• 로봇학회논문지
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• 제19권1호
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• pp.130-138
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• 2024

High-precision 3D Object Detection is a crucial component within autonomous driving systems, with far-reaching implications for subsequent tasks like multi-object tracking and path planning. In this paper, we propose a novel approach designed to enhance the performance of 3D Object Detection, especially in heading angle estimation by employing a moving object segmentation technique. Our method starts with extracting point-wise moving labels via a process of moving object segmentation. Subsequently, these labels are integrated into the LiDAR Pointcloud data and integrated data is used as inputs for 3D Object Detection. We conducted an extensive evaluation of our approach using the KITTI-road dataset and achieved notably superior performance, particularly in terms of AOS, a pivotal metric for assessing the precision of 3D Object Detection. Our findings not only underscore the positive impact of our proposed method on the advancement of detection performance in lidar-based 3D Object Detection methods, but also suggest substantial potential in augmenting the overall perception task capabilities of autonomous driving systems.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 하계학술대회 논문집 A
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• pp.12-14
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• 1997

The analysis of eigenvalue and eigenvector is a crucial procedure for many electromagnetic computation problems. However, eigenpair computation is timing-consuming task. Thus, its parallelization is required for designing large-scale and precision three-dimensional electromagnetic machines. In this paper, the Davidson method is parallelized on a cluster of workstations. Performance of the parallelization scheme is reported. This scheme is applied to a ridged waveguide design problem.

• 한국정밀공학회지
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• 제22권7호
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• pp.164-169
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• 2005

The micro-gripper system is one of the systems that should be improved in the respect of performance for practical usage. In the previous works, the important issues are considered and presented using axiomatic design approach. In this paper, the functional requirements and design parameters are evaluated in order to improve the performance and efficiency of the system. The evaluation is a very difficult task since many variables are related to the outcomes. To provide a basis for correct design decisions, axiomatic design principles have been advanced. Since the framework of axiomatic design makes design issues easier to understand when they are analyzed, we used those as an evaluation tool. The object of the system is to handle micro-size parts. Main device is a micro-gripper using two bender-typed and one stack-typed PZTs as actuators. And it has three tips made of tungsten wires fur holding function. Also the system must satisfy other functional requirements for appropriate handling performance. The results of this study show design improvements of micro-gripper system such as structural change of gripper, additional element, and integration of physical parts. Axiomatic design guides presented suitable design parameters corresponding to functional requirements and made the design elements improve through diagrams of whole system.

• 인지과학
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• 제35권1호
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• pp.1-21
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• 2024

본 연구는 두 가지 이론적 모델인 통합된 객체 모형과 특장 병렬-독립 저장 모형을 검증함으로써 시각작업기억 표상의 특성을 조사하였다. 실험 I에서 참가자들은 색상 사각형, 방위 막대 또는 두 가지 모두로 구성된 배열을 기억한 뒤 이를 토대로 변화탐지과제를 수행했다. 단일 특징 조건에서 기억배열은 하나의 특징(방위 또는 색상)으로만 구성된 반면, 두 가지 특징 조건은 둘 모두를 포함했다. 두 조건간 변화탐지 수행의 차이는 없었으며 이는 병렬-독립 저장 모형보다는 통합된 객체 모형을 지지한다. 실험 II에서는 이등변삼각형의 방위, 색상 사각형 또는 두 특징 모두로 구성된 기억배열을 대상으로 회상과제가 실시되었으며, 단일 특징과 두 가지 특징 조건 간 회상 수행이 비교되었다. 두 조건 간 회상 정확도에는 차이가 없었으나 표상 선명도와 추측반응에 대한 분석 결과는 강한 객체 모형보다는 약한 객체 모형을 시사했다. 본 연구의 결과는 시각작업기억의 표상 특성을 둘러싼 현시점의 논쟁에 있어서 병렬-독립 저장 모형이 아닌 통합된 객체 모형의 우세를 지지한다.

