• Journal of the Korean Society for Precision Engineering
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• v.30 no.1
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• pp.18-23
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• 2013

Omni-directional robot is a typical holonomic constraint robot that has three degrees of freedom movement in 2D plane. In this study, a new omni-directional robot whose wheels are arranged in radial directions was proposed to improve driving performance of the robot. Unlike a general omni-directional robot whose wheels were arranged in a circumferential direction, moments do not arises in the proposed robot when the robot travels in a straight line. To analyze driving performance, dynamic modeling of the omni-directional robot, which considers friction and slip, was carried out. By friction measurement experiments, the relationship between dynamic friction coefficient and relative velocity was derived. Dynamic friction coefficient according to the angle difference between robot travel direction and wheel rotation direction was also obtained. By applying these results to the dynamic model, driving performance of the robot was calculated. As a result, the proposed robot was 1.5 times faster than the general robot.

• Structural Engineering and Mechanics
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• v.57 no.5
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• pp.809-821
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• 2016

Concentric-tube continuum robots have formed an active field of research in robotics because of their manipulative exquisiteness essential to facilitate delicate surgical procedures. A set of concentric tubes with designed initial curvatures comprises a robot whose workspace can be controlled by relative translations and rotations of the tubes. Kinematic models have been widely used to predict the movement of the robot, but they are incapable of describing its time-dependent hysteretic behaviors accurately particularly when snapping occurs. To overcome this limitation, here we present a finite element modeling approach to investigating the dynamics of concentric-tube continuum robots. In our model, each tube is discretized using MITC shell elements and its transient responses are computed implicitly using the Bathe time integration method. Inter-tube contacts, the key actuation mechanism of this robot, are modeled using the constraint function method with contact damping to capture the hysteresis in robot trajectories. Performance of the proposed method is demonstrated by analyzing three specifications of two-tube robots including the one exhibiting snapping phenomena while the method can be applied to multiple-tube robots as well.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.6
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• pp.2859-2872
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• 2019

Interference alignment (IA) has been a powerful approach to achieve the maximum degree of freedom (DoF) for K users multiple-input-multiple-output (MIMO) interference channels. However, due to the feasibility constraint, aligning all the interference signals at each receiver is impractical for large K without symbol extension. In this paper, we propose two best-effort interference alignment (BEIA) schemes that the network selects the maximum number of interfering transmitters to align their signals given the feasibility conditions when each transmitter-receiver pair has a constant number of data streams. Besides, in case of not all interfering signals aligned at each receiver, an upper bound of the average throughput is derived. Simulation results show that the proposed schemes have superiority over the traditional methods, such as time division multiple access (TDMA) and cluster IA(CIA), in low and moderate signal-to-noise ratio (SNR) region in terms of average user throughput. In addition, the proposed max-min relative interference distance alignment scheme outperforms the proposed scheme of equal interfering transmitters number alignment in terms of both average user throughput and minimum user throughput.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.1C
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• pp.83-91
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• 2004

An epipolar rectification is the process of transforming the epipolar geometry of a pair of images into a canonical form. This is accomplished by applying a homography to each image that maps the epipole to a predetermined point. In this process, rectified images transformed by homographies must be satisfied with the epipolar constraint. These homographies are not unique, however, we find out homographies that are suited to system's purpose by means of an additive constraint. Since the rectified image pair be a stereo image pair, we are able to find the disparity efficiently. Therefore, we are able to estimate the three-dimensional information of objects within an image and apply this information to object segmentation. This paper proposes a rectification method for object segmentation and applies the rectification result to the object segmentation. Using color and relative continuity of disparity for the object segmentation, the drawbacks of previous segmentation method, which are that the object is segmented to several region because of having different color information or another object is merged into one because of having similar color information, are complemented. Experimental result shows that the disparity of result image of proposed rectification method have continuity about unique object. Therefore we have confirmed that our rectification method is suitable to the object segmentation.

