• Journal of the Korean Society for Precision Engineering
• /
• v.30 no.6
• /
• pp.601-606
• /
• 2013

3D scanning is a technique to measure the 3D shape information of the object. Shape information obtained by 3D scanning is expressed either as point cloud or as polygon mesh type data that can be widely used in various areas such as reverse engineering and quality inspection. 3D scanning should be performed as accurate as possible since the scanned data is highly required to detect the features on an object in order to scan the shape of the object more precisely. In this study, we propose the method on finding the location of feature more accurately, based on the extended Biplane SNAKE with global optimization. In each iteration, we project the feature lines obtained by the extended Biplane SNAKE into each image plane and move the feature lines to the features on each image. We have applied this approach to real models to verify the proposed optimization algorithm.

• ETRI Journal
• /
• v.32 no.2
• /
• pp.241-247
• /
• 2010

We propose and experimentally demonstrate a service-aware optical transport system. The proposed service-aware optical transport system makes a flow based on service type and priority of traffic. The generated flow is mapped to a corresponding sub-${\lambda}$ for transport over an optical network. Using sub-${\lambda}$ provided by the centralized control plane, we could effectively provide quality-of-service guaranteed Ethernet service and best-effort service simultaneously in a single link. The committed information rate (CIR) traffic and best-effort traffic are assigned to different sub-${\lambda}s$. The bandwidth of the CIR traffic is guaranteed without being affected by violation traffic because the bandwidth is managed per each sub-${\lambda}$. The failure detection time and restoration time from a link failure is measured to be about 60 ${\mu}s$ and 22 ms, respectively, in the ring network. The measured restoration time is much smaller than the 50 ms industry requirement for real-time services. The fast restoration time allows the proposed service-aware optical transport system to offer high availability and reliability which is a requirement for transport networks.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.7
• /
• pp.685-696
• /
• 2011

An efficient laparoscope manipulator robot was designed to automatically control the position of laparoscope via a passive joint on end-effector position. The end position of the manipulator is controlled to have corresponding velocity defined in the global coordinate space using laparoscopic visual information. Desired spatial position of laparoscope was derived from detected positions of surgical instrument tips, then the clinical viewing plane was moved by visual servoing task. The laparoscope manipulator is advantageous for automatically maintaining clinically important views in the laparoscopic image without any additional operator. A laparoscope is mounted to a holder which is linked to four degree of freedom manipulator via universal joint-type passive rings connection. No change in the design of laparoscope or manipulator is necessary for its application to surgery assistant robot system. Expanded working space and surgical efficiency were accomplished by implementing slant linking structure between laparoscope and manipulator. To ensure reliable positioning accuracy and controllability, the motion of laparoscope in an abdominal space through trocar was inspected using geometrical analysis. A designed laparoscope manipulating robot system can be easily set up and controlled in an operation room since it has a few subsidiary devices such as a laparoscope light source regulator, a control PC, and a power supply.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.10
• /
• pp.1005-1013
• /
• 2008

This paper describes a new sensor system for 3D range measurement using the structured infrared light. Environment and obstacle sensing is the key issue for mobile robot localization and navigation. Laser scanners and infrared scanners cover $180^{\circ}$ and are accurate but too expensive. Those sensors use rotating light beams so that the range measurements are constrained on a plane. 3D measurements are much more useful in many ways for obstacle detection, map building and localization. Stereo vision is very common way of getting the depth information of 3D environment. However, it requires that the correspondence should be clearly identified and it also heavily depends on the light condition of the environment. Instead of using stereo camera, monocular camera and the projected infrared light are used in order to reduce the effects of the ambient light while getting 3D depth map. Modeling of the projected light pattern enabled precise estimation of the range. Identification of the cells from the pattern is the key issue in the proposed method. Several methods of correctly identifying the cells are discussed and verified with experiments.

• The Transactions of the Korean Institute of Electrical Engineers A
• /
• v.54 no.7
• /
• pp.345-351
• /
• 2005

An out-of-step condition results from the loss of the synchronism of the generators. A disturbance in a power system causes the generator angle to oscillate. When there is a severe disturbance such as a heavy current fault loss of major generation or loss of a large block of load, the oscillation can be severe and even increase largely and finally the out-of-step condition may un. During the power swing and out-of-step conditions, the apparent impedance at a relay location changes, and the power flow also changes as the angle difference is varied. This paper presents a method to analyze the trajectory of complex power during a power swing and out-of-step condition. The trajectory of the complex power is analyzed when a power swings and a fault occurs. Moreover, the complex power is analyzed when the ratios between the voltages at both sides and the line impedances are changed. These methods are verified through simulation using the ATP/EMTP MODELS.

