• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.411-415
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• 2002

In this paper, a mechanical probe for CMM (Coordinate Measuring Machine) with a three-axis force-sensing unit is proposed, which is capable of measuring an actual contact position without the lobbing effect and the pre-travel error. The force-sensing unit detects the external force, which is act on the stylus of CMM during the measuring process. Thus, the contact point of the stylus of CMM can be estimated ken the direction of measured force components. Based on the structural analysis of the proposed CMM probe, the transformation matrix is derived and calibrated so that it shows linear relationships between the estimated force components from the output voltages and the real input forces. And, the relationships are verified through the computer simulation. The results show that the proposed mechanical probe is very useful fur detecting the contacting force components on measuring process of CMM.

• 한국인쇄학회지
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• 제19권1호
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• pp.4-16
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• 2001

Most important step for the color matching in scanner is the color coordinate transformation from the scanner RGB space to device independent uniform color space. A variety of color calibration technologies have been developed for input device. Linear or nonlinear matrices have been conveniently applied to correct the color filter's mismatch with color matching function in scanners. The color matching accuracy is expected to be further improved when the nonlinear matrices are optimized into subdivided smaller color spaces than in single matrix of the entire color space. This article proposed the scanner calibration method using subspace division regression analysis and it were compared with conventional method.

• 전자공학회논문지B
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• 제33B권7호
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• pp.40-50
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• 1996

An unified compliant control algorithm to regulate the force by dual arms is proposed, where tow arms are treated as one arm in a kinematic viewpoint. The force error calculated form the information of two force/torque sensors attached to the end of each arm is transferred to minimum actuator coordinates, and then is distributed to total system actuator coordinates. The position adjustment at the total actuator coordinates is computed based on the effective computed based on the effective compliance matrix with respect to total actuator coordinates, which is obtained by coordinate transformation between the task coordinates and the total actuator coordinates. An experiment is carried out for dual arms with asymmetric kinematic structure to control an interaction force between manipulators and the environment. The performances of the proposed control algorithm are experimentally compared to those of dual arms employing master/slave scheme. The proposed compliant control algorithm not only ouperforms other algorithms, but also can be treated as an unified approach n the sense that it can be applied to arbitrary dual arm systems with general kinematic structures.

• 제어로봇시스템학회논문지
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• 제12권6호
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• pp.608-613
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• 2006

Any input acceleration that bends RLG dithering axis causes flexure error, which is a source of the noncommutative error that can not be compensated by simply using integrated gyro sensor output. This paper introduces noncommutative error equations that define attitude errors caused by flexure errors. In this paper, flexure error is classified as sensor level error if the sensing axis coincides with the dithering axis and as system level error if the two axes do not coincide. The relationship between gyro output and the rotation vector is introduced and is used to define the coordinate transformation matrix and angular motion. Equations are derived for both sensor level and system level flexure error analysis. These equations show that RLG based INS attitude error caused by flexure is directly proportional to time, amount of input acceleration and the dynamic frequency of the vehicle.

• Journal of Magnetics
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• 제18권3호
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• pp.255-259
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• 2013

In this paper a new coupling method for efficient and simple analysis of single phase induction motor is presented. The circuit representation of both the stator winding and each conducting rotor loop (composed of rotor bar and end ring segment) is used in conjunction with the distribution of magnetic flux linkage instead of inductance matrix. The flux linkage is calculated using air-gap flux density distributions driven by unit currents in the stator windings and rotor bars. The field distribution of one turn of a coil is calculated by FEM and the result is used to calculate total flux linkage by employing a coordinate transformation. The numerical results give good agreement with prior literature. The method is particularly effective in analyzing the effect of the number of rotor bars.

• 한국해양공학회지
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• 제11권1호
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• pp.96-96
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• 1997

This paper presents a Inertial Measuring Unit(IMU) for motion measurement of an AUV. The IMU is composed of three parts: inertial sensors with three servo accelerometers and three rate gyros, an analog/digital interface board, and a signal processing board with TMS320C31 DSP processor. The IMU is a class of strap-down inwetial navigation system does not applicable directly to the navigation system in consequence of the AUV and integrated sensors for an integrated navigation system of the AUV. Fast calculstion of direction cosine matrix for the coordinate transformation body to reference is obtained through the DSP processor. A switching algotrithm is used to lessen the low frequency drift effect of the gyros in the vertical plane with use of low pass filtering of the signal of the accelerometers.

