• 대한전기학회논문지
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• 제38권12호
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• pp.971-982
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• 1989

An integrating position estimation algorithm has been developed for the navigation system of a free-ranging AGV system. The navigation system focused in this research work consists of redundant wheel encoders for the relative position measurement and a vision sensor for the absolute position measurement. A maximum likelihood method and an extended Kalman filter are implemented for enhancing the performance of the position estimator. The maximum likelihood estimator processes noisy, redundant wheel encoder measurements and yields efficient estimates for the AGV motion between each sampling interval. The extended Kalman filter fuses inharmonious positional data from the deadreckoner and the vision sensor and computes the optimal position estimate. The simulation results show that the proposed position estimator solves a generalized estimation problem for locating the vehicle accurately in space.

• 자동차안전학회지
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• 제13권4호
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• pp.123-128
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• 2021

This paper present box feature estimation from LiDAR point cluster using maximum likelihood Method. Previous LiDAR tracking method for autonomous driving shows high accuracy about velocity and heading of point cluster. However, Assuming the average position of a point cluster as the vehicle position has a lower accuracy than ground truth. Therefore, the box feature estimation algorithm to improve position accuracy of autonomous driving perception consists of two procedures. Firstly, proposed algorithm calculates vehicle candidate position based on relative position of point cluster. Secondly, to reflect the features of the point cluster in estimation, the likelihood of the particle scattered around the candidate position is used. The proposed estimation method has been implemented in robot operating system (ROS) environment, and investigated via simulation and actual vehicle test. The test result show that proposed cluster position estimation enhances perception and path planning performance in autonomous driving.

• Spatial Information Research
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• 제13권2호
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• pp.129-138
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• 2005

본 논문에서는 스테레오 CCD 카메라를 이용하여 이동체의 3차원 위치좌표를 추출하는 알고리즘을 제안하였다. 이 알고리즘을 통해 효율적으로 이동체의 3차원 위치좌표를 추출하는 방법을 도출하고자 하였다 스테레오 CCD 카메라의 상호표정을 수행하고, 획득된 영상에서 이동체를 배경과 분리한 뒤, 좌$\cdot$우 영상에서 이동체의 영상좌표를 추출한다. 추출된 좌$\cdot$우 영상에서의 영상좌표를 이용하여 이동체의 3차원 위치를 결정하게 된다. 스테레오 CCD 카메라간의 상호 위치 및 자세를 결정하기 위한 표정 모듈은 독립적 상호표정(independent relative orientation)을 사용하였고, 획득된 영상에서 이동체 추출 알고리즘은 칼라영상의 RGB(Red, Green, Blue) 화소값을 이용하여 구현하였다. 좌$\cdot$우 CCD 카메라로부터 들어오는 영상좌표를 이용하여 공간전방교회 법을 통해 이동체의 위치를 계산하였다. 그리고 전체 시스템의 실험을 수행하였고, 그 결과의 정확도를 비교하였다.

• Journal of Oral Medicine and Pain
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• 제14권1호
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• pp.57-66
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• 1989

66 patients with temporomandibular disorders were selected for experimental group, and 45 normal subjects who were Dental students were selected for control group. Average age of experimental group was 30.5 years, Male to Female ratio was 2 : 3, and their age distribution were teen-ages to seventh decades. Transcranial radiography (TR) with Denar Accurad 100 was used for each group to get the values of width in joint spaces and to investigate the bony changes of articular surfaces and relative condylar position to articular fossa. In addition to TR, clinical interview and routine charting about amount of mandibular movements and occlusal variations were carried out in experimental group. The obtained results were as follows : 1. The mean values of joint space with in control group were 2.15mm to anterior, 2.98mm to superior and 2.29mm to posterior and the value of relative condylar position to the deepest portion of articular fossa was 0.21mm to anterior. In experimental group, those values were 2.01mm, 2.14mm 2.22mm and 0.12mm to posterior in sequence, respectively. Joint spaces in experimental group, therefore, were inclined to decreased, and relative condylar position was inclined to retrude. Joint space in control group showed symmetric condylar position, but in experimental group showed asymmetry. 2. Non-affected joints with no bony changes in experimental group showed the narrowest joint spaces which were thought to manifest the abnormal stress to non-affected side to dysfunctional state of contralateral affected joints. 3. Amount of mandibular movements in experimental group were within normal values in lateral movements and in protrusive movement but in opening movement with or without passive stretch, those were lower than normal values. Frequency of occlusal variation, for example, protrusive posterior contacts, open bite, median line shift to lateral side were inclined to increase with bony changes and with crepitus.

• International Journal of Aeronautical and Space Sciences
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• 제16권4호
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• pp.581-589
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• 2015

This paper describes a monocular vision-based formation flight technology using two fixed wing unmanned aerial vehicles. To measuring relative position and attitude of a leader aircraft, a monocular camera installed in the front of the follower aircraft captures an image of the leader, and position and attitude are measured from the image using the KLT feature point tracker and POSIT algorithm. To verify the feasibility of this vision processing algorithm, a field test was performed using two light sports aircraft, and our experimental results show that the proposed monocular vision-based measurement algorithm is feasible. Performance verification for the proposed formation flight technology was carried out using the X-Plane flight simulator. The formation flight simulation system consists of two PCs playing the role of leader and follower. When the leader flies by the command of user, the follower aircraft tracks the leader by designed guidance and a PI control law, and all the information about leader was measured using monocular vision. This simulation shows that guidance using relative attitude information tracks the leader aircraft better than not using attitude information. This simulation shows absolute average errors for the relative position as follows: X-axis: 2.88 m, Y-axis: 2.09 m, and Z-axis: 0.44 m.