• 한국해양학회지
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• v.30 no.6
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• pp.543-549
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• 1995

The inverse method has been used to estimate a surface velocity field from sequential AVHRR/SST data. In the model, equation system was composed of heat equation and horizontal divergence minimization and the velocity field contained in the advective term of the heat equation, which was linearized in grid system, was estimated. A constraint was the minimization of horizontal divergence with weighting factor and introduced to compensate the null space(Menke, 1984) of the velocity solutions for the heat equation. The experiments were carried out to set up the range of weighting factor and the matrix equation was solved by SVD(Singular Value Decomposion). In the experiment, the scales of horizontal temperature gradient and divergence of synthetic velocity field were approximated to those of real field. The neglected diffusive effect and the horizontal variation of heat flux in the heat equation were regarded as random temperature errors. According to the result of experiments, the minimum of relative error was more desirable than the minimum of misfit as the criteria of setting up the weighting factor and the error of estimated velocity field became small when the weighting factor was order of $10^{-1}$

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1845-1848
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• 2005

The automatic $CO_2$ welding is a manufacturing process to produce high quality joints for metal and it could provide a capability of full automation to enhance productivity. Despite the widespread use in the various manufacturing industries, the full automation of the robotic $CO_2$ welding has not yet been achieved partly because the mathematical model for the process parameters of a given welding task is not fully understood and quantified. Several mathematical models to control welding quality, productivity, microstructure and weld properties in arc welding processes have been studied. However, it is not an easy task to apply them to the various practical situations because the relationship between the process parameters and the bead geometry is non-linear and also they are usually dependent on the specific experimental results. Practically, it is difficult, but important to know how to establish a mathematical model that can predict the result of the actual welding process and how to select the optimum welding condition under a certain constraint. In this research, an attempt has been made to develop an intelligent algorithm to predict the weld geometry (top-bead width, top-bead height, back-bead width and back-bead height) as a function of key process parameters in the robotic $CO_2$welding. A sensitivity analysis has been conducted and compared the relative impact of three process parameters on bead geometry in order to verify the measurement errors on the values of the uncertainty in estimated parameters.

• KIPS Transactions on Software and Data Engineering
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• v.4 no.4
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• pp.177-186
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• 2015

For data fusion of laser range finder (LRF) and vision camera, accurate calibration of external parameters which describe relative pose between two sensors is necessary. This paper proposes a new calibration method which can acquires more accurate external parameters between a LRF and a vision camera compared to other existing methods. The main motivation of the proposed method is that any corner data of a known 3D structure which is acquired by the LRF should be projected on a straight line in the camera image. To satisfy such constraint, we propose a 3D geometric model and a numerical solution to minimize the energy function of the model. In addition, we describe the implementation steps of the data acquisition of LRF and camera images which are necessary in accurate calibration results. In the experiment results, it is shown that the performance of the proposed method are better in terms of accuracy compared to other conventional methods.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.1
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• pp.20-28
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• 2014

In this paper, based on the characteristics of proportional navigation, a composite guidance law is proposed for impact angle control of passive homing missiles maintaining the lock-on condition of the seeker. The proposed law is composed of two guidance commands: the first command is to keep the look angle constant after converging to the specific look angle of the seeker, and the second is to impact the target with terminal angle constraint and is implemented after satisfying the specific line of sight(LOS) angle. Because the proposed law considers the seeker's filed-of-view(FOV) and acceleration limits simultaneously and requires neither time-to-go estimation nor relative range information, it can be easily applied to passive homing missiles. The performance and characteristics of the proposed law are investigated through nonlinear simulations with various engagement conditions.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.23 no.2
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• pp.139-152
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• 2010

This study presents graphic-user interface computer program for optimal compensation of differential column shortening with high field applicability. The implemented system can perform both relative and mixed compensation while satisfying both performance and construction constraints. In the proposed system the shape of the structure before and after compensation can be checked graphically, and the results of compensation of each stories can be printed in drawings which can be directly used as the report of column shortening. The field-applicability of the implemented system was verified by applying it to the four reinforced concrete residental buildings of 61, 42, 49 and 53 stories where compensation of differential column shortening had already been performed. Using the implemented system, compensation can be performed easily with the various constraint conditions and was able to acquire rational compensation results for the cases where conventional method was not successful.

• Korean Journal of Construction Engineering and Management
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• v.11 no.2
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• pp.74-82
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• 2010

A government agency has been announced to increase 23,663 hundred million wons by cost of design change which occurred in the pre-construction and construction phase. As design change is a phenomenon to occur by means of a characteristic of the building design that standardization is difficult, even if it is said that a perfect design is done in design phase, design change is prevented, and it is going to decrease, and there is a limit. Because there are some causes in all of the construction project, it is change order of client, relative system, unfit design and field condition, etc. In this study, we are suggested logic and basic model of the decision making support process model that it should selecting the optimal alternative through complex and quantitative analyzed: that is cost, performance and constructability as respect Owner or CMr is executing project under the CM delivery system construction project which it occurred design change.