• Journal of the Korean Geotechnical Society
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• v.23 no.6
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• pp.67-76
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• 2007

Raining method has been widely used for preparing sand specimen because of its ability to reconstitute the homogeneous specimen with desired relative density and its reliability established by the numerous experiments on diverse influential factors. In conventional raining methods, adjustment of relative density is achieved by controlling the shutter porosity and the whole system is required to be re-adjusted to achieve the target relative density when the granular characteristics are changed. It is also observed from conventional methods that certain degrees of spatial variation in density exist and the limited range of relative density is reproduced. In this paper, raining system with porous plate is proposed. It is shown that the wide range of relative density can be achieved by controlling failing height only. This enhanced system is able to obviate the subtle control of shutter porosity and minimize the effect of falling distance, which in turn ensures the homogeneity of the specimen, especially for low relative density.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.62 no.12
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• pp.1737-1743
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• 2013

This paper proposes the range and velocity of the object estimation method using a moving camera. Structure and motion (SaM) estimation is to estimate the Euclidean geometry of the object as well as the relative motion between the camera and object. Unlike the previous works, the proposed estimation method can relax the camera and object motion constraints. To this end, we arrange the dynamics of moving camera-moving object relative motion model in an appropriate form such that the nonlinear observer can be employed for the SaM estimation. Through both simulations and experiments we have confirmed the validity of the proposed estimation algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.1
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• pp.39-45
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• 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 Industrial Technology
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• v.18
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• pp.195-202
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• 1998

The effect of the number of nodes on the heat loss from a rectangular fin for a finite difference method is studied. There are two ways for selecting nodes for the upper half fin in this finite difference method. In the first place, all the ${\Delta}x$ are the same and all the ${\Delta}y$ are the same for the entire upper half fin. Incremental length of x (i.e. ${\Delta}x$) is divided by two near the fin tip while all the ${\Delta}y$ are the same for another way. The results show that 1) About 30 nodes are enough to obtain the satisfactory exact analysis (relative error < 5%) on the heat loss for a given range of Biot number in case of short fin (i.e. $L{\leq}2$). 2) Under usual circumstances (Bi<0.1), the relative error of heat loss between using 30 nodes and 90 nodes is within 4% for given range of non-dimensional fin length. 3) The relative error of the calculated heat loss (the number of node=90) as compared to the expected exact heat loss is less then 1.5% for Bi=0.1 and L=10 while that is over 13% for Bi=1.0 and L=10.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.269-272
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• 2003

Industry is now seeing a dramatic increase in robot simulation and off-line programming. In order to use off-line programming effectively, the simulated workcell has to be identical to the real workcell. This requires an efficient and accurate method for the workcell calibration. Currently used techniques in the industry, however, are typically time-consuming, expensive and therefore not suitable for in-process application. This is because most of these techniques are based on the so-called “absolute calibration” method. In contrast to absolute method, relative calibration only measures the difference of an interested object relative to a standard reference. Owing to the small measurement range requirement, relative calibration method is very cheap and can achieve very high accuracy. In this paper the relative method is applied to calibrate an entire grinding workcell. Linear gauge is the only measurement device used. This workcell calibration includes tool center point (TCP) calibration and work object frame calibration. Due to the efficiency of the calibration algorithm and the simplicity of the calibration setup, the described calibration procedure can be done in process.

• Proceedings of the Korea Electromagnetic Engineering Society Conference
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• 2001.11a
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• pp.324-327
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• 2001

In this paper, a 24GHz FMCW radar system which measures the range and the relative velocity of a vehicle in close range is described. The intended ranging accuracy is 15cm and a possible system concept to achieve this objective is presented. The VCO nonlinearity correction method using a reference delay-line and the data extrapolation algorithms based on AR(autoregressive) model are applied. The implemented system shows relatively satisfactory results in ranging accuracy.