• Journal of Ocean Engineering and Technology
• /
• v.21 no.4
• /
• pp.55-60
• /
• 2007

In contrast to the method in Part I, which is considered to be the general approach, Part II pursues a closed-form solution. However, this closed-form solution is available only in the 2D situation under the assumption that the moving object is restricted to a 2D space, and also requires the use of only two laser-slit sensors. Since the motion of the container loaded on top of an AGV is restricted to a plane parallel to the ground, it can be considered a 2D motion. As a simple method, but with a high cost, the use of a laser scanner is also discussed. Since the approach in Part I already uses three laser-slit sensors, it is desirable to use the schemes presented in Part II for supplementary purposes.

• The Bulletin of The Korean Astronomical Society
• /
• v.40 no.2
• /
• pp.44.3-45
• /
• 2015

The 2007 event occurred at 17P/Holmes is known as the most energetic cometary outburst in the history of modern astronomical observations. At this conference, we report our new observation of the comet one orbital period after the event. We thus made the observation of 17P/Holmes in 2014 September using the Kiso Wide Field Camera (KWFC) attached to the 105 cm Schmidt telescope at the Kiso Observatory. It is known that dust particles are thought to converge on the orbital plane of the parent body at the opposite end of the dust ejection viewed from the Sun. Similar phenomenon occurs when dust particles complete one orbital revolution (what we call, neck-line structures). We succeeded in the detection of the dust ejecta of the 2007 outburst by means of the neck-line. With the image, we plan to discuss the ejection velocity and the total mass of the ejecta to deepen our understanding of the historical event.

• Publications of The Korean Astronomical Society
• /
• v.32 no.1
• /
• pp.17-19
• /
• 2017

The first version of the AKARI far-infrared All-Sky Bright Source Catalogue (BSC ver.1) was released to public in March 2010. It has been widely used for various astrophysical researches. We are continuing efforts to produce the next edition. The new version is expected to be improved in accuracy and reliability, as well as its volume. Many improvements to the next version are in progress. The time-line signal is being re-examined throughout the entire data processing. Correction processes for signal linearity and detector responsivity, and procedure for masking signal anomaly are revised. The source extraction process is further tuned and operating parameters will be optimized. These bring better reliability of the source detection and possibly an increase of source numbers. The position accuracy is expected to be improved. Systematic position error seen around the Galactic plane will also be corrected. We also plan to deliver the Faint Source Catalogue version 1.

• Journal of Sensor Science and Technology
• /
• v.27 no.5
• /
• pp.300-305
• /
• 2018

The uncooled microbolometer thermal sensor for low cost and mass volume was designed to target the new infrared market that includes smart device, automotive, energy management, and so on. The microbolometer sensor features 80x60 pixels low-resolution format and enables the use of wafer-level vacuum packaging (WLVP) technology. Read-out IC (ROIC) implements infrared signal detection and offset correction for fixed pattern noise (FPN) using an internal digital to analog convertor (DAC) value control function. A reliable WLVP thermal sensor was obtained with the design of lid wafer, the formation of Au80%wtSn20% eutectic solder, outgassing control and wafer to wafer bonding condition. The measurement of thermal conductance enables us to inspect the internal atmosphere condition of WLVP microbolometer sensor. The difference between the measurement value and design one is $3.6{\times}10-9$ [W/K] which indicates that thermal loss is mainly on account of floating legs. The mean time to failure (MTTF) of a WLVP thermal sensor is estimated to be about 10.2 years with a confidence level of 95 %. Reliability tests such as high temperature/low temperature, bump, vibration, etc. were also conducted. Devices were found to work properly after accelerated stress tests. A thermal camera with visible camera was developed. The thermal camera is available for non-contact temperature measurement providing an image that merged the thermal image and the visible image.

• Journal of Biomedical Engineering Research
• /
• v.14 no.3
• /
• pp.235-242
• /
• 1993

In the early stage of sacroilitis, it is'difficult to detect sacroiliac(Sl) abnormalities by conventional plain X-ray even though there are characteristic symptoms of ankylosing spondylitis. 3 dimensional volume rendering from the CT image was performed to make an early de tection of the structural changes of Sl joint. 2 cases who had clinical impression of ankylosing spondylitis without sacroilitis in plane X-ray and 1 case of typical ankylosing spondylitis as well as 1 case of normal control were studied. The Sl Joints were separated and each joint surface of sacrum and ilium was independently reconstructed by a special 3D manipulation program. All 2 patiant who complained of inflammatory lower back pain with no abnormal findings in the plain X-ray showed structural changes in 3 dimensionally reconstructed surface Image of the Sl joint compared to the normal control. Authors tried several parameters, such as fourler analysis of each surface and the mean and variance of Sl joint gap. We couldn't tell the statistical significance because of the limited number of cases. However, the parameters showed difference according to the progression of disease.