• The Journal of Korea Robotics Society
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• v.3 no.3
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• pp.194-202
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• 2008

This paper describes a new method for indoor environment mapping and localization with stereo camera. For environmental modeling, we directly use the depth and color information in image pixels as visual features. Furthermore, only the depth and color information at horizontal centerline in image is used, where optical axis passes through. The usefulness of this method is that we can easily build a measure between modeling and sensing data only on the horizontal centerline. That is because vertical working volume between model and sensing data can be changed according to robot motion. Therefore, we can build a map about indoor environment as compact and efficient representation. Also, based on such nodes and sensing data, we suggest a method for estimating mobile robot positioning with random sampling stochastic algorithm. With basic real experiments, we show that the proposed method can be an effective visual navigation algorithm.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.12
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• pp.56-65
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• 1997

This paper presents the robot program for propeller grinding. A robot manipulator is constructed by combining a parallel and a serial mechanism to increase high sitffness as well as workspace. The robot program involves inverse/direct kinematics, velocity mapping, Jacobian, and etc. They are cerived in efficient formulations and implemented in a real time control. A velocity control is used to measure the hight of a propeller blade with a touch probe and a position control is performed to grind the surface of the blade.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.1
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• pp.31-38
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• 2016

Since the oil shock of 1970's there was a strong upward tendency for the use of the high viscosity and poorer quality fuels. Therefore the misfiring engine occurs due to the decrease of quantity injected for lean burn and emission control in Compression Ignition Common Rail Direct Injection diesel engine. In this study, it is designed and used the test bed which is installed with fuel injector controller. In addition to equipped engine using CRDI by controlling the injection timing with mapping modulator, it has tested and analyzed the engine performance and combustion characteristics, as it is varied that they are the operating parameters: fuel injected quantity, engine speed and injection timing.

• Journal of the Korean Association of Geographic Information Studies
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• v.8 no.1
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• pp.88-95
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• 2005

Direct Georeferencing by combined multi-sensor based on the direct measurement of the projection centers and rotation angle of sensor through loading the GPS and INS in aircraft. The method of combined multi-sensor can offer us to acquire the exterior orientation parameters with only minimum GCPs, even the ground control process could be completely skipped. Consequently, It is possible extreme to reduce the time and expense for the mapping process. In this study, a CCD camera is simultaneously used in combined multi-sensor surveying, and acquired CCD image through Direct Georeferencing produce digital orthoimage. In this process, methods of combining sensor and digital orthoimage are examined and estimated. For the comparison of the positioning accuracy digital orthoimage through Direct Georeferencing, GCPs determined by GPS surveying are used. Two digital orthoimage are produced; one with a few GCP and the other without them. The accuracy of orthoimages produced through combined multi-sensor with GCPs meets that of 1:1,000 maps. Without GCPs, it meets that of 1:5,000 maps.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.30 no.2
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• pp.181-188
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• 2012

The most recent, Digital photogrammetric camera, Airborne LiDAR and GPS/INS same sensors are used to acquire spatial information of various kinds in the field of aerial survey. In addition, Direct Georeferencing technology has been widely utilized with digital photogrammetric camera and GPS/INS. However, the sensor Calibration to be performed according to the combination of various sensors is followed by problems. Most of all, boresight calibration of integrated sensors is a critical element in the mapping process when using direct georeferencing or using the GPS/INS aerotriangulation. The establishment of a national test-bed in Sejong-si for aerial sensor calibration is absolutely necessary to solve this problem. And accurate calibration with used to integration of GPS/INS by aerotriangulation of aerial imagery was necessary for determination of system parameters, evaluation of systematic errors. Also, an investigation of efficient method for Direct georeferencing to determine the exterior orientation parameters and assessment of geometric accuracy of integrated sensors are performed.

• Journal of Microbiology and Biotechnology
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• v.14 no.6
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• pp.1200-1210
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• 2004

