• 제어로봇시스템학회:학술대회논문집
• /
• 1988.10a
• /
• pp.433-437
• /
• 1988

Direct measurement of the relative position between the end effector of robot and moving objects reduces difficulties caused by the joint encoder reading and transformation. For those purpose, the on-line sensing method using PSD sensor was developed in this paper. The sensor was calibrated on the precision table. Then, the relative position of a moving objects on the conveyor was measured while the robot was tracking the one.

• International Journal of Aeronautical and Space Sciences
• /
• v.12 no.1
• /
• pp.24-36
• /
• 2011

A new approach for spacecraft absolute attitude estimation based on the unscented Kalman filter (UKF) is extended to relative attitude estimation and navigation. This approach for nonlinear systems has faster convergence than the approach based on the standard extended Kalman filter (EKF) even with inaccurate initial conditions in attitude estimation and navigation problems. The filter formulation employs measurements obtained from a vision sensor to provide multiple line(-) of(-) sight vectors from the spacecraft to another spacecraft. The line-of-sight measurements are coupled with gyro measurements and dynamic models in an UKF to determine relative attitude, position and gyro biases. A vector of generalized Rodrigues parameters is used to represent the local error-quaternion between two spacecraft. A multiplicative quaternion-error approach is derived from the local error-quaternion, which guarantees the maintenance of quaternion unit constraint in the filter. The scenario for bounded relative motion is selected to verify this extended application of the UKF. Simulation results show that the UKF is more robust than the EKF under realistic initial attitude and navigation error conditions.

• Journal of Mechanical Science and Technology
• /
• v.18 no.1
• /
• pp.132-144
• /
• 2004

This paper presents a new method driving multiple robots to their goal position without collision. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. The avoidability measure figures the degree of how easily a robot can avoid other robots considering the velocity of the robots. To implement the concept to avoid collision among multiple robots, relative distance between the robots is proposed. The relative distance is a virtual distance between robots indicating the threat of collision between the robots. Based on the relative distance, the method calculates repulsive force against a robot from the other robots. Also, attractive force toward the goal position is calculated in terms of the relative distance. These repulsive force and attractive force are added to form the driving force for robot motion. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. In contrast, since the usual potential field method initiates avoidance motion later than the proposed method, it sometimes fails preventing collision or causes hasty motion to avoid other robots. The proposed method works as a local collision-free motion coordination method in conjunction with higher level of task planning and path planning method for multiple robots to do a collaborative job.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.1
• /
• pp.39-45
• /
• 2007

This paper proposes a method of container position measurement using automatic landing system that is estimated by a laser range finder. In the most of container position measurement methods, CCD cameras or laser scanners have been used to get the source data. However those sensors are not only weak for disturbances, for examples, the light, fog, and rain, but also the system cost is high. When the spreader arrives at the goal position, it is still swung by inertia or by wind effect. In this paper, the spreader swung data have been used to find the container position. The laser range finder is equipped in the front side of spreader. It can measure distance and relative position between spreader and container. This laser range finder can be rotated as desired by a motor. And a tilt sensor is equipped on the spreader to measure spreader sway. The relative position information between the spreader and a container using the laser range finder and tilt sensor is estimated through the geometrical analysis.

• Journal of Mechanical Science and Technology
• /
• v.18 no.10
• /
• pp.1712-1721
• /
• 2004

A method of measuring the thermal diffusivity of semi-infinite solid material at room temperature using photothermal displacement is proposed. In previous works, within the constant thickness of material, the thermal diffusivity was determined by the magnitude and phase of deformation gradient as the relative position between the pump and probe beams. In this study, however, a complete theoretical treatment of the photothermal displacement technique has been performed for thermal diffusivity measurement in semi-infinite solid materials. The influence of parameters, such as, radius and modulation frequency of the pump beam and the thermal diffusivity, was studied. We propose a simple analysis method based on the zero -crossing position of real part of deformation gradient and the minimum position of phase as the relative position between two beams. It is independent of parameters such as power of pump beam, absorption coefficient, reflectivity, Poisson's ratio, and thermal expansion coefficient.

