• Proceedings of the Korean Society of Laser Processing Conference
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• 2005.06a
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• pp.3-8
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• 2005

The robot systems are widely used in the welding manufacturing. The essential tasks to operate the welding robot are the acquisition of the position and/or shape of the parent metal. For the seam tracking or the robot automation, many kinds of contact and non-contact of the system which monitors the shape of the welding part is described. This system uses the line-type structured laser diode and the visual sensor. It includes the correction of radial distortion which is often found in the image from the camera with short focal length. Direct Linear Transformation (DLT) is used for the camera calibration. The three dimensional shape of the parent metal is obtained after simple linear transformation. Therefore, the system operates in real time. Some experiments are carried out to evaluate the performance of the developed system.

• Smart Media Journal
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• v.11 no.9
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• pp.64-74
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• 2022

A number of studies related to underwater robots are being conducted to utilize marine resources. However, unlike ordinary drones, underwater robots have a problem that it is not easy to locate because the medium is water, not air. The monitoring and positioning program of underwater robots, an existing study for identifying underwater locations, has difficulty in locating and monitoring in small spaces because it aims to be utilized in large spaces. Therefore, in this paper, we propose a three-dimensional positioning program for continuous monitoring and command delivery in small spaces. The proposed program consists of a multi-dimensional positioning monitoring function and a ability to control the path of travel through a three-dimensional screen so that the depth of the underwater robot can be identified. Through the performance evaluation, a robot underwater could be monitored and verified from various angles with a 3D screen, and an error within the assumed range was verified as the difference between the set path and the actual position is within 6.44 m on average.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.6
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• pp.102-109
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• 2014

A particle system is used for modeling the physical phenomenon. There are many traditional ways for simulation modeling which can be well suited for application including the landscapes of branches, clouds, waves, fog, rain, snow and fireworks in the three-dimensional space. In this paper, we present a new fireworks modeling technique for modeling 3D firework based on Firework Particle Tracking (FPT) using the particle system. Our method can track and recognize the launched and exploded particle of fireworks, and extracts relatively accurate 3D positions of the particles using 3D depth values. It can realize 3D simulation by using tracking information such as position, speed, color and life time of the firework particle. We exploit Region of Interest (ROI) for fast particle extraction and the prevention of false particle extraction caused by noise. Moreover, Kalman filter is used to enhance the robustness in launch step. We propose a new fireworks particle tracking method for the efficient tracking of particles by considering maximum moving range and moving direction of particles, and shall show that the 3D speeds of particles can be obtained by finding the rotation angles of fireworks. Also, we carry out the performance evaluation of particle tracking: tracking speed and accuracy for tracking, classification, rotation angle respectively with respect to four types of fireworks: sphere, circle, chrysanthemum and heart.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.285-286
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• 2006

The essential tasks to operate the welding robot are the acquisition of the position and/or shape of the parent metal. For the seam tracking or the robot automation, many kinds of contact and non-contact sensors are used. Recently, the vision sensor is most popular. In this paper, the development of the system which measures the profile of the welding part is described. The total system will be assembled into a compact module which can be attached to the head of welding robot system. This system uses the line-type structured laser diode and the vision sensor It implemented Direct Linear Transformation (DLT) for the camera calibration as well as radial distortion correction. The three dimensional shape of the parent metal is obtained after simple linear transformation and therefore, the system operates in real time. Some experiments are carried out to evaluate the performance of the developed system.

• Journal of Korean Society on Water Environment
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• v.32 no.3
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• pp.243-252
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• 2016

In cases of water pollution accidents, accurate prediction for arrival time and concentration of contaminants in a river is essential to take proper measures and minimize their impact on downstream water intake facilities. It is critical to fully understand the behavior characteristics of contaminants on river surface, especially in case of oil spill accidents. Therefore, in this study, the effects of main parameters of advection and diffusion of contaminants were analyzed and validated by comparing the results of Lagrangian particle tracking (LPT) simulation of Environmental Fluid Dynamic Code (EFDC) model with those of Global Position System (GPS)-equipped drifter experiment. Prevention scenario modeling was accomplished by taking cases of movable weir operation into account. The simulated water level and flow velocity fluctuations agreed well with observations. There was no significant difference in the speed of surface particle movement between 5 and 10 layer modeling. Therefore, 5 layer modeling could be chosen to reduce computational time. It was found that full three dimensional modeling simulated wind effects on surface particle movements more sensitively than depth-averaged two dimensional modeling. The diffusion range of particles was linearly proportional to horizontal diffusivity by sensitivity analysis. Horizontal diffusivity estimated from the results of GPS-equipped drifter experiment was 0.096 m²/sec, which was considered to be valid for applying the LPT module in this area. Finally, the scenario analysis results showed that particle movements could be stagnant when discharge from the upstream weir was reduced, implying the possibility of securing time for mitigation actions such as oil boom installation and wiping oil contaminants. The outcomes of this study can help improve the prediction accuracy of particle tracking simulation to establish the most suitable mitigation plan considering the combination of movable weir operation.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.24 no.6
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• pp.703-709
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• 2015