Metabolic flux analysis was established by adapting previous stoichiometric model developed during growth with cellulose to cell grown with cellobiose for further direct comparison of the bacterial metabolism. In carbon limitation with cellobiose, a shift from acetate-ethanol fermentation to ethanol-lactate fermentation is observed and the pyruvate overflow is much higher than with cellulose. In nitrogen limitation with cellobiose, the cellodextrin and exopolysaccharide overflows are much higher than on cellulose. In carbon and nitrogen saturation with cellobiose, the cellodextrin, exopolysaccharide, and free amino acids overflows reach the highest levels observed but all remain limited on cellulose. By completely shunting the cellulosome, the use of cellobiose allows to reach much higher carbon consumption rates which, in return, highlights the metabolic limitation of C. cellulolyticum. Therefore, the physical nature of the carbon source has a profound impact on the metabolism of C. cellulolyticum and most probably of other cellulolytic bacteria. For cellulolytic bacteria, the use of soluble carbon substrate must carefully be taken into consideration for the interpretation of results. Direct comparison of metabolic flux analysis from cellobiose and cellulose revealed the importance of cellulosome, phosphoglucomutase and pyruvate-ferredoxin oxidoreductase in the distribution of carbon flow in the central metabolism. In the light of these findings, future directions for improvement of cellulose catabolism by this bacterium are discussed.

• Proceedings of the Korean Society of Crop Science Conference
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• 2017.06a
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• pp.103-103
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• 2017

Vigorous root growth at the seedling stage in dry direct-seeded conditions is considered as a critical trait because it is involved in seedling emergence, early vegetative vigour, nutrient uptake as well as drought tolerance. In this study, we performed QTL mapping using the recombinant inbred lines obtained from the cross between Tongil-type Dasan and temperate japonica TR22183 (DT-RILs) to identify QTL underlying early root development. TR22183, which was previously reported to have high nitrogen utility and cold tolerance, showed vigorous root growth at the seedling stage in semi-drought conditions. Root length, fresh weight and dry weight of TR22183 were significantly higher than in Dasan. By QTL analysis with genotyping-by-sequencing method, we identified two QTLs for root fresh weight (RFW) in chromosome 7 and root dry weight (RDW) in chromosome 8, explaining phenotypic variances of 13.5% and 10.6%, respectively. These QTLs would be used to develop rice varieties adapted to direct-seeded cultivating system.

• ETRI Journal
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• v.43 no.4
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• pp.603-616
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• 2021

Over the last few years, autonomous vehicles have progressed very rapidly. The odometry technique that estimates displacement from consecutive sensor inputs is an essential technique for autonomous driving. In this article, we propose a fast, robust, and accurate odometry technique. The proposed technique is light detection and ranging (LiDAR)-based direct odometry, which uses a spherical range image (SRI) that projects a three-dimensional point cloud onto a two-dimensional spherical image plane. Direct odometry is developed in a vision-based method, and a fast execution speed can be expected. However, applying LiDAR data is difficult because of the sparsity. To solve this problem, we propose an SRI generation method and mathematical analysis, two key point sampling methods using SRI to increase precision and robustness, and a fast optimization method. The proposed technique was tested with the KITTI dataset and real environments. Evaluation results yielded a translation error of 0.69%, a rotation error of 0.0031°/m in the KITTI training dataset, and an execution time of 17 ms. The results demonstrated high precision comparable with state-of-the-art and remarkably higher speed than conventional techniques.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37 no.2A
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• pp.128-134
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• 2012

In this paper, we propose a novel approach to enhance the recognition performance of a far and partially occluded three-dimensional (3-D) target in computational curving-effective integral imaging (CEII) by using the direct pixel-mapping (DPM) method. With this scheme, the elemental image array (EIA) originally picked up from a far and partially occluded 3-D target can be converted into a new EIA just like the one virtually picked up from a target located close to the lenslet array. Due to this characteristic of DPM, resolution and quality of the reconstructed target image can be highly enhanced, which results in a significant improvement of recognition performance of a far 3-D object. Experimental results reveal that image quality of the reconstructed target image and object recognition performance of the proposed system have been improved by 1.75 dB and 4.56% on the average in PSNR (peak-to-peak signal-to-noise ratio) and NCC (normalized correlation coefficient), respectively, compared to the conventional system.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.1
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• pp.190-196
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• 2013

Curved integral imaging is a simple method to display 3D images in space using lens array and provides wide viewing angle. In this paper, we propose a nonlinear 3D correlator based on the direct pixel-mapping (DPM) method in order to improve the recognition performance of 3D target object in curving-effective integral imaging. With this scheme, the elemental image array (EIA) originally picked up from a partially occluded 3-D target object can be converted into a resolution enhanced new EIA by using DPM method. Then, through nonlinear cross-correlations between the reconstructed reference and the target plane images, the improved pattern recognition can be performed from the correlation outputs. To show the feasibility of the proposed method, some preliminary experiments are carried out and results are presented by comparing the conventional method.