• Journal of the Institute of Electronics Engineers of Korea SP
• /
• v.39 no.3
• /
• pp.66-77
• /
• 2002

This paper deals with an implementation of the navigation parameter extraction technique using the TMS320C80 multimedia video processor (MVP). Especially, this Paper focuses on the relative position estimation algorithm which plays an important role in real-time operation of the overall system. Based on the relative position estimation algorithm using the images obtained at two locations, we develop a fast algorithm that can reduce large amount of computation time and fit into fixed-point processors. Then, the algorithm is reconfigured for parallel processing using the 4 parallel processors in the MVP. As a result, we shall demonstrate that the navigation parameter extraction system employing the MVP can operate at full-frame rate, satisfying real-time requirement of the overall system.

• 유체기계공업학회:학술대회논문집
• /
• 2004.12a
• /
• pp.140-150
• /
• 2004

In this study, the effect of relative position of the blade for the fixed vane has been investigated on blade surface heat transfer. The experiments were conducted in a low speed stationary annular cascade, and heat transfer of blade was examined for six positions within a pitch. Turbine test section has one stage composed of sixteen guide vanes and blades. The chord length of the tested blade is 150 mm and the mean tip clearance of the blade having flat tip is about $2.5\%$ of the blade chord. For the detailed mass transfer measurements on the blade surfaces, a naphthalene sublimation technique was used. The inlet flow Reynolds number is fixed to $1.5{\times}10^5$. Complex heat transfer characteristics are observed on the blade surface due to various flow characteristics, such as separation bubble, relaminarization, transition to turbulence and leakage vortices. The distributions of velocity and turbulence intensity change significantly with the relative position due to the blockage effect of the blade. This causes the variation of heat transfer patterns on the blade surface. The results show that the flow near the leading edge get highly disturbed and deflected toward the either side of the blade when the blade leading edge is positioned close to the trailing edge of the vane. Therefore, separation bubble disappears on the pressure side and overall heat transfer on the relaminarization region is increased. But, due to reduced tip gap flow at the upstream region, the effect of leakage flow on the upstream region of the blade surface is weakened. Thus, the heat transfer characteristics significantly change with the blade positions.

• Journal of the Korea Convergence Society
• /
• v.11 no.3
• /
• pp.45-52
• /
• 2020

In this study, we propose a new Relative position pattern unlocking solution based on blind interaction, which is a new unlocking method, and compared it with existing unlocking methods to verify usability and security improvement. And verified the practical value of the proposed new unlocking solution. The relative position pattern unlock method is easily remembered than the numeric code method and is worth practical enough to show a degree of learning ease similar to the drawing pattern method. The new method is safer to steal than other two methods. It can be manufactured at a low cost and can also be used by special users such as blind people. Therefore, the practical value is relatively high.

• Journal of Sensor Science and Technology
• /
• v.31 no.3
• /
• pp.156-162
• /
• 2022

This study estimates the relative position between body segments using segment orientation and segment-to-joint center (S2J) vectors. In many wearable motion tracking technologies, the S2J vector is treated as a constant based on the assumption that rigid body segments are connected by a mechanical ball joint. However, human body segments are deformable non-rigid bodies, and they are connected via ligaments and tendons; therefore, the S2J vector should be determined as a time-varying vector, instead of a constant. In this regard, our previous study (2021) proposed a method for determining the time-varying S2J vector from the learning dataset using a regression method. Because that method uses a deformation-related variable to consider the deformation of S2J vectors, the optimal variable must be determined in terms of estimation accuracy by motion and segment. In this study, we investigated the effects of deformation-related variables on the estimation accuracy of the relative position. The experimental results showed that the estimation accuracy was the highest when the flexion and adduction angles of the shoulder and the flexion angles of the shoulder and elbow were selected as deformation-related variables for the sternum-to-upper arm and upper arm-to-forearm, respectively. Furthermore, the case with multiple deformation-related variables was superior by an average of 2.19 mm compared to the case with a single variable.

• Korean Journal of Cognitive Science
• /
• v.15 no.3
• /
• pp.15-24
• /
• 2004

The perceived position of a flashing target object is generally biased towards the direction of eye movement when there is no reference around the target. Current research examined the localization accuracy of a flashing target relative to a static reference. The perceived location of the target relative to the reference was distorted and the pattern of perceptual distortion systematically depended on the position of the reference relative to the target. This kind of result was consistently observed regardless of the distance between the reference and the target and direction of pursuit eye movement. We have discussed how these results could he explained by the theories previously suggested to explain the localization of objects.