• Journal of Institute of Control, Robotics and Systems
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• v.13 no.10
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• pp.956-961
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• 2007

We propose a new distance measurement method and local positioning system for the autonomous mobile robots localization. The distance measurement method is able to measure long-range distances with a high accuracy by using ultrasonic sensors. The time of flight of the ultrasonic waves include various noises is calculated accurately by the proposed period detecting method. The proposed local positioning system is composed of four ultrasonic transmitters and one ultrasonic receiver. The ultrasonic transmitter and receiver are separated but they are synchronized by RF (Radio frequency) signal. The proposed system using ultrasonic waves is represented as USAT(Ultrasonic Satellite System). USAT is able to estimate the position using the least square estimation. The experimental results show that the proposed local positioning system enables to estimate the absolute position precisely.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.5
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• pp.203-211
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• 2002

In this paper, the implementation of a new AF(Automatic Focusing) system for a digital still camera is introduced. The proposed system operates in real-time while adjusting focus after the measurement of distance to an object using a passive sensor, which is different from a typical method. In audition, measurement errors were minimized by using the data acquired empirically, and the optimal measuring time was obtained using EV(Exposure Value) which is calculated from CCD luminance signal. Moreover, this system adopted an auxiliary light source for focusing in absolute dark conditions, which is very hard for CCD image Processing. Since this is an open-loop system adjusting focus immediately after the distance measurement, it guarantees real-time operation. The performance of this new AF system was verified by comparing the focusing value curve obtained from AF experiment with the one from the measurement by MF(Manual-Focusing). In both case, edge detector was used for various objects and backgrounds.

• Journal of Fashion Business
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• v.11 no.2
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• pp.58-75
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• 2007

This study held human measurement for 200 male subjects in their twenties in full age living in Ningbo City, Zhejiang Province in China. Their lower body types were classified and grouped according to shapes and sizes. Consequently, representative body type reflecting shapes, sizes, and characteristics were chosen and presented with their measurement values to be used as the basic data for slacks pattern making and fitness evaluation. The following are the results of the analysis: 1. Homogeneity analysis was given to determine the correspondence relationships among index types, indirect types, and size types. Index Type 1 (H-Round), Indirect Type 2 (Adjacent Straight Legs & Slight Slant of Lateral Lower Body), and Size Type 1 (Medium-Thick) were correlated; Index Type 2 (A-Trapezoid), Indirect Type 1 (Bow Legs & Slight Slant of Lateral Lower Body), and Size Type 3 (Small-Slim) were corresponded; Index Type 3 (A-Balance), Indirect Type 3 (Balance Legs & Large Slant of Lateral Lower Body), and Size Type 2 (Tall-Normal) were mutually related. 2. Mahalanobis distance based on each shape factor (index or indirect) and size factor (absolute) was obtained, while an index-absolute representative body type group (47 people, 24.4%) and an indirect-absolute representative body type group (45 people, 23.7%) were chosen, each reflecting shapes, sizes, and characteristics. 3. The representative body type group of lower body shapes of Chinese males in their 20s had average measurement values, such as 169.15cm (stature), 73.32cm (waist circumference), 75.76cm (omphalion waist circumference), 91.08cm (hip circumference), 106.02cm (outside leg length), 53.96cm (thigh circumference), and 74.42cm (crotch length).

• Journal of Energy Engineering
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• v.27 no.4
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• pp.103-110
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• 2018

In this paper, we introduce evaluation method of time series prediction model with new approach of Mean Absolute Percentage Error(hereafter MAPE) and Symmetric Mean Absolute Percentage Error(hereafter sMAPE). There are some problems using MAPE and sMAPE. First MAPE can't evaluate Zero observation of dataset. Moreover, when the observed value is very close to zero it evaluate heavier than other methods. Finally it evaluate different measure even same error between observations and predicted values. And sMAPE does different evaluations are made depending on whether the same error value is over-predicted or under-predicted. And it has different measurement according to the each sign, even if error is the same distance. These problems were solved by Maximum Mean Absolute Percentage Error(hereafter mMAPE). we used the absolute maximum of observed value as denominator instead of the observed value in MAPE, when the value is less than 1, removed denominator then solved the problem that the zero value is not defined. and were able to prevent heavier measurement problem. Also, if the absolute maximum of observed value is greater than 1, the evaluation values of mMAPE were compared with those of the other evaluations. With Beijing PM2.5 temperature data and our simulation data, we compared the evaluation values of mMAPE with other evaluations. And we proved that mMAPE can solve the problems that we mentioned.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.9
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• pp.856-860
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• 2006

