• The KIPS Transactions:PartD
• /
• v.10D no.2
• /
• pp.337-342
• /
• 2003

In this paper, a web based remote control system located at too dangerous field to access for the worker. The system was designed and implemented for three-dimensional stereo camera connected to web server which can be controlled easily by client side person working in the safe monitoring room. The user in the client side can control the vergence/focus control and zoom-in/out and pan/tilt functions through an user interface. The user interface for remote control environment was designed and implemented with Java applet mechanism, and was tested the operation result of the system.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.10 no.7
• /
• pp.793-800
• /
• 2015

We presented a method to perform simultaneously both head-eye calibration and wheel calibration for a mobile robot that has a stereo camera mounted on the pan-tilt mechanism. Such a mobile robot system prevails recently. However, conventional methods are not applicable to this system because they assumed that camera systems were mounted on fixed structures. Building on conventional methods, we devised an iterative linear solution to solve the problem, and achieved satisfactory results in terms of accuracy in addition to efficiency due to simultaneous calibration. Furthermore, the calibration accuracy was improved by nonlinear optimization.

• Journal of Drive and Control
• /
• v.11 no.3
• /
• pp.31-40
• /
• 2014

This paper proposes a multi absorbing wave energy converter design, in which a hydrostatic transmission is used to transfer wave energy to electric energy. The most important feature of this system is its combination of the pressure coupling principle with the use of a hydraulic accumulator to eliminate the effects of wave power fluctuation; this maintains a constant speed of the hydraulic motor. Tilt motion of a floating buoy was employed as the power take-off mechanism. Furthermore, a PID controller was designed to carry out the speed control of the hydraulic motor. The design offers some advantages such as extending the life of the hydraulic components, increasing the amount of energy harvested, and stabilizing the output speed.

• Journal of Aerospace System Engineering
• /
• v.12 no.3
• /
• pp.9-17
• /
• 2018

For Earth observation, a small satellite camera has relatively weak structural stability compared to medium-sized satellite, resulting in misalignment of optical components due to severe launching and space environments. These alignment errors can deteriorate the optical performance of satellite cameras. In this study, we proposed a 3-axis focus mechanism to compensate misalignment in a small satellite camera. This mechanism consists of three piezo-electric actuators to perform x-axis and y-axis tilt with de-space compensation. Design requirements for the focus mechanism were derived from the design of the Schmidt-Cassegrain target optical system. To compensate the misalignment of the secondary mirror (M2), the focus mechanism was installed just behind the M2 to control the 3-axis movement of M2. In this case, flexure design with Box-Behnken test plan was used to minimize optical degradation due to wave front error. The wave front error was analyzed using ANSYS. The fabricated focus mechanism demonstrated excellent servo performance in experiments with PID servo control.

• Journal of Korean Neurosurgical Society
• /
• v.57 no.3
• /
• pp.178-184
• /
• 2015

Objective : Posterior vertebral translation as a type of spondylolisthesis, retrolisthesis is observed commonly in patients with degenerative spinal problems. Nevertheless, there is insufficient literature on retrolisthesis compared to anterolisthesis. The purpose of this study is to clarify the clinical features of retrolisthesis, and its developmental mechanism associated with a compensatory role in sagittal imbalance of the lumbar spine. Methods : From 2003 to 2012, 230 Korean patients who underwent spinal surgery in our department under the impression of degenerative lumbar spinal disease were enrolled. All participants were divided into four groups : 35 patients with retrolisthesis (group R), 32 patients with simultaneous retrolisthesis and anterolisthesis (group R+A), 76 patients with anterolisthesis (group A), and 87 patients with non-translation (group N). The clinical features and the sagittal parameters related to retrolisthesis were retrospectively analyzed based on the patients' medical records. Results : There were different clinical features and developmental mechanisms between retrolisthesis and anterolisthesis. The location of retrolisthesis was affected by the presence of simultaneous anterolisthesis, even though it predominantly manifest in L3. The relative lower pelvic incidence, pelvic tilt, and lumbar lordosis compared to anterolisthesis were related to the generation of retrolisthesis, with the opposite observations of patients with anterolisthesis. Conclusion : Retrolisthesis acts as a compensatory mechanism for moving the gravity axis posteriorly for sagittal imbalance in the lumbar spine under low pelvic incidence and insufficient intra-spinal compensation.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.21 no.3
• /
• pp.479-486
• /
• 2012