• 대한치과교정학회:학술대회논문집
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• 대한치과교정학회 2004년도 제37회 학술대회
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• pp.29-30
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• 2004

• Journal of Astronomy and Space Sciences
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• 제26권1호
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• pp.59-74
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• 2009

Relative navigation system is presented using GPS measurements from a single-channel global positioning system (GPS) simulator. The objective of this study is to provide the real-time inter-satellite relative positions as well as absolute positions for two formation flying satellites in low earth orbit. To improve the navigation performance, the absolute states are estimated using ion-free GRAPHIC (group and phase ionospheric correction) pseudo-ranges and the relative states are determined using double differential carrier-phase data and singled-differential C/A code data based on the extended Kalman filter and the unscented Kalman filter. Furthermore, pseudo-relative dynamic model and modified relative measurement model are developed. This modified EKF method prevents non-linearity of the measurement model from degrading precision by applying linearization about absolute navigation solutions not about the priori estimates. The LAMBDA method also has been used to improve the relative navigation performance by fixing ambiguities to integers for precise relative navigation. The software-based simulation has been performed and the steady state accuracies of 1 m and 6 mm ($1{\sigma}$ of 3-dimensional difference errors) are achieved for the absolute and relative navigation using EKF for a short baseline leader/follower formation. In addition, the navigation performances are compared for the EKF and the UKF for 10 hours simulation, and relative position errors are mm-level for the two filters showing the similar trends.

• 한국의학물리학회지:의학물리
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• 제27권2호
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• pp.79-85
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• 2016

본 연구는 방사선치료에서 방사선 선량전달의 정확도를 높이기 위해 두 종류의 치료테이블 6D robotic couch (BrainLab, Feldkirchen, Germany)와 Standard exact couch (Varian Exact couch$^{TM}$, Varian Medical Systems, Milpitas, CA, USA)를 이용하여 Rail의 위상(In-Out)에 따른 상대선량을 측정하여, 선량감쇠율을 계산하였다. 치료테이블을 투과하는 조사에너지의 조사각 $0^{\circ}$에서 $360^{\circ}$까지의 상대 선량을 각각 측정하였으며, 조사각이 $0^{\circ}$일 때 측정된 선량을 기준으로 하여 $5^{\circ}$ 간격으로 선량의 변화를 측정하고 선량 감쇠율을 계산하였다. Standard exact couch의 광자선 에너지는 6 MV와 10 MV를 사용하였으며 치료테이블의 Rail 위상(In position, Out position)에 따른 상대 선량을 측정하였다. 6D robotic couch는 6 MV와 15 MV의 광자선 에너지를 사용하였다. Standard exact couch의 광자선의 최대 선량차이는 Rail In position에서 6 MV ($175^{\circ}$), 10 MV ($175^{\circ}$)일 때, 선량차이는 각각 16.53%, 12.42%, Out position에서 6 MV ($225^{\circ}$), 10 MV ($225^{\circ}$)일 때, 선량차이는 각각 15.15%, 9.96%였다. 6D robotic couch에서는 6 MV ($130^{\circ}$)와 15 MV ($130^{\circ}$)일 때, 선량차이는 각각 6.82%, 4.92%였다. 본 연구를 통해, 치료테이블의 종류에 따른 선량 감쇠율은 6D robotic couch가 Standard exact couch보다 6 MV에서 조사각 $180^{\circ}$ 기준 약 1% 더 발생함을 확인하였고, Stnadard exact couch인 경우, Sliding rail의 위상(In position, Out position)에 따라 선량 감쇠가 급격히 변화하는 것을 확인하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.1042-1046
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• 1993

This paper describes a control scheme for a robot manipulator system which uses visual information to position and orientate the end-effector. In this scheme, the position and orientation of the target workpiece with respect to the base frame of the robot are assumed to be unknown, but the desired relative position and orientation of the end-effector to the target workpiece are given in advance. The control scheme directly integrates visual data into the servoing process without subdividing the process into determination of the position and orientation of the workpiece and inverse kinematics calculation. A neural network system is used for determining the change in joint angles required in order to achieve the desired position and orientation. The proposed system can be control the robot so that it approach the desired position and orientation from arbitrary initial ones. Simulation for the robot manipulator with six degrees of freedom will be done. The validity and the effectiveness of the proposed control scheme will be verified by computer simulations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.786-791
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• 1992

When a mobile robot moves from one place to another, position error occurs due to the limit of accuracy of robot and the effect of environmental noise. In this paper. an accurate method of estimating the position and orientation of a mobile robot using the camera calibration is proposed. Kalman filter is used as the estimation algorithm. The uncertainty in the position of camera with repect to robot base frame is considered well as the position error of the robot. Besides developing the mathematical model for mobile robot calibration system, the effect of relative position between camera and calibration points is analyzed and the method to select the most accurate calibration points is also presented.