In this work, a robot aimed at grapping and delivering an object by using a simple finger-pointing command from a hand- or arm-handicapped person is introduced. In this robot system, a Leap Motion sensor is utilized to obtain the finger-motion data of the user. In addition, a Kinect sensor is also used to measure the 3D (Three Dimensional)-position information of the desired object. Once the object is pointed at through the finger pointing of the handicapped user, the exact 3D information of the object is determined using an image processing technique and a coordinate transformation between the Leap Motion and Kinect sensors. It was found that the information obtained is transmitted to the robot controller, and that the robot eventually grabs the target and delivers it to the handicapped person successfully.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.20 no.4
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• pp.401-412
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• 2008

Simulations of three-dimensional numerical wave tank are performed to investigate wave force acting on a large cylindrical structure and consequent wave deformation, which are induced by bore after breaking waves. The numerical model is based on the three-dimensional Navier-Stokes equations with a finite-difference method combined with a volume of fluid(VOF) method, which is capable of tracking the complex free surface, including wave breaking. In order to promote wave breaking of the incident wave, the approach slope was built seaward of the structure with a constant slope and a large cylindrical structure was installed on a flat bed. The incident waves were broken on the approach slope or flat bed by its wave height. In the present study, all waves acting on the large cylindrical structure were limited to breaking bore after wave breaking. The effects of the position of the structure and the incident wave height on the wave force and wave transformations were mainly investigated with the concern of wave breaking. Further, the relations between the variation of wave energy by wave propagation after wave breaking and wave force acting on the structure were discussed to give the understanding of the full-linear wave-structure interactions in three-dimensional wave fields.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.26 no.4
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• pp.360-364
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• 1990

To testy time division scheme, we performed some experiments in a circular water tank(13m in diameter and 1m deep). A result of that is shown in figure 4. The 2-dimensional position of the pinger was calculated by the method of hyperbolic line of position calculation. The resolution of the time difference on the base line is 2.5cm. In experiments, the multiple pingers of a single frequency were distinguished and tracked successfully. When the experiment is carried out in the water tank, some multi-path pulses always occur. To delete it, several 10 ms of time delay is inserted onto the program after a group of the normal signals are received. Some normal pulses are not received by the time delay, however there is no problem, practically, for the distinction and the tracking of the pulse. In 2-dimensional positioning, the pinger position can be calculated with three hydrophones. However, if four hydrophones are available, the positioning accuracy will be higher than three hydrophones only by some techniques. Another good feature of the use of four hydrophones is that the positioning of the pinger is capable if a hydrophone fails in receiving them. We also tested this distinguishing method in the field using another type pingers(APPENDIXA).

• Journal of the Korea Society of Computer and Information
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• v.28 no.1
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• pp.49-54
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• 2023

The Global Positioning System (GPS) was developed for military purposes and developed as it is today by opening civilian signals (GPS L1 frequency C/A signals). The current satellite orbits the earth about twice a day to measure the position, and receives more than 3 satellite signals (initially, 4 to calculate even the time error). The three-dimensional position of the ground receiver is determined using the data from the radio wave departure time to the radio wave Time of Arrival(TOA) of the received satellite signal through trilateration. In the case of navigation using GPS in recent years, a location error of 5 to 10 m usually occurs, and quite a lot of areas, such as apartments, indoors, tunnels, factory areas, and mountainous areas, exist as blind spots or neutralized areas outside the error range of GPS. Therefore, in order to acquire one's own location information in an area where GPS satellite signal reception is impossible, another method should be proposed. In this study, IMU(Inertial Measurement Unit) combined with an acceleration and gyro sensor and a geomagnetic sensor were used to design a system to enable location recognition even in terrain where GPS signal reception is impossible. A method to track the current position by calculating the instantaneous velocity value using a 9-DOF IMU and a geomagnetic sensor was studied, and its feasibility was verified through production and experimentation.

• The Journal of the Korea Contents Association
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• v.21 no.3
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• pp.1-9
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• 2021

The hologram pyramid is an application of floating holograms, allowing the observer to see three-dimensional holograms from various angles without wearing wearable devices. Due to the low cost and ease of manufacturing, it has been used in a wide variety of fields as diverse as education, prototyping, showcase, and etc. But, when the observer looks at the hologram from the place where each side of the hologram pyramid is connected, the hologram looks cut and distorted. Also, the observer can see the only hologram of angles viewed head-on from each side. In this paper, we propose a method of generating a hologram image corresponding to the observer's gaze angle by tracking the observer's position and conducting reverse distortion. It provide a hologram of the angle viewed by the observer without cutting and distortion. In addition, the existing method and the proposed method were applied and compared in the hologram pyramid.