• IEMEK Journal of Embedded Systems and Applications
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• v.11 no.6
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• pp.361-367
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• 2016

In this paper, we propose an improved single view metrology (SVM) algorithm to accurately measure the height of objects. In order to accurately measure the size of objects, vanishing points have to be correctly estimated. There are two methods to estimate vanishing points. First, the user has to choose some horizontal and vertical lines in real world. Then, the user finds the cross points of the lines. Second, the user can obtain the vanishing points by using software algorithm such as [6-9]. In the former method, the user has to choose the lines manually to obtain accurate vanishing points. On the other hand, the latter method uses software algorithm to automatically obtain vanishing points. In this paper, we apply image resizing and edge sharpening as a pre-processing to the algorithm in order to improve performance. The estimated vanishing points algorithm create four vanishing point candidates: two points are horizontal candidates and the other two points are vertical candidates. However, a common image has two horizontal vanishing points and one vertical vanishing point. Thus, we eliminate a vertical vanishing point candidate by analyzing the histogram of angle distribution of vanishing point candidates. Experimental results show that the proposed algorithm outperforms conventional methods, [6] and [7]. In addition, the algorithm obtains similar performance with manual method with less than 5% of the measurement error.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2008.10a
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• pp.551-554
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• 2008

Do subject addition of existent picture reflex inside in this treatise as system that confirmation is available, do subject addition of picture reflex inside through GPS's photography position and Come on! direction angle of deviation campus to do confirmation possibility system design. Constructed each environment of Windows Operating System and embedded system environment for verification of system that is subject position of designed picture reflex also. To development environment of embedded system S3C2440A & used PXA270 processor, Camera and GPS in development baud, Come on! include deviation campus, and development language embodied in C language, and debugging environment did debugging using GCC compiler of Linux environment. PC software for verification designed system to confirm for subject position confirmation of picture reflex through Almap, Google Eartch developed verification software using visual C++. Also, groped way to utilize picture file by various field including position information within picture. Confirmed that decreased by error extent 1m within of radius 10m that is existent GPS's error extent as verification result.

• Journal of Sensor Science and Technology
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• v.10 no.5
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• pp.329-336
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• 2001

This paper describes the steering control and geomagnetism cancellation for an autonomous vehicle using an MR sensor. The magneto-resistive (MR) sensor obtains the vector summation of the magnetic fields from embedded magnets and the Earth. The vehicle is controlled by the magnetic fields from embedded magnets. So, geomagnetism is the disturbance in the steering control system. In this paper, we propose a new method of the sensor arrangement in order to remove the geomagnetism and vehicle body interference. The proposed method uses two MR sensors located in a level plane and the steering controller has been developed. The controller has three input variables ($dB_x$, $dB_y$, $dB_z$) using the measured magnetic field difference, and an output variable (the steering angle). A simulation program was developed to acquire the data to teach the neural network, in order to test the ability of a neural network to learn the steering control process. Also, the computer simulation of the vehicle (including vehicle dynamics and steering) was used to verify the steering performance of the vehicle controller using the neural network. From the simulation and field test, good result was obtained and we confirmed the robustness of the neural network controller in a real autonomous vehicle.

• Journal of the Korean Geosynthetics Society
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• v.17 no.2
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• pp.33-40
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• 2018

Characteristics of interface friction between cohesionless soils and geotechnical structure surfaces play an important role in the analysis of earth load and resistance on the structure. In general, geotechnical structures are mainly composed of either steel or concrete, and their surface roughnesses with respect to soil particle sizes influence the interface characteristics between soils and the structures. Accurate assessment of the interface friction characteristics between soils and structures is important to ensure the safety of geotechnical structures, such as mechanically stabilized earth walls reinforced with inextensible reinforcements, piles embedded into soils, retaining wall backfilled with soils. In this study, based on the database of high quality interface friction tests between frictional soils and solid surfaces from literature, equation representing peak interface friction angle is proposed. The influential factors of the peak interface friction angle are relative roughness between soil and solid surface, relative density of frictional soil, and residual (constant volume) interface friction angle. Futhermore, for the developed equation of the interface friction angle, its uncertainty was assessed statistically based on Goodness-of-fit test results.

• Korean Journal of Applied Biomechanics
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• v.27 no.3
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• pp.189-195
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• 2017

Objective: The aim of this study was to examine the effect of foot landing type (forefoot vs. rearfoot landing) on kinematics, kinetics, and energy absorption of hip, knee, and ankle joints. Method: Twenty-five healthy men performed single-leg landings with two different foot landing types: forefoot and rearfoot landing. A motion-capture system equipped with eight infrared cameras and a synchronized force plate embedded in the floor was used. Three-dimensional kinematic and kinetic parameters were compared using paired two-tailed Student's t-tests at a significance level of .05. Results: On initial contact, a greater knee flexion angle was shown during rearfoot landing (p < .001), but the lower knee flexion angle was found at peak vertical ground reaction force (GRF) (p < .001). On initial contact, ankles showed plantarflexion, inversion, and external rotation during forefoot landing, while dorsiflexion, eversion, and internal rotation were shown during rearfoot landing (p < .001, all). At peak vertical GRF, the knee extension moment and ankle plantarflexion moment were lower in rearfoot landing than in forefoot landing (p = .003 and p < .001, respectively). From initial contact to peak vertical GRF, the negative work of the hip, knee, and ankle joint was significantly reduced during rearfoot landing (p < .001, all). The contribution to the total work of the ankle joint was the greatest during forefoot landing, whereas the contribution to the total work of the hip joint was the greatest during rearfoot landing. Conclusion: These results suggest that the energy absorption strategy was changed during rearfoot landing compared with forefoot landing according to lower-extremity joint kinematics and kinetics.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.21 no.11
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• pp.1496-1508
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• 1997

