• Journal of Korea Game Society
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• v.19 no.5
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• pp.91-102
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• 2019

In this paper, we propose an improved method of plane tracking in developing AR games for smartphones using magnetic field sensor. The previous method based on ARCore is a VIO method using a mixture of SLAM and IMU of smartphones. The disadvantages of accelerometers and gyroscopes in IMUs cause errors in tracking the plane. We propose an improved method of planar tracking by adding the magnetic field sensor as well as the existing IMU sensors. Experimental results shows that our method reduces the error of the smartphone posture estimation.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.616-619
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• 2003

In this paper, we develop an input device equipped with accelerometers and gyroscopes. The installed sensors measure the inertial measurements i.e., accelerations and angular rates produced by the movement of the system when a user is writing on the plane surface or in the three dimensional space. The gyroscope measurement are integrated once to give the attitude of the system and consequently used to remove the gravity included in the acceleration measurements. The compensated accelerations bin doubly integrated to yield the position of the system. Due to the integration processes involved in recovering the users'motions, the accuracy of the position estimation significantly deteriorates with time. Among various error sources of the system incorrect estimation of attitude causes the largest portion of the positioning error since the gravity is not fully cancelled. In order to solve this problem, we propose a Kalman filler-based attitude estimation algorithm which fuses measurement data from accelerometers and gyroscopes by fuzzy logic approach. In addition, the online calibration of the gyroscope biases are performed in parallel with the attitude estimation to give more accurate attitude estimation. The effectiveness and the feasibility of the presented system is demonstrated through computer simulations and actual experiments.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2011.04a
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• pp.328-331
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• 2011

준정적 횡하중을 재하 받는 철근콘크리트 보-기둥 접합부의 전단강도에 대한 주요 영향요인을 Bayesian parameter estimation의 신뢰성 이론 접목을 통해 검토하였다. 이와 같은 연구 scope의 수행을 위해 철근콘크리트 보-기둥의 실험 database가 구축되었다. 실험 database는 일정한 criteria을 적용하여 구축되었으며, 포함된 시편들은 최종적으로 접합부 내의 전단파괴가 지배하는 경우들이다. 포함된 시편들의 상세는 ACI (American Concrete Institute) 352R-02를 기준으로 평가되어졌다. 보-기둥 접합부의 전단강도에 영향 요인을 편중되지 않게 평가하고자, Bayesian parameter estimation의 신뢰성 이론을 적용하였다. Bayesian parameter estimation의 적용을 통해 전단강도에 영향이 적은 변수 (not informative parameter)를 순차적으로 제거 (stepwise removal process)함으로 주요 영향요인의 우선 순위를 확인할 수 있었다. 검토된 8개의 변수들 중에서, 횡하중을 재하 받는 철근콘크리트 보-기둥의 전단강도는 주로 콘크리트 압축강도, in-plane geometry, 종방향 보의 주철근 그리고 접합부 내의 구속철근 순으로 영향을 줌을 알 수 있었다.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.4
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• pp.367-371
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• 2015

In this paper, a novel localization method for a monocular camera is proposed by using a feature-based probabilistic map. The localization of a camera is generally estimated from 3D-to-2D correspondences between a 3D map and an image plane through the PnP algorithm. In the computer vision communities, an accurate 3D map is generated by optimization using a large number of image dataset for camera pose estimation. In robotics communities, a camera pose is estimated by probabilistic approaches with lack of feature. Thus, it needs an extra system because the camera system cannot estimate a full state of the robot pose. Therefore, we propose an accurate localization method for a monocular camera using a probabilistic approach in the case of an insufficient image dataset without any extra system. In our system, features from a probabilistic map are projected into an image plane using linear approximation. By minimizing Mahalanobis distance between the projected features from the probabilistic map and extracted features from a query image, the accurate pose of the monocular camera is estimated from an initial pose obtained by the PnP algorithm. The proposed algorithm is demonstrated through simulations in a 3D space.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.1325-1328
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• 2007

When we visualize the sound field radiated from a spherical sound source, spherical acoustic holography is proper among acoustic holography methods. However, there are measurement errors due to sensor position mismatch, sensor mismatch, directivity of sensor, and background noise. These errors are amplified if one predicts the pressures close to the sources: backward prediction. The goal of this paper is to quantitatively examine the effects of the error due to sensor position mismatch on acoustic pressure estimation. This paper deals with the cases of which the measurement deviations are distributed irregularly on the hologram plane. In such cases, one can assume that the measurement is a sample of many measurement events, and the cause of the measurement error is white noise on the hologram plane. Then the bias and random error are derived mathematically. In the results, it is found that the random error is important in the backward prediction. The relationship between the random error amplification ratio and the measurement parameters is derived quantitatively in terms of their energies.

