• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.1
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• pp.96-100
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• 2010

In this paper we present a position tracking system that checks the locations of moving targets in real-time. The system confirms that unknown object invades in watch area using 2 infrared sensors and detect the distance from each sensor to object using 4 ultrasonic sensors, and calculate the position of moving object in x-y coordinate. We specially present an algorithm that decide the location of target in case of target is detected in 2 sensors because of radiation beam width of ultrasonic sensor. We established the algorithm to hardware system and tested the system within a laboratory, and confirmed that the designed system tracked an object exactly in real-time.

• Smart Media Journal
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• v.5 no.1
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• pp.122-129
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• 2016

In recent years, the Augmented Reality Technology is improving in order to support the user-oriented interaction depending on growing trend in smart phones. In this paper, we present the Realistic Experience App. Contents which help the smart phone users experience the real situations by using the Object Recognition Technology of the tourist attractions and the users' location information. The developed system pinpoints both the location of the user and that of the tourist spot object through the GPS of the smart phone and the information of Beacon, providing the realistic experience contents about the tourist attraction after estimating the distance and the direction between the user and the place. The Realistic Experience App. Contents are expected not only to impress the culture of Jeju on the tourists but also to increase the potential to uncover the unknown tourist attractions and improve the image of Jeju as one of the best sightseeing cities.

• The Journal of the Acoustical Society of Korea
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• v.22 no.1E
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• pp.11-18
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• 2003

Non-singular boundary element method (BEM) codes are developed in acoustics application. The BEM code is then used to calculate unknown boundary surface normal displacements and surface pressures from known exterior near field pressures. And then the calculated surface normal displacements and surface pressures are again applied to the BEM in forward in order to calculate reconstructed field pressures. The initial exterior near field pressures are very well agreed with the later reconstructed field pressures. Only the same number of boundary surface nodes (1178) are used for the initial exterior pressures which are at first calculated by Finite Element Method (FEM) and BEM. Pseudo-inverse technique is, used for the calculation of the unknown boundary surface normal displacements. The structural object is a tuning fork with 128.4 ㎐ resonant. The boundary element is a quadratic hexahedral element (eight nodes per element).

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.5
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• pp.73-82
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• 1996

In this paper, an efficient algorithm for recognizing and positioning occuluded objects in a two-dimensional plane is presented. Model objects and unknown input image are approximated by polygonal boundaries, which are compactly represented by shape functions of the polygons. The input image is partitioned into measningful segments whose end points are at the locations of possible occlusion - i.e. at concave vertices. Each segment is matched against known model objects by calculating a matching measure, which is defined as the minimum euclidean distance between the shape functions. An O(mm(n+m) algorithm for computing the measure is presentd, where n and m are the number of veritces for a model and an unknown object, respectively. Match results from aprtial segments are combined based on mutual compatibility, then are verified using distance transformation and translation vector to produce the final recognition. The proposed algorithm is invariant under translation and rotation of objects, which has been shown by experimental results.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.12
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• pp.182-189
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• 1999

In this paper, we present an ultrasonic sensor based path planning method using fuzzy logic for obstacle avoidance of an intelligent vehicle in unknown environments. Generally, Robot navigation in unknown terrains is a very complex task difficult to control because of the great amount of imprecise and ambiguous sensor information that has to be considered. In this case, fuzzy logic can satisfactorily deal with such information in quite efficient manner. In this study, we propose two fuzzy logic controller which is composed of steering controller and velocity controller respectively. Our object is to develop a fuzzy controller that can enable a mobile robot to navigate from a start point to a goal point without collisions, in the least possible travel time. The ability and effectiveness for the proposed algorithm will be demonstrated by simulation and expeiment.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.11b
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• pp.306-311
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• 2002

Non-singular boundary element method (BEM) codes are developed in acoustics application. The BEM code is then used to calculate unknown boundary surface normal displacements and surface pressures from known exterior near Held pressures. And then the calculated surface normal displacements and surface pressures are again applied to the BEM in forward in order to calculate reconstructed field pressures. The initial exterior near field pressures are very well agreed with the later reconstructed field pressures. Only the same number of boundary surface nodes (1178) are used far the initial exterior pressures which are initially calculated by Finite Element Method (FEM) and BEM. Pseudo-inverse technique is used for the calculation of the unknown boundary surface normal displacements. The structural object is a tuning fork with 128.4 Hz resonant. The boundary element is a quadratic hexahedral element (eight nodes per element).

• Journal of the Korean Institute of Intelligent Systems
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• v.7 no.3
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• pp.12-20
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• 1997

In this paper, the authors propose a method of stepwise tuning a controller with unknown process properties through! its step response. A fuzzy controller is chosen to achieve this aim. The main object of this paper is to give knowledge for the improvement of the response, under the limited prop erties obtained from the step response of the process. We obtained the adequate tuning method through simulations of many control objects. And the method of selecting optimal sampling period is also shown.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2227-2229
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• 2003

Using the gyro effect, Balance Beam Controller is developed with Samsung Corporation. Balance Beam Controller is possible to control the position of an object in air by controlling the attitude of inner gimbal. But in the unknown load inertia case, even a skilled worker it is not easy to operate a Balance Beam. That is caused by the difficulty to estimate the load inertia. If the amount of the gimbal operation is set excessively with a wrong load estimation, it can often cause accidents. To solve this problem, the control function which is revolving with velocity of the revolution has to be added to developed equipment. In this research, we analyze the characteristics of a Balance Beam(the smaller load inertia, the bigger force of restitution) using the angular velocity sensor, and present constant velocity revolving controller with estimating value of the load using this moving characteristics.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.21 no.4
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• pp.31-38
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• 2022

In this study, we designed and manufactured an intelligent gripper-control device to safely grip unknown objects. The gripper control device consists of a DSP circuit, power supply circuit, communication circuit, and amplifier circuit diagrams. The DSP is used because the values of the 3-axis force sensor to which the gripper is attached are measured and calculated at high speeds. The gripping force is determined based on this value, and the object must be safely gripped with the determined value. A basic characteristic test of the control device of the manufactured intelligent gripper was conducted, and it was confirmed that it operated safely.

• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.16-22
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• 2024

Robotic grasping in unstructured environments poses a significant challenge, demanding precise estimation of gripping positions for diverse and unknown objects. Generative Grasping Convolution Neural Network (GG-CNN) can estimate the position and direction that can be gripped by a robot gripper for an unknown object based on a three-dimensional depth map. Since GG-CNN uses only a depth map as an input, the precision of the depth map is the most critical factor affecting the result. To address the challenge of depth map precision, we integrate the Segment Anything Model renowned for its robust zero-shot performance across various segmentation tasks. We adjust the components corresponding to the segmented areas in the depth map aligned through external calibration. The proposed method was validated on the Cornell dataset and SurgicalKit dataset. Quantitative analysis compared to existing methods showed a 49.8% improvement with the dataset including surgical instruments. The results highlight the practical importance of our approach, especially in scenarios involving thin and metallic objects.