimens : 22.56 [kcal/mole] and 40.95 [%].

• Proceedings of the Korean Geotechical Society Conference
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• 2004.03b
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• pp.815-822
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• 2004

A knowledge of in situ stress state is important to design various engineering structures such as dams, tunnels and so on. There are about three wellknown indicators that is, borehole will breakouts, hydraulic fracturing, ellipsoidal cross section of borehole that have been attributed to the state of stress in the vicinity of borehole. Fortunately, Televiewer traveltime image can be used as a caliper log with 144 or 288 arms, which allows to determine the borehole shape. Televiewer amplitude image will give detailed information about the distribution and character of breakouts and hydraulic fracturing as well. For investigation purposes, a series of boreholes(total 195 boreholes: 12.239m) that have been logged all over the country during past 10 years are analyzed. The primary objective of this paper are to examnine the ability of a Televiewer to determine the shape of borehole, to present data inferred by stress indicators, to indicate their possible relationship with the anisotropic horizontal stresses. It is shown that in most cases the fracture orientation statistically estimated from observed fractures denotes an excellent correlation with the orientations inferred by stress indicators. Many intervals of breakouts are terminated at the intersection of oblique fracture with the borehole. The results from Televiewer data are further compared with those of hydraulic fracturing techniques.

• Journal of Ocean Engineering and Technology
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• v.19 no.2 s.63
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• pp.74-81
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• 2005

A 3-D localization method of an autonomous underwater vehicle (AUV) has been developed, which can solve the limitations oj the conventional localization, such as LBL or SBL that reduces the flexibility and availability of the AUV. The system is composed of a mother ship (small unmanned marine prober) on the surface of the water and an unmanned underwater vehicle in the water. The mother ship is equipped with a digital compass and a GPS for position information, and an extended Kalman filter is used for position estimation. For the localization of the AUV, we used only non-inertial sensors, such as a digital compass, a pressure sensor, a clinometer, and ultrasonic sensors. From the orientation and velocity information, a priori position of the AUV is estimated by applying the dead reckoning method. Based on the extended Kalman filter algorithm, a posteriori position of the AUV is, then, updated by using the distance between the AUV and a mother ship on the surface of the water, together with the depth information from the pressure sensor.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.8 no.6
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• pp.26-34
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• 1999

This study shows an alternative method for the determination of object's position, based on a computer vision method. This approach develops the vision system model to define the reciprocal relationship between the 3-D real space and 2-D image plane. The developed model involves the bilinear six-view parameters, which is estimated using the relationship between the camera space location and real coordinates of known position. Based on estimated parameters in independent cameras, the position of unknown object is accomplished using a sequential estimation scheme that permits data of unknown points in each of the 2-D image plane of cameras. This vision control methods the robust and reliable, which overcomes the difficulties of the conventional research such as precise calibration of the vision sensor, exact kinematic modeling of the robot, and correct knowledge of the relative positions and orientation of the robot and CCD camera. Finally, the developed vision control method is tested experimentally by performing determination of object position in the space using computer vision system. These results show the presented method is precise and compatible.

• Journal of Advanced Marine Engineering and Technology
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• v.38 no.5
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• pp.566-572
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• 2014

Recently, indoor navigation has been applied in large convention centers by using wireless sensor networks (WSNs), which provide not only a user's path to be traveled but also orientation and shopping information to increase user's convenience. This paper presents the localization system for estimating relative coordinates without pre-deployment of the reference node based on ultra wide band (UWB) ranging system, which is relatively suitable for indoor localization compared to other wireless communications, and azimuth sensor. The proposed localization system which consists of an azimuth sensor and a mobile node composed of three nodes estimates relative coordinates of the reference node without applying any recursive and time consumption algorithms. Also, in the process of estimating relative coordinates of the reference node, ranging errors are minimized through the proposed technique and the number of nodes can be reduced. Experimental results show the feasibility and validity of the proposed system.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.35 no.9C
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• pp.756-760
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• 2010

This paper is proposed to an novel facial behavior recognition system for driver's fatigue detection. Facial behavior is shown in various facial feature such as head expression, head pose, gaze, wrinkles. But it is very difficult to clearly discriminate a certain behavior by the obtained facial feature. Because, the behavior of a person is complicated and the face representing behavior is vague in providing enough information. The proposed system for facial behavior recognition first performs detection facial feature such as eye tracking, facial feature tracking, furrow detection, head orientation estimation, head motion detection and indicates the obtained feature by AU of FACS. On the basis of the obtained AU, it infers probability each state occur through Bayesian network.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.1
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• pp.119-126
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• 2002

In this paper, we present a new approach based on an elitist genetic algorithm for the task of aligning the position of a robot gripper using CCD cameras. The vision-based control scheme for the task of aligning the gripper with the desired position is implemented by image information. The relationship between the camera space location and the robot joint coordinates is estimated using a camera-space parameter modal that generalizes known manipulator kinematics to accommodate unknown relative camera position and orientation. To find the joint angles of a robot manipulator for reaching the target position in the image space, we apply an elitist genetic algorithm instead of a nonlinear least square error method. Since GA employs parallel search, it has good performance in solving optimization problems. In order to improve convergence speed, the real coding method and geometry constraint conditions are used. Experiments are carried out to exhibit the effectiveness of vision-based control using an elitist genetic algorithm with a real coding method.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.995-1005
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• 2011

An efficient outdoor local localization method is suggested using multi-sensor fusion with MU-EKF (Multi-Update Extended Kalman Filter) for car-like mobile robots. In outdoor environments, where mobile robots are used for explorations or military services, accurate localization with multiple sensors is indispensable. In this paper, multi-sensor fusion outdoor local localization algorithm is proposed, which fuses sensor data from LRF (Laser Range Finder), Encoder, and GPS. First, encoder data is used for the prediction stage of MU-EKF. Then the LRF data obtained by scanning the environment is used to extract objects, and estimates the robot position and orientation by mapping with map objects, as the first update stage of MU-EKF. This estimation is finally fused with GPS as the second update stage of MU-EKF. This MU-EKF algorithm can also fuse more than three sensor data efficiently even with different sensor data sampling periods, and ensures high accuracy in localization. The validity of the proposed algorithm is revealed via experiments.