• Transactions of the Korean Society of Automotive Engineers
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• v.10 no.5
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• pp.206-213
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• 2002

This paper proposes a vehicle trajectory prediction method for application to vehicle-to-vehicle distance control. This method is based on 2-dimensional kinematics and a Kalman filter has been used to estimate acceleration of the object vehicle. The simulation results using the proposed control method show that the relative distance characteristics can be improved via the trajectory prediction method compared to the customary vehicle stop and go cruise control systems which makes the vehicle remain at a safe distance from a preceding vehicle according to the driver's preference, automatically slow down and come to a full stop behind a preceding vehicle.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.11
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• pp.100-107
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• 1998

This paper presents the development of estimation model and control method based on the new robot vision. This proposed control method is accomplished using the sequential estimation scheme that permits placement of the rigid body in each of the two-dimensional image planes of monitoring cameras. Estimation model with six parameters is developed based on the model that generalizes known 4-axis scara robot kinematics to accommodate unknown relative camera position and orientation, etc. Based on the estimated parameters, depending on each camera the joint angle of robot is estimated by the iteration method. The method is experimentally tested in two ways, the estimation model test and a three-dimensional rigid body placement task. Three results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as assembly and welding.

• Journal of The Korean Astronomical Society
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• v.49 no.5
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• pp.193-198
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• 2016

Early-type galaxies (ETGs) are supposed to follow the virial relation $M=k_e{\sigma}^2R_e/G$, with M being the mass, σ_* being the stellar velocity dispersion, R_e being the effective radius, G being Newton's constant, and k_e being the virial factor, a geometry factor of order unity. Applying this relation to (a) the ATLAS^3D sample of Cappellari et al. (2013) and (b) the sample of Saglia et al. (2016) gives ensemble-averaged factors 〈k_e〉 = 5.15 ± 0.09 and 〈k_e〉 = 4.01 ± 0.18, respectively, with the difference arising from different definitions of effective velocity dispersions. The two datasets reveal a statistically significant tilt of the empirical relation relative to the theoretical virial relation such that $M{\propto}({\sigma}^2_*R_e)^{0.92}$. This tilt disappears when replacing R_e with the semi-major axis of the projected half-light ellipse, a. All best-fit scaling relations show zero intrinsic scatter, implying that the mass plane of ETGs is fully determined by the virial relation. Whenever a comparison is possible, my results are consistent with, and confirm, the results by Cappellari et al. (2013). The difference between the relations using either a or R_e arises from a known lack of highly elliptical high-mass galaxies; this leads to a scaling (1 - ϵ ) ∝ M^0.12, with ϵ being the ellipticity and $R_e=a\sqrt[]{1-{\epsilon}}$. Accordingly, a, not R_e, is the correct proxy for the scale radius of ETGs. By geometry, this implies that early-type galaxies are axisymmetric and oblate in general, in agreement with published results from modeling based on kinematics and light distributions.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.3
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• pp.298-308
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• 2000

In this paper a new two-arm cooperative assembly(or insertion) algorithm is proposed. As a force-guided control method for the cooperative assembly the adaptive accommodation controller is adopted since it does not require any complicated contact state analysis nor depends of the geometrical complexity of the assembly parts. Also the RMRC(resolved motion rate control) method using a relative jacobian is used to solve inverse kinematics for two manipulators. By using the relative jacobian the two cooperative redundant manipulators can be formed as a new single redundant manipulator. Two arms can perform a variety of insertion tasks by using a relative motion between their end effectors. A force/torque sensing model using an approximated penetration depth calculation a, is developed and used to compute a contact force/torque in the graphic assembly simulation . By using the adaptive accommodation controller and the force/torque sensing model both planar and a spatial cooperative assembly tasks have been successfully executed in the graphic simulation. Finally through a cooperative assembly task experiment using a humanoid robot CENTAUR which inserts a spatially bent pin into a hole its feasibility and applicability of the proposed algorithm verified.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.8
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• pp.164-170
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• 2004

The skin movement artifacts are referred to as the relative motion of skin with respect to the motion of underlying bones. This is of great importance in joint biomechanics or internal kinematics of human body. This paper describes a novel experiment that measures the skin movement of a hand based on MR(magnetic resonance) images in conjunction with surface modeling techniques. The proposed approach consists of 3 phases: (1) MR scanning of a hand with surface makers, (2) 3D reconstruction from the MR images, and (3) registration of the 3D models. The MR images of the hand are captured by 3 different postures. And the surface makers which are attached to the skin are employed to trace the skin motion. After reconstruction of 3D models from the scanned MR images, the global registration is applied to the 3D models based on the particular bone shape of different postures. The results of registration are then used to trace the skin movement by measuring the positions of the surface markers.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.9
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• pp.883-890
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• 2010