• 한국정밀공학회지
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• 제22권1호
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• pp.183-192
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• 2005

This study compared cerebral lateralization index based on the area of neural activation with that based on the intensity of neural activation. For this purpose, 8 right-handed male college students (the mean age - 23.5 years) and 10 right-handed male college students (the mean age - 25.1 years) participated respectively in researches on visuospatial and verbal task brain function. Functional brain images were taken from 3T MRI using the single-shot EPI method. The result of measuring cerebral lateralization index based on the area of neural activation suggested that the right hemisphere is dominant in visuospatial tasks and the left one is in verbal tasks. However, the dominance is not sufficient to locate the exact part of the brain for these tasks. When cerebral lateralization index was computed based on the intensity of neural activation, it was derived that the area of cerebral lateralization closely related to visuospatial tasks is the superior parietal lobe, and the area of cerebral lateralization closely related to verbal tasks is the inferior and middle frontal lobes. Thus, cerebral lateralization index by area based on the intensity of neural activation as proposed by this study can determine the dominance of the cerebrum by area, so is helpful for accurate and quantitative determination of cerebral lateralization.

• 한국정밀공학회지
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• 제29권7호
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• pp.717-722
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• 2012

This paper presents the design and dynamic model of the finger exoskeleton actuated by Ionic Polymer Metal Composites (IPMC) to assist a tip pinch task. Although this exoskeleton will be developed to assist 3 degree-of-freedom motion of each finger, it has been currently made to perform the tip pinch task using 1 degree-of-freedom mechanism as the first step. The six layers of IPMC were stacked in parallel to increase the low actuation force of IPMC. In addition, the finger dummy was manufactured to evaluate the performance of the finger exoskeleton. The pinch task experiments, which were performed on the finger dummy with the developed exoskeleton, showed that the pinch force close to the desired level was obtained. Moreover, the dynamic model of the exoskeleton and finger dummy was developed in order to perform the various analyses for the improvement of the exoskeleton.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.894-897
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• 2004

In this paper, we address a position control scheme for a stage system, which is levitated and driven by electric magnetic actuators. This consists of a levitating object (called platen) with 4 permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force for suspension against gravity and propulsion force horizontally as well. This stage can generate six degrees of freedom motion by the vertical and horizontal forces. Dynamic equations of the stage system are derived based on Newton-Euler method and its special Jacobian matrix describing a relation between the Joint velocity and platen velocity is done. There are proposed two control schemes for positioning, which are Cartesian space controller and Joint space controller. The control performance of the Cartesian space controller is better than the Joint space controller in task space trajectory while the Joint space controller is simpler than the Cartesian space controller in controller realization.

• 한국정밀공학회지
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• 제22권7호
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• pp.102-111
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• 2005

In this paper, we address a position control for a parallel stage, which is levitated and driven by electric magnetic force. This consists of a levitating object (called platen) with 4 permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force for suspension against gravity and propulsion force horizontally as well. This stage can generate six degrees of freedom motion by the vertical and horizontal force. A dynamic equation of the stage system is derived based on Newton-Euler method and it's special Jacobian matrix describing a relation between the limited velocity and Cartesian velocity is done. There are proposed two control methods for positioning which are Cartesian space controller and Actuator space controller. The control performance of the Cartesian space controller is better than the Actuator space controller in task space trajectory while the Actuator space controller is simpler than the Cartesian space controller in controller realization.

• 한국정밀공학회지
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• 제15권12호
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• pp.148-161
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• 1998

We investigate a design methodology for master arm which is employed in remote-site control. Though counter-balancing has been employed for the purpose of lessening the actuator loads, it results in the increase of dynamic load at the task position. Therefore, there exists a trade-off between counter-balancing and dynamic performance. The concept of a composite index is introduced to simultaneously consider those two effects in the design of master arms. Several alternative designs of master arms are suggested.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.683-686
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• 2000

A new approach to the task of aligning a robot using camera is presented in this paper. We apply an elitist GA to find the joints angles of manipulator to reach target position instead of using nonlinear least error method. Since it employs parallel search and have good performance in solving optimization problems. In order to improve convergence speed, the floating coding method and geometry constraint conditions are used. Experiments are carried out to exhibit the effectiveness of vision-based control using elitist genetic algorithm.