This paper presents a high-speed automatic micro-alignment system that is a part of an inspection machine for small-sized molded lenses of mobile phones, palm-top computers, and so on. This work was motivated by the shortcomings of existing highest-grade commercial machine. A simple tip/tilt/Z parallel mechanism is designed based on kinematic couplings, which is a 3-degree-of-freedom (3-DOF) moderate-cost alignment stage. It is used to automatically adjust the posture of each lens on the tray, which is impossible by the conventional instrument. Amplified piezoelectric actuators are used to ensure the accuracy and dynamic response. Forward kinematic analysis and simulation show that the parasitic motion is small enough compared to the actuator stroke. From the workspace analysis of the moving platform, it is clear that the output motion range satisfies the design requirements.

• Journal of the Korea institute for structural maintenance and inspection
• /
• v.16 no.6
• /
• pp.134-142
• /
• 2012

This paper presents a study of system identification on the tilt response of the L-type retaining wall located at Tanhyun 11th ACE Apartment, Ilsan in order to understand mechanism how the structure behaves in operational conditions and to provide a reference tilt values for assessing structural abnormality. The retaining wall was extraordinarily tall (14m) in urban area so the long-term monitoring system had been installed with 3 tilts-meters and 9 temperature sensors operational from Oct 2004 upto Nov 2007. By using 5-months continuous data in which all the 12 channels were up and running, the two prediction models, 1) the linear model, and 2) the state-space equation (SSE) model, have been identified by finding the best fitness model among all possible 511 combinations of input temperatures out of the 9 temperatures. The linear model which was simple in the model structure achieved the validation fittness of 68% due to the fact that the static model wasn't able to represent thermal dynamics. The SSE model achieved the validation fitness of 90% which was quite accurate considering various unexpected noises happening in field measurements.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.34.5-34
• /
• 2002

In this paper we propose a new method for modeling indoor environment with stereo camera and suggest a localization method for mobile robot navigation on the basis of it. From the viewpoint of easiness in map building and exclusion of artificiality, the main idea of this paper is that environment is represented as global topological map and each node has omni-directional metric and color information by using stereo camera and pan/tilt mechanism. We use the depth and color information itself in image pixel as feature for environmental abstraction. In addition, we use only the depth and color information at horizontal centerline in image, where optical axis is passing. The usefulness of this m...

• The Journal of Korea Robotics Society
• /
• v.3 no.2
• /
• pp.99-105
• /
• 2008

To achieve autonomous mobile robot navigation, accurate localization technique is the fundamental issue that should be addressed. In augmented reality, the position of a user is required for location-based services. This paper presents indoor localization using infrared reflective artificial landmarks. In order to minimize the disturbance to the user and to provide the ease of installation, the passive landmarks are used. The landmarks are made of coated film which reflects the infrared light efficiently. Infrared light is not visible, but the camera can capture the reflected infrared light. Once the artificial landmark is identified, the camera's relative position/orientation is estimated with respect to the landmark. In order to reduce the number of the required artificial landmarks for a given environment, the pan/tilt mechanism is developed together with the distortion correction algorithm.

• Proceedings of the KSR Conference
• /
• 2008.06a
• /
• pp.2151-2155
• /
• 2008

The tilting train express (TTX) is able to tilt its body toward to the center of the turning radius on curved railways. TTX can travel at higher speed than the existing normal railway vehicles due to the tilting mechanism decreasing centrifugal force. Also, a new suspension system is required for TTX which has proper stiffness constants and damping ratios because it has different suspension characteristics with the others. Therefore, the suspension systems need to be optimized to maximize dynamic characteristic of the railway vehicle. To optimize the dynamic characteristics of TTX, sensitivity analysis should be onde to identify design variables. In this paper, Design of Experiments(DOE) is used for the sensitivity analysis of TTX.