A CCD camera is used to determine the position of the point sources that influence the measurement accuracy in the absolute interferometer. The principle of determination method is based on the GPS in which the position is determined by more than 3 distance information from the known positions. Two-dimensional array of photo-detectors in the CCD camera is used as known positions. Performing optimization of the cost function constructed with phase values measured at each pixel on the CCD camera, the position coordinates of each source is precisely determined.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.8
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• pp.702-708
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• 2013

Underwater TRN (Underwater Terrain Referenced Navigation) estimates an underwater vehicle state by measuring a distance between the vehicle and undersea terrain, and comparing it with the known terrain database. TRN belongs to absolute navigation methods, which are used to compensate a drift error of dead reckoning measurements such as IMU (Inertial Measurement Unit) or DVL (Doppler Velocity Log). However, underwater TRN is different to other absolute methods such as USBL (Ultra-Short Baseline) and LBL (Long Baseline), because TRN is independent of the external environment. As a magnetic-field-based navigation, TRN is a kind of geophysical navigation. This paper develops an EKF (Extended Kalman Filter) formulation for underwater TRN. A filter propagation part is composed by an inertial navigation system, and a filter update is executed with echo-sounder measurement. For large-initial-error cases, an adaptive EKF approach is also presented, to keep the filter be stable. At the end, simulation studies are given to verify the performance of the proposed TRN filter. With simplified sensor and terrain database models, the simulation results show that the underwater TRN could support conventional underwater navigation methods.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.7
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• pp.507-514
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• 2003

Inspection and shape measurement of three-dimensional objects are widely needed in industries for quality monitoring and control. Recently the shape measurement using interferometric principle is found to be a successful methodology among other visual or optical technologies. Especially, the measuring method using wavelength scanning interferometer(WSI) has a great advantage in comparison with other conventional jnterferometric methods in that the absolute distance from the reference surface can be directly obtained from the amount of jnterferometric phase change. However, the measurement methods using WSI proposed by other researchers have low measurement resolution so far because they can't measure fractional phase change. To avoid this shortcoming we propose a new algorithm in this paper, which can obtain a small amount of even fractional phase change by sinusoidal function fitting. To evaluate the effectiveness of the proposed sinusoidal function fitting algorithm, a series of measuring experiments are conducted for discontinuously shaped specimens which have various height. The proposed algorithm shows much more enhanced measurement resolution than other existing conventional algorithms such as zero crossing algorithm and Fourier transform algorithm.

• The Bulletin of The Korean Astronomical Society
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• v.42 no.1
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• pp.47.2-47.2
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• 2017

We present the results of astrometric observations using water masers around a semi-regular variable star R Crt. The observations were carried out for two years with the Korean VLBI Network (KVN). The absolute positions of the water masers from R Crt are successfully obtained at 10 epochs in total. By tracking the positions of the water maser emission, we directly measured the annual parallax and distance of R Crt. The measured distance to R Crt enables us to estimate the actual 3D velocity of water masers around R Crt. Our research suggests the possibility of performing astrometric studies with the KVN. As a next step, we are going to enhance the astrometric accuracy by observing SiO masers.

• Korean Journal of Optics and Photonics
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• v.27 no.2
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• pp.67-72
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• 2016

In projection moire topography, the investigation of fringe sensitivity, which means the change rate of fringe order according to object height, is important and necessary to reduce the measurement error of the shape of an object. Using the fringe sensitivity, the determination of the absolute orders of moire fringes can be performed very easily and rapidly. The important parameters in the determination of absolute orders of fringes are the positions of light source and object, and the grating period in projection moire topography. Among these parameters, the fringe sensitivity due to the transverse motion of the light source and the longitudinal motion of the object according to grating periods are analyzed and compared. As a result, whereas the fringe sensitivity in the transverse-motion method increases linearly and gradually as the distance between light source and imaging sensor increases, the fringe sensitivity due to the longitudinal-motion method decreases dramatically as the distance between imaging lens and object increases. In these methods, the fringe sensitivity and its change increase as the grating period increases.

• Nuclear Engineering and Technology
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• v.40 no.5
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• pp.419-428
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• 2008

During the overhaul period of nuclear power plants in Korea, an ROV(Remotely Operated Vehicle) enters the cold-leg pipes connected with the reactor to examine the state of the thermal sleeves and their positions in the safety injection nozzles. To measure the positions of the thermal sleeves or scratches with video images recorded during the examination, time-varying camera parameters should be known, such as the focal length and principal points used for the capturing each video image. In this paper, we propose a camera calibration and measurement scheme by using a single image containing two circular grooves of a cylindrical nozzle whose radius and distance are known.