This paper proposes tip position control system which uses a visual marker to determine the tip position of a robot manipulator. The main idea of this paper is to introduce visual marker for the tracking control of a robot manipulator. Existing researches utilize stationary markers to get pattern information from them. Unlike existing researches, we introduce visual markers to get the coordinates of them in addition to their pattern information. Markers need not be stationary and the extracted coordinate of markers are used as a reference trajectory for the tracking control of a robot manipulator. To build the proposed control scheme, we first obtain intrinsic parameters through camera calibration and evaluate their validity. Secondly, we present a procedure to obtain the relative coordinate of a visual marker with respect to a camera. Thirdly, we derive the equation for the kinematics of the SCORBOTER 4pc manipulator which we use for control of manipulator. Also, we provide a flow diagram of entire visual marker tracking system. The feasibility of the proposed scheme will be demonstrated through real experiments.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.12
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• pp.87-98
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• 1999

This study is concentrated on the development of real-time estimation model and vision control method as well as the experimental test. The proposed method permits a kind of adaptability not otherwise available in that the relationship between the camera-space location of manipulable visual cues and the vector of manipulator joint coordinates is estimate in real time. This is done based on a estimation model ta\hat generalizes known manipulator kinematics to accommodate unknown relative camera position and orientation as well as uncertainty of manipulator. This vision control method is roboust and reliable, which overcomes the difficulties of the conventional research such as precise calibration of the vision sensor, exact kinematic modeling of the manipulator, and correct knowledge of position and orientation of CCD camera with respect to the manipulator base. Finally, evidence of the ability of real-time vision control method for manipulator's position control is provided by performing the thin-rod placement in space with 2 cues test model which is completed without a prior knowledge of camera or manipulator positions. This feature opens the door to a range of applications of manipulation, including a mobile manipulator with stationary cameras tracking and providing information for control of the manipulator event.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.610-615
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• 2005

Visual servoing is the fusion of results from many elemental areas including high-speed image processing, kinematics, dynamics, control theory, and real-time computing. It has much in common with research into active vision and structure from motion, but is quite different from the often described use of vision in hierarchical task-level robot control systems. We present a new approach to visual feedback control using image-based visual servoing with the stereo vision in this paper. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using a binocular stereo vision. The stereo vision enables us to calculate an exact image Jacobian not only at around a desired location but also at the other locations. The suggested technique can guide a robot manipulator to the desired location without giving such priori knowledge as the relative distance to the desired location or the model of an object even if the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by the simulation and experimental results and compared with the case of conventional method for dual-arm robot made in Samsung Electronics Co., Ltd.

• Journal of Ocean Engineering and Technology
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• v.24 no.1
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• pp.1-9
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• 2010

A series of experiments employing particle image velocimetry (PIV) technique was conducted to produce benchmark wave kinematics data for regular waves having four different wave slopes in 2-D wave tank. Water velocities and accelerations near the free surface of regular waves were computed from image pair obtained by PIV systems. With the measured wave velocity field, the wave accelerations were computed using a centered finite difference scheme. Both local and convective components of the total accelerations are obtained from experimental data. With increasing the wave slope, the horizontal velocity and the vertical accelerations near the wave crest obtained by PIV technique became larger than theoretical results, which are well-known phenomena of the wave nonlinearity. It is noted that the relative magnitude of convective acceleration to the local acceleration became larger with increasing wave slope.

• Journal of The Korean Astronomical Society
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• v.53 no.5
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• pp.99-102
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• 2020

I show that when the observables (π_E, t_E, θ_E, π_s, µ_s) are well measured up to a discrete degeneracy in the microlensing parallax vector π_E, the relative likelihood of the different solutions can be written in closed form P_i = KH_iB_i, where H_i is the number of stars (potential lenses) having the mass and kinematics of the inferred parameters of solution i and B_i is an additional factor that is formally derived from the Jacobian of the transformation from Galactic to microlensing parameters. Here t_E is the Einstein timescale, θ_E is the angular Einstein radius, and (π_s, µ_s) are the (parallax, proper motion) of the microlensed source. The Jacobian term B_i constitutes an explicit evaluation of the "Rich Argument", i.e., that there is an extra geometric factor disfavoring large-parallax solutions in addition to the reduced frequency of lenses given by H_i. I also discuss how this analytic expression degrades in the presence of finite errors in the measured observables.