• International Journal of Naval Architecture and Ocean Engineering
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• v.6 no.1
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• pp.14-26
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• 2014

This paper provides the prediction of ultimate longitudinal strengths of the hull girders of a very large crude carrier considering probabilistic damage extent due to collision and grounding accidents based on IMO Guidelines (2003). The probabilistic density functions of damage extent are expressed as a function of non-dimensional damage variables. The accumulated probabilistic levels of 10%, 30%, 50%, and 70% are taken into account for the estimation of damage extent. The ultimate strengths have been calculated using the in-house software called Ultimate Moment Analysis of Damaged Ships which is based on the progressive collapse method, with a new convergence criterion of force vector equilibrium. Damage indices are provided for several probable heeling angles from $0^{\circ}$ (sagging) to $180^{\circ}$ (hogging) due to collision- and grounding-induced structural failures and consequent flooding of compartments. This paper proves from the residual strength analyses that the second moment of area of a damage section can be a reliable index for the estimation of the residual ultimate strength. A simple polynomial formula is also proposed based on minimum residual ultimate strengths.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.11b
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• pp.630-635
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• 2002

This work is concerned with the damage size estimation by using propagating bending wave signals in a beam. For the accurate estimation, we apply the continuous wavelet transforms to the incident waves and the reflected waves from a small damage in a long cylindrical beam. In particular, we propose to use the ratio of the magnitude of the incident and reflected waves along the ridges in the wavelet-transformed time-frequency plane. This technique is applied to the signals measured by non-contact magnetostrictive sensors. Experimental results indicate that the present method using the magnetostrictive sensor can be quite effective for accurate damage size estimation with simple measurements.

• The Journal of Korea Robotics Society
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• v.10 no.1
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• pp.16-23
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• 2015

This paper presents a method of improving the pose recognition accuracy of objects by using Kinect sensor. First, by using the SURF algorithm, which is one of the most widely used local features point algorithms, we modify inner parameters of the algorithm for efficient object recognition. The proposed method is adjusting the distance between the box filter, modifying Hessian matrix, and eliminating improper key points. In the second, the object orientation is estimated based on the homography. Finally the novel approach of Auto-scaling method is proposed to improve accuracy of object pose estimation. The proposed algorithm is experimentally tested with objects in the plane and its effectiveness is validated.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2006.11a
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• pp.589-598
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• 2006

The rectilinear Steiner tree problem is to find a minimum-length rectilinear interconnection of a set of terminals in the plane. It is well known that the solution to this problem will be the minimal spanning tree (MST) on some set Steiner points. A hybrid evolutionary algorithm is introduced based upon the Prim algorithm. The Prim algorithm for the fitness evaluation requires heavy calculation time. The fitness value of parents is inherited to their child and the fitness value of child is estimated by the inherited structure of tree. We introduce four alternative evolutionary algorithms, Experiment result shows that the calculation time is reduced to 25% without loosing the solution quality by using the fitness estimation.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2182-2184
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• 2004

This paper presents a systematic and straightforward fault estimation approach for process fault detection. isolation and accommodation. The approach includes the design of a reduced-order observer and an algebraic-fault estimator. The observer is designed for an unknown input and fault-free system, which is obtained by coordinate transformations of original systems with unknown inputs and faults. The observer information is devoted to- the fault estimation for fault detection and isolation. The fault estimates can be used to form an additional control input to accommodate the fault. The suggested scheme is verified through simulation studies performed on the control of a vertical takeoff and landing (VTOL) aircraft in the vertical plane.