• 한국지능시스템학회논문지
• /
• 제11권6호
• /
• pp.470-476
• /
• 2001

본 논문에서는 미지의 환경에서 동작하는 비전 시스템을 갖는 이동로봇의 경로 계획과 장애물 회피를 위한 새로운 알고리즘을 제안하고자 한다. 목표점에 도달하기 위한 경로계획과 장애물회피를 위해 거리 변화율 기법을 적용하였으며, 소벨연산자를 이용하여 장애물의 윤곽을 추출하였다. 이동로봇의 자율성을 향상시키기 위해 경로 설정과 장애물 회피에 퍼지 규직을 사용하였다. 본 논문에서 제안된 알고리즘을 컴퓨터시뮬레이션을 통해 기존의 벡터장 기법을 이용한것보다 우수하다는것을 알수 있었다. 또한 실효성을 실제로 알아보기 위해 소형 이동로봇을 제작하였으며, 제안된 알고리즘을 탑재하여 실험한 결과 복잡한 주변환경하에서도 좋은 성능을 발휘함을 확인할수 있었다.

• Journal of Welding and Joining
• /
• 제8권1호
• /
• pp.31-42
• /
• 1990

Arc must be stable during welding first of all other factors for obtaining sound weldment, especially in the automation of welding process. Arc stability is somewhat sophisticated phenomenon which is not clearly defined yet. In consumable electrode welding, the voltage and current variation due to metal transfer enables to assess arc stability. Recently, statistical analyses of the voltage and current waveform factors are performed to assess the degress of arc stability which is assessed and controlled by operator's own experience by now. But, considering the increasing need and the trend of automation of welding process, it is necessary to monitor arc stability in real-time. In this sutdy, the modified stability index composed of two voltage and current wvaeform factors (arc time and short circuit time) reduced from four factors (arc time, short circuit time, average arc current and average short circuit current) in Mita's index by the welding electrical circuit modeling is proposed and verified by experiments to be well estimating arc stability in the static sense. Also, the recursive calculation form estimating present arc stability in the dynamic sense is developed for real-time estimation. The results of applying the recursive index during welding show good estimation of arc stability in real-time. Therefore, the results of this study offers the mean for real-time control arc stability.

• 제어로봇시스템학회논문지
• /
• 제2권4호
• /
• pp.324-329
• /
• 1996

In this paper, we present a vision algorithm to extract the tire information markings on the sidewall of tires. Since the appearance of tire marks is the same as its background, a primary feature to distinguish tire marks from their background is the roughness. Generally, the roughness of tire marks is different from that of its bakground: the surface of tire marks is smoother than the backgrounds. Light incident on the tire surface is reflected differently according to the roughness. For smoother surfaces, the surface irradiance is much stronger than that of rough surfaces. Based on these phenomena and observation, we propose an optimal illumination condition based on Torrance-Sparrow reflection model. We also develop an efficient reflectance-ratio based operator to extract the boundary of tire marks. Even with a very simple masking operation, we were able to obtain remarkable boundary extraction results from real experiments using many tires. By explicitly using the surface reflection model to explain the intensity variation on the black tire surface, we demonstrate that a physics-based vision method is powerful and feasible in extracting surface markings on tires.

• 대한기계학회논문집
• /
• 제17권10호
• /
• pp.2467-2474
• /
• 1993

This paper deals with the cantilever subjected to a follower force which is generated by real rocket motor which has linearly decreasing thrust. The cantilever is assumed to be uniform and elastic one, In the theoretical analysis, the tip mass of rocket motor is considered as a rigid body and effects of its dynamic parameters are shown and compared with the experimental results. Particularly, the variation of the 2nd natural frequency due to the decreasing thrust is measured in the experiments and compared with the theoretical estimations. Approximate method is adopted in the theoretical analysis using Galerkin method by introducing 3-element modified operator and modified variable which represent eqation of motion and natural boundary conditions. In general, structural damping effects can be neglected and all the rigid body parameters must be taken into account in case of the short action time of the follower force and the relatively big tip mass like the system of this paper according to the experiment. Good agreement was obtained between the theoretical estimations and the experimental results by neglecting structural damping and considering all the rigid bidy parameters of the tip mass.

• 대한의용생체공학회:학술대회논문집
• /
• 대한의용생체공학회 1997년도 춘계학술대회
• /
• pp.414-417
• /
• 1997

This paper presents vessel contour for extracting features and segmentating narrow blood vessels down to a diameter of two pixels in digital subtraction angiographic image. We present a new tracking algorithm for contour, mainly blood vessels in DSA image, and extracting properties such as their intensities, diameters, and center lines by exploiting spatial continuity. The proposed algorithm comes to detect blood vessel's boundary using difference edge detector one of homogeneity operator and find a next centerline position by direction vector of edge information. This algorithm enhanced variation of vessel's diameter compared to Sun's tracking algorithm and lessoned to compute as direction vector decide adaptively entire vessel's direction field. The processed images are intended to support radiologists in diagnosis, radiation therapy planning, and surgical planning. The algorithm should be useful for automating angiographic analyses of blood vessels.