• International Journal of Aeronautical and Space Sciences
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• v.16 no.1
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• pp.77-88
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• 2015

The dynamics of relative motion in a perturbed orbital environment are exploited based on Gauss' and Cowell's variational equations. The inertial coordinate frame and relative coordinate frame (Hill frame) are used, and a linear high fidelity model is developed to describe the relative motion. This model takes into account the primary gravitational and atmospheric drag perturbations. Then, this model is used in the design of a navigation, guidance, and control system of a chaser vehicle to approach towards and to depart from a target vehicle in proximity operations. Relative navigation uses an extended Kalman filter based on this relative model to estimate the relative position/velocity of the chaser vehicle with respect to the target vehicle. This filter uses the range and angle measurements of the target relative to the chaser from a simulated LIDAR system. The corresponding measurement models, process noise matrix, and other filter parameters are provided. Numerical simulations are performed to assess the precision of this model with respect to the full nonlinear model. The analyses include the navigation errors and trajectory dispersions.

• Journal of Pharmaceutical Investigation
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• v.38 no.1
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• pp.1-8
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• 2008

Planetary ball mill was used to decrease and control the particle size of excipients. The effects of the weight of sample and the revolution number of mill, and grinding time on the particle size of the ground sample were analyzed by response surface methodology. The optimum conditions for the milling of microcrystalline cellulose were 38.82 g of the weight of sample and 259 rpm of the revolution number of mill, and 45 minutes of grinding time. The predicted value of the particle size at the these conditions was $19.02{\mu}m$, of which the experimental value at the similar conditions was $18.68{\mu}m$. The tensile strength of tablets of single-component powders, such as microcrystalline cellulose, hydroxypropylmethyl cellulose and starch, binary mixtures and ground binary mixtures of these powder were measured at various relative densities. It was found that the logarithm of the tensile strength of the tablets was proportional to the relative density. A simple model, based upon Ryshkewitch-Duckworth equation that was originally proposed for porous materials, has been developed in order to predict the relationship between the tensile strength and relative density of ground binary tablets based on the properties of the constituent single-component powders. The validity of the model has been verified with experimental results for ground binary mixtures. It has demonstrated that this model can well predict the tensile strength of ground binary mixtures based upon the properties of single-component powders, such as true density, and the compositions. When the tensile strength of the mixture of microcrystalline cellulose hydroxypropylmethyl cellulose (90:10) and the ground mixture of them were compared, the tensile strength of the ground mixture decreased widely from 45.3 to 5.6% compared to the mixture in case the relative density of tablets was in the range of $0.7{\sim}0.9$. When the tensile strength of the mixture of microcrystalline cellulose starch (80:20) and the ground mixture of them were compared, the tensile strength of the ground mixture decreased widely from 31.0 to 11.6% compared to the mixture in case the relative density of tablets was in the range of $0.7{\sim}0.9$.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.39 no.3
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• pp.123-132
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• 2021

To determine 3D(three-dimensional) positions using a stereo-camera in close-range photogrammetry, camera calibration to determine not only the interior orientation parameters of each camera but also the relative orientation parameters between the cameras must be preceded. As time passes after performing camera calibration, in the case of non-metric cameras, the interior and relative orientation parameters may change due to internal instability or external factors. In this study, to evaluate the stability of the stereo-camera, not only the stability of two single cameras and a stereo-camera were analyzed, but also the three-dimensional position accuracy was evaluated using checkpoints. As a result of evaluating the stability of two single cameras through three camera calibration experiments over four months, the root mean square error was ±0.001mm, and the root mean square error of the stereo-camera was ±0.012mm ~ ±0.025mm, respectively. In addition, as the results of distance accuracy using the checkpoint were ±1mm, the interior and relative orientation parameters of the stereo-camera were considered stable over that period.

• Journal of the Korean Society of Environmental Restoration Technology
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• v.17 no.5
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• pp.19-28
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• 2014

Given the structure of Korean mountains, it is more appropriate to apply the relative elevation method than the absolute elevation method. However, so far there were not suitable quantitative methodologies to analyze relative elevation, these analytical concepts were difficult to be utilized in urban environmental planning. This study suggested three methods for analyzing relative elevation, and one method for setting the analytical scope of relative elevation by calculating terrain relief. The results showed that the procedure considering 500m radius of each point and standardizing to 30% of the 7th height ridge was the most effective method to extract the local topography. This methodology is the quantitative tool to be able to conserve local important hills and ridges, and apply to fields of urban environmental planning and ecological restoration, especially urban ecological network.