• 한국콘텐츠학회논문지
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• 제3권2호
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• pp.24-30
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• 2003

기존의 토큰 기반이나 지식 기반 또는 이 둘을 결합한 하이브리드 방식은 분실, 도청 등의 문제점을 내포하고 있다. 이를 위해 본 논문에서는 보안성과 편리성이 뛰어난 생체 인증 방법을 이용한 인증 시스템에 대해 다룬다. 특히 생체 특징중 강제성이 없고 비접촉식은 얼굴 생체특징을 이용한 인증 시스템에 대해 제안하고자 한다. 우선 Y-히스토그램을 통해 얼굴의 각 영역들을 분리해 내고 좌표 변환에 의해 기울어진 얼굴 영상에 대한 처리와 카메라 위치에 불변한 스캐일링을 행한다. 그후 각 얼굴요소들간의 거리와 이루는 각 등과 같은 특징점을 추출하고 퍼지 관계 행렬을 통해 유사도를 측정한다. 끝으로 실험을 통해 본 논문의 유용성을 입증하고자 한다.

• 한국전산구조공학회논문집
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• 제26권2호
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• pp.99-112
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• 2013

이 논문은 부분공간 시스템 확인기법을 이용하여 전단빌딩의 강성행렬과 부재의 강성을 추정하는 기법을 소개한다. 시스템 행렬은 입력-출력 데이터로 구성된 행켈행렬을 LQ 분해와 특이치 분해를 통해 추정한다. 추정된 시스템 행렬은 닮음 변환을 통해 실제 좌표축으로 변환하고, 변환된 시스템 행렬로부터 강성행렬을 계산한다. 추정된 강성행렬의 정확성과 안정성은 행켈행렬의 크기에 따라 변한다. 전단빌딩의 기저 유한요소 모델을 이용하여 행켈행렬의 크기에 따른 강성행렬의 추정 오차 곡선을 구한다. 오차 곡선을 이용하여 목표 정확도 수준에 부합하는 행켈행렬의 크기들을 결정한다. 이렇게 선택된 행렬의 크기들 중에서 부분공간 시스템 확인의 계산비용을 고려하여 보다 적절한 행렬의 크기를 결정할 수 있다. 결정된 크기의 행켈행렬을 이용하여 강성행렬을 추정하고 추정된 강성행렬로부터 부재의 강성을 추정한다. 제안된 방법을 손상 전후의 5층 전단빌딩 수치 예제에 적용하여 타당성을 검증한다.

• 대한기계학회논문집
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• 제15권1호
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• pp.366-375
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• 1991

본 연구에서는 보 이론(beam theory)의 변위함수(displacement function)를 도입하고 전달행렬법을 이용하여 각 배관요소의 경계조건에 대한 고유 진동수와 배관 의 불안정성을 일으키는 유체의 임계속도(critical velocity)를 계산 평가하고, 실험 으로 입증된 Blevins의 결과치와 비교하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.246-249
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• 2003

The constraints necessary guarantee using the comparison of these extrinsic parameters, which each Rotation matrix and Translation Vector must be equal to the either, except the X-axis Translation Vector. Thus, we can not yet calculate the 3D-range measurement in the end of camera calibration. To minimize this disadvantage, the Epipolar Rectification has been proposed in the literature. This paper aims to present the development of Epipolar Rectification to calibrate Stereo cameras. The required computation of the transformation mapping between points in 3D-space is based on calculating the image point that appears on new image plane by using calibrated parameters. This computation is assumed from the rotating the old ones around their optical center until focal planes becomes coplanar, thereby containing the baseline, and the Z-axis of both camera coordinate to be parallel together. The optical center positions of the new extrinsic parameters are the same as the old camera, whereas the new orientation differs from the old ones by the suitable rotations. The intrinsic parameters are the same for both cameras. So that, after completed calibration process, immediately can calculate the 3D-range measurement. And the rectification determines a transformation of each image plane such that pairs of conjugate Epipolar lines become collinear and parallel to one of the image axis. From the experimental results verify the proposed technique are agreed with the expected specifications.