• International Journal of Naval Architecture and Ocean Engineering
• /
• 제8권1호
• /
• pp.13-21
• /
• 2016

Parametric pitch instability of a Deep Draft Semi-submersible platform (DDS) is investigated in irregular waves. Parametric pitch is a form of parametric instability, which occurs when parameters of a system vary with time and the variation satisfies a certain condition. In previous studies, analyzing of parametric instability is mainly limited to regular waves, whereas the realistic sea conditions are irregular waves. Besides, parametric instability also occurs in irregular waves in some experiments. This study predicts parametric pitch of a Deep Draft Semi-submersible platform in irregular waves. Heave motion of DDS is simulated by wave spectrum and response amplitude operator (RAO). Then Hill equation for DDS pitch motion in irregular waves is derived based on linear-wave theory. By using Bubnov-Galerkin approach to solve Hill equation, the corresponding stability chart is obtained. The differences between regular-waves stability chart and irregular-waves stability chart are compared. Then the sensitivity of wave parameters on DDS parametric pitch in irregular waves is discussed. Based on the discussion, some suggestions for the DDS design are proposed to avoid parametric pitch by choosing appropriate parameters. The results indicate that it's important and necessary to predict DDS parametric pitch in irregular waves during design process.

• 융합보안논문지
• /
• 제7권1호
• /
• pp.1-10
• /
• 2007

의미있는 객체를 배경과 분리하는 영상분할기법은 침입자 경보 시스템, 교통 감시 시스템 등에서 중요한 역할을 담당하며, 일반적으로 공간적 동질성이나 시간적 정보를 이용하는 방법으로 나눌 수 있다. 시간적 정보를 이용하는 방법은 프레임간의 화소값이나 에지성분을 이용한다. 화소값 이용은 간단하며 효과적이나 조명 변화 등이 발생할 경우 움직임 검출이 어렵고 에지성분의 이용은 조명의 영향을 받지 않지만 복잡하며 잡음처리에 어려운 점이 있다. 따라서 본 논문은 카메라가 고정된 감시 시스템에서 화소값 비교와 에지 정보를 이용하여 조명등의 영향을 최소화하는 움직임 객체 추출 방법을 제안한다. 이는 조명변화와 배경영상의 존재여부에 따라 세 가지 움직임 객체 추출 방법을 달리 적용하며, 투영과 형태 처리 연산자를 사용하는 후처리과정을 거친 후 움직임 객체를 추출한다. 모의실험 결과 제안알고리즘은 조명변화가 발생하더라도 객체 추출의 결과가 우수함을 보이고 있다.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2008년도 제39회 하계학술대회
• /
• pp.1172-1173
• /
• 2008

At the moment, the control ability of wind farms is a prime research concern for the grid integration of large wind farms, due to their required active role in the power system. As more wind turbines are installed, the power from wind energy will start to replace conventional generation units and its influence on power systems cannot be neglected. Besides, because of the intermittent nature of wind the output power of wind turbines fluctuates according to wind speed variation. Especially an isolated power system with small capacity such like Jeju needs more systematic solutions and regulations(grid code). This paper presents the idea of approach for centralized operating wind farm strategy to regulate the wind farm power production to the reference power ordered by the system operator. The doubly fed induction generator(DFIG) can control active and reactive power in feasible range. So wind farm comprised of DFIG has the possibility of a controllable component in the power system. The presented wind farm control has a hierarchical structure with both a wind farm control level and a wind turbine control level.

• 대한기계학회논문집B
• /
• 제27권6호
• /
• pp.685-692
• /
• 2003

A numerical simulation of flame propagation in a micro combustor was carried out. Combustor has a sub -millimeter depth cylindrical internal volume and axisymmetric one-dimensional was used to simplify the geometry. Semi-empirical heat transfer model was used to account for the heat loss to the walls during the flame propagation. A detailed chemical kinetics model of $H_2/Air$ with 10 species and 16 reaction steps was used to calculate the combustion. An operator-splitting PISO scheme that is non-iterative, time-dependent, and implicit was used to solve the system of transport equations. The computation was validated for adiabatic flame propagation and showed good agreement with existing results of adiabatic flame propagation. A full simulation including the heat loss model was carried out and results were compared with measurements made at corresponding test conditions. The heat loss that adds its significance at smaller value of combust or height obviously affected the flame propagation speed as final temperature of the burnt gas inside the combustor. Also, the distribution of gas properties such as temperature and species concentration showed wide variation inside the combustor, which affected the evaluation of total work available of the gases.

• 대한후두음성언어의학회지
• /
• 제9권1호
• /
• pp.53-58
• /
• 1998

Objectives : To compare the voice quality and voice problems of untrained professional voice user groups with that of normal control group without voice problem. Materials and Methods : The sustained vowel sounds of 13 male and 36 female teachers, 46 clergies and 15 telephone operators, and 40 normal male and 20 normal female persons were analyzed, using a videostroboscopy and acoustic analyzer. Together with these analyses, a questionnaire associated with risk factors for current and past voice problems was handed over to the patients. Results : The most common symptom in subjective groups was the voice fatigue. In stroboscopic examination, the professional voice user groups shelved functional voice disorder findings regardless of the Intensity of voice use. In the clergy and teacher using loud voice, vocal polyp, vocal nodule and hyperfunction of laryngeal muscle were frequently observed. In the clergy and telephone operator, jitter and shimmer were significantly increased. In the female teacher, the value of jitter, fundamental frequency variation and fundamental frequency were statiscally significant. However, the voice of male teacher showed no significant findings in the acoustic and aerodynamic studies. Conclusion : In the management of voice problems for untrained professional voice user groups, it is important to find the exact causes and patterns of voice problems, and to be individualized the management according to the causes.