The effects of porous wind fence on the pressure characteristics around a 2-dimensional prism model of triangular cross-section were investigated experimentally. The fence and prism model were embedded in a neutral atmospheric surface boundary layer over the city suburb. In this study, various fences of different porosity, back fence, inclination angle of prism and location of additional back prisms were tested to investigate their effects on the pressure and wall shear stress of the prism surface. The fence and prism had the same height of 40 mm and Reynolds number based on the model height was Re=3.9*10$^{4}$. The porous fence with porosity 40% was found to be the best wind fence for decreasing the mean and pressure fluctuations on the prism surface. By installing the fence of porosity 40%, the wall shear stress on the windward surface of prism was largely decreased up to 1/3 of that without the fence. This indicates that the porous fence is most effective to abate the wind erosion. Pressure fluctuations on the model surface were decreased more than half when a back fence was located behind the prism in addition to the front fence. With locating several back prisms and decreasing the inclination angle of triangular prism, the pressure fluctuations on the model surface were increased on the contrary.

• Journal of Biosystems Engineering
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• v.38 no.4
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• pp.255-263
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• 2013

Purpose: It is not easy to drive a rice-transplanter avoiding underlapped or overlapped transplanting in paddy fields. An automated guidance system for the riding-type rice-transplanter would be necessary to operate the rice-transplanter autonomously or to assist the beginning drivers as a driving aid. Methods: A prototype of guidance system was composed of embedded computers, RTK-GPS, and a power-steering mechanism. Two Kalman filters were adopted to overcome sparse positioning data (1 Hz) from the RTK-GPS. A global Kalman filter estimated the posture of rice-transplanter every one second, and a local Kalman filter calculated the posture from every new estimation of the global Kalman filter with an interval of 200 ms. A PID controller was applied to the row-following mode control. A control method of U-turning mode was developed as well. A stepping motor with a reduction gear set was used to rotate the shaft of steering wheel. Results: Test trials for U-turning and row-following modes were done in a paddy field after some parameters have been tuned at the ground speed range of 0.3 ~ 1.2 m/s. The minimum RMS error of offset was 3.13 cm at the ground speed of 0.3 m/s while the maximum RMS error was 13.01 cm at 1.2 m/s. The offset RMS error tended to increase as the ground speed increased. The target point distance, LT also affected the system performance and PID controller parameters should be adjusted on different ground speeds. Conclusions: A target angle-based PID controller plus stationary steering angle controller made it possible for the rice-transplanter to steer autonomously by following a reference line accurately and even on U-turning mode. However, as condition in paddy fields is very complicated, the system should control the ground speed that prevents it from deviating too much due to ditch and slope.

• The Journal of Korea Robotics Society
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• v.8 no.1
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• pp.29-36
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• 2013

This paper presents a sensitivity optimization of a MEMS (microelectromechanical systems) gyroscope for a magnet-gyro system. The magnet-gyro system, which is a guidance system for a AGV (automatic or automated guided vehicle), uses a magnet positioning system and a yaw gyroscope. The magnet positioning system measures magnetism of a cylindrical magnet embedded on the floor, and AGV is guided by the motion direction angle calculated with the measured magnetism. If the magnet positioning system does not measure the magnetism, the AGV is guided by using angular velocity measured with the gyroscope. The gyroscope used for the magnet-gyro system is usually MEMS type. Because the MEMS gyroscope is made from the process technology in semiconductor device fabrication, it has small size, low-power and low price. However, the MEMS gyroscope has drift phenomenon caused by noise and calculation error. Precision ADC (analog to digital converter) and accurate sensitivity are needed to minimize the drift phenomenon. Therefore, this paper proposes the method of the sensitivity optimization of the MEMS gyroscope using DEAS (dynamic encoding algorithm for searches). For experiment, we used the AGV mounted with a laser navigation system which is able to measure accurate position of the AGV and compared result by the sensitivity value calculated by the proposed method with result by the sensitivity in specification of the MEMS gyroscope. In experimental results, we verified that the sensitivity value through the proposed method can calculate more accurate motion direction angle of the AGV.

• Proceedings of the KIEE Conference
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• 2007.11a
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• pp.148-149
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• 2007

We present the design and fabrication prcoess of a two-axis tilting micromirror device driven by the electrostatic vertical comb actuator. A high aspect-ratio comb actuator is fabricated by multiple DRIE process in order to achieve large scan angle. The proposed fