• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.178-180
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• 2006

In general, camera calibration has to be gone ahead necessarily to estimate a position and an orientation of the object exactly using a camera. Autonomous land system in order to run a vehicle autonomously needs a camera calibration method appling a camera and various road environment. Camera calibration is to prescribe the confrontation relation between third dimension space and the image plane. It means to find camera calibration parameters. Camera calibration parameters using the paved road and the unpaved road are estimated. The proposed algorithm has been detected through the image processing after obtaining the paved road and the unpaved road. There is able to detect easily edges because the road lanes exist in the raved road. Image processing method is two. One is a method on the paved road. Image is segmentalized using open, dilation, and erosion. The other is a method on the unpaved road. Edges are detected using blur and sharpening. So it has been made use of Hough transformation in order to detect the correct straight line because it has less error than least-square method. In addition to, this thesis has been used vanishing point' principle. an algorithm suggests camera calibration method using Hough transformation and vanishing point. When the algorithm was applied, the result of focal length was about 10.7[mm] and RMS errors of rotation were 0.10913 and 0.11476 ranges. these have the stabilized ranges comparatively. This shows that this algorithm can be applied to camera calibration on the raved and unpaved road.

• Water Engineering Research
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• 제5권2호
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• pp.55-68
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• 2004

The GLEAMS (Groundwater Loading Effects of Agricultural Management System, version 3.0) water quality model was used to predict hydrology and water quality and to evaluate the effects of soil types from a cattle-grazed pasture field of Bermuda-Rye grass rotation with poultry litter application as a fertilizer in North Alabama. The model was applied and evaluated by using four years (1999-2002) of field-measured data to compare the simulated results for the 2.71- ha Summerford watershed. $R^2$ values between observed and simulated runoff, sediment yields, TN, and TP were 0.91, 0.86, 0.95, and 0.69, respectively. EI (Efficiency Index) of these parameters were 0.86, 0.67, 0.70, and 0.48, respectively. The statistical parameters indicated that GLEAMS provided a reasonable estimation of the runoff, sediment yield, and nutrient losses at the studied watershed. The soil infiltration rates were compared with the rainfall events. Only high intensity rainfall events generated runoff from the watershed. The measured and predicted infiltration rates were higher during dry soil conditions than wet soil conditions. The ratio of runoff to precipitation was ranging from 2.2% to 8.8% with average of 4.3%. This shows that the project site had high infiltration and evapotranspiration which generated the low runoff. The ratio of runoff to precipitation according to soil types by the GLEAMS model appeared that Sa (Sequatchie fine sandy loam) soil type was higher and Wc (Waynesboro fine sandy loam, severely eroded rolling phase) soil type relatively lower than the weighted average of the soil types in the watershed. The model under-predicted runoff, sediment yields, TN, and TP in Wb (Waynesboro fine sandy loam, eroded undulating phase) and Wc soil types. General tendency of the predicted data was similar for all soil types. The model predicted the highest runoff in Sa soil type by 105% of the weighted average and the lowest runoff in Wc soil type by 87% of the weighted average

• 지구물리와물리탐사
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• 제18권3호
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• pp.133-142
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• 2015

지구대기압력이 지각에 변위를 일으키는 현상은 오래 전부터 인식되었으며, 근래의 측지-측량, 특히 우주측지에서 이의 정확한 산정이 필요하게 되었다. 육지에서의 대기 하중에 의한 변형은 주어진 대기압 분포와 하중함수로부터 바로 계산할 수 있으며, 해양에 근접한 지역에서는 근사적인 모델이 사용되고 있다. 지구 대기대순환의 변화와 계절별 지구 양반구에서의 대기압의 분포의 변화들이 각각 지구자전속도 변화와 극운동의 가장 큰 요인으로 알려져 있으며, 바람과 대기압의 변화는 여러 주기영역에서 지구상의 지점들의 좌표의 섭동 및 지구자전상태의 큰 변화 요인이 되고 있다. 본 연구에서는 이와 같은 현상들을 기술하며 관련된 이론과 모델들을 요약하고, 또한 한반도를 지나가는 가상적인 태풍에 의한 효과를 예시하였다. 마지막으로 관련된 몇몇 문제점들과 향후 연구방향을 논의하였다.

• 전자공학회논문지S
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• 제36S권11호
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• pp.79-88
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• 1999

본 논문은 움직이는 물체가 존재하는 영상열에서 특정 물체만을 계속 추적하고자 하는 방법을 제안하였다. 밝기값과 동작(motion)경계점에 기반을 둔 윤곽선(contour) 추적 알고리즘을 이용하였다. 영상에서 움직이는 물체의 윤곽선의 동작은 이동, 회전, 크기변화를 나타내는 아핀 동작 모델에 의해 잘 묘사되어짐을 가정한다. 움직이는 물체의 윤곽선은 영상열을 따라 추정되는 B-스플라인에 의해 위치와 동작이 표현된다. 패턴인식을 이용하여 추적하고자하는 물체인지를 판별한다. 선형 칼만 필터를 사용하기 위해 아핀 동작 매개변수와 움직이는 물체의 윤곽선 모양(shape)의 두 필터로 추정과정을 나누었다. 차량계기판을 대상으로 한 실험영상에서 이 방법을 이용하여 방해물체가 존재하는 경우에도 안정된 동작의 추정과 추적된 궤적의 획득이 가능함을 보였다.

• Journal of Advanced Marine Engineering and Technology
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• 제17권5호
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• pp.44-53
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• 1993

In this paper, we discuss on the control algorithm to make the wheeled inverse pendulum type mobile robot move in two dimensional plane. The robot considered in this paper has two independently driven wheels in same axel which suport and move it-self, and is assumed to have the fyro type sensor to know the inclination algle of the body and rotary encoders to know wheel's rotation angular velocity. The control algorithm is divided into three parts. The first part is for the posture and velocity control for forward-backward direction, the second is the steering control, and the last part is for the control of total system to track the given trajectory. We handle the running velocity control of the robot as part of the posture control to keep the balance because the posture relates deeply with the velocity and can be controlled by the velocities of the wheels. The control problem is analyzed as the tracking control, and the controller is realized with the state feedback and feed-forward of the reference velocity. Constructing the control system which contained one intergrator in forward path, we also realized the control system without observer for the estimation of the accumulated errors in the inclination angle of the body. To prevent the robot from being unstable state by sudden variation of the reference velocity when it starts and stops, or changes velocity, the reference velocity of which acceleration is slowly changing, is ordered to the robot. To control its steering, we give the different reference velocities for both wheels which are calculated from the desired angular velocity of the body. Finally, we presents the experimental results of the experimental robot Yamabico Kurara in which the proposed control algorithm had been implemented.

• 한국수자원학회:학술대회논문집
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• 한국수자원학회 2011년도 학술발표회
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• pp.176-176
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• 2011

환형수조는 점착성 퇴적물의 이송특성 연구를 위해 가장 선호되는 실험 장치로 알려져 있다. 과거 많은 연구자들은 퇴적물의 이송특성, 특히 침식/퇴적 특성 조사를 위해 주로 수로를 이용한 실험적 연구를 수행하였는데, 최초의 실험적 연구들은 주로 직선수조에서 수행되었다. 그러나 입자간의 응집이 중요한 역할을 하는 점착성 퇴적물의 경우에, 직선수조 끝단에서의 자유낙하 및 재순환 펌프의 날개에 의해 응집된 토사가 쉽게 분리될 수 있어 그 타당성이 의문시 되어 왔으며, 이러한 단점을 보완하기 위해 환형수조가 고안되었다. 환형수조는 수면과 접하여 회전하는 상부링의 마찰력에 의해 흐름이 생성되기 때문에 시간의 제약 없이 흐름조건을 동일하게 만들 수 있다는 큰 장점을 갖는다. 그러나 환형수조는 원주유속의 속도차이 및 원심력으로 인한 2차 순환류를 형성시켜 반경 방향(radial direction)에서의 바닥전단응력을 불균일하게 하는 단점을 갖는다. 이러한 2차 순환류와 바닥전단응력의 불균일을 저감시키기 위하여 환형수조의 몸체를 상부링의 회전 방향과 역방향으로 직접 회전시키는 방법이 채택되어져 왔다. 한편, 환형수조의 상부링과 몸체를 서로 역방향으로 동시에 회전시키는 양방향 회전(counter-rotation)의 적용을 위해서는 2차 순환류가 최소가 되며 바닥전단응력이 균일해지는 최적 회전속도비에 대한 분석은 필수적 사항이다. 이를 위하여, 상부링과 몸체의 회전속도에 따라 변화하는 수조내부의 흐름특성 및 평균바닥전단응력에 대한 연구가 선행되어야만 한다. 이에 본 연구에서는 전산유체역학을 이용하여 전북대에 설치된 환형수조의 상부링과 몸체의 회전속도에 따라 변화하는 수조내부에서의 흐름특성 및 바닥전단응력에 대한 분석이 수행되었다. 또한, 이를 기초로, 환형수조의 최적 회전속도비 산출을 위한 연구가 수행 중에 있다. 이러한 결과들은 추후 환형수조를 이용한 점착성 퇴적물의 침식/퇴적 등과 같은 이송특성 연구시, 퇴적물에 작용하는 흐름조건의 정밀산정을 위한 기초자료로 활용될 수 있을 것이다.

• 한국자동차공학회논문집
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• 제25권2호
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• pp.179-189
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• 2017

This paper is the fifth investigation on the methods of evaluating flow characteristics in a steady flow bench. In previous studies, several assumptions used in the steady flow bench were examined and it was concluded that the assumption of the solid rotation may lead to serious problems. In addition, though the velocity profiles were improved as the measuring position went downstream, the distributions were far from ideal regardless of the valve angle and evaluation position. The eccentricities were also not sufficiently small to disregard the effect on impulse swirl meter (ISM) measurement. Therefore, the effect of these distribution and eccentricity changes according to the positions needs to be analyzed to discuss the method of flow characteristics estimation. In this context, the effects of evaluation position on the steady flow characteristics were studied. For this purpose, the swirl coefficient and swirl ratio were assessed and compared via measurement of the conventional ISM and calculation based on the velocity by particle image velocimetry(PIV) from 1.75B, 1.75 times bore position apart from the cylinder head, to the 6.00B position. The results show that the swirl coefficients by ISM strictly decrease and the curves as a function of the valve lift become smooth and linear as the measuring position goes downstream. However, the values through the calculation based on the PIV are higher at the farther position due to the approach of the tangential velocity profile to ideal. In addition, there exists an offset effect between the velocity distribution and eccentricity in the low valve lift range when the coefficients are estimated based on the swirl center. Finally, the curve of the swirl ratio by ISM and by PIV evaluation as a function the measuring position intersect around 5.00B plane except at $26^{\circ}$ valve angle.

• 한국컴퓨터정보학회논문지
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• 제13권6호
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• pp.155-162
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• 2008

과일의 품질은 여러가지 파라미터에 의해 측정되며, 크기를 측정하기 위한 선과시스템은 회전 드럼식 방식이 사용되며 크기 등급을 선별할 때 과실의 손상이 발생된다. 또한, 당도측정을 위해 사용되는 광검출기는 고가의 선별장비 비용을 초래한다. 제안한 시스템에서는 과일의 특징을 추출하기 위해 3대의 카메라를 이용하였으며, 과일 선별을 위해부피와숙성도정보를사용하므로당도 자체는 측정할 수없지만색상과파손의정보를검출할수있으므로 고해상도의 디지털영상이 필요치 않아 저렴한 비용으로 선과시스템을 개발하였다. 제안한 시스템의 성능평가를 위해 인간의 시각판단과 비교하여 샘플을 분류한 결과 약 96.7%의 정확도를 나타내었다.

• International Journal of Control, Automation, and Systems
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• 제4권3호
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• pp.325-332
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• 2006

The dynamic responses of human standing postural control were investigated when subjects were exposed to long-term horizontal vibration. It was hypothesized that the motion of standing posture complexity mainly occurs in the mid-sagittal plane. The motor-driven support platform was designed as a source of vibration. The AC Servo-controlled motors produced anterior/posterior (AP) motion. The platform acceleration and the trunk angular velocity were used as the input and the output of the system, respectively. A method was proposed to identify the complexity of the standing posture dynamics. That is, during AP platform motion, the subject's knee, hip and neck were tightly constrained by fixing assembly, so the lower extremity, trunk and head of the subject's body were individually immovable. Through this method, it was assumed that the ankle joint rotation mainly contributed to maintaining their body balance. Four subjects took part in this study. During the experiment, the random vibration was generated at a magnitude of $0.44m/s^2$, and the duration of each trial was 40 seconds. Measured data were estimated by the coherence function and the frequency response function for analyzing the dynamic behavior of standing control over a frequency range from 0.2 to 3 Hz. Significant coherence values were found above 0.5 Hz. The estimation of frequency response function revealed the dominant resonance frequencies between 0.60 Hz and 0.68 Hz. On the basis of our results illustrated here, the linear model of standing postural control was further concluded.

• Computers and Concrete
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• 제20권4호
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• pp.369-380
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• 2017

The effects of the vertical component of a ground motion on the earthquake performances of semi-ductile high-rise R/C structures were investigated in the present study. Linear and non-linear time-history analyses were conducted on an existing in-service R/C building for the loading scenarios including and excluding the vertical component of the ground motion. The ratio of the vertical peak acceleration to the horizontal peak acceleration (V/H) of the ground motion was adopted as the main parameter of the study. Three different near-source earthquake records with varying V/H ratio were used in the analyses. The linear time-history analyses indicated that the incorporation of the vertical component of a ground motion into analyses greatly influences the vertical deflections of a structure and the overturning moments at its base. The lateral deflections, the angles of rotation and the base shear forces were influenced to a lesser extent. Considering the key indicators of vertical deflection and overturning moments determined from the linear time-history analysis, the non-linear analyses revealed that the changes in the forces and deformations of the structure with the inclusion of the vertical ground motion are resisted by the shear-walls. The performances and damage states of the beams were not affected by the vertical ground motion. The vertical ground motion component of earthquakes is markedly concluded to be considered for design and damage estimation of the vertical load-bearing elements of the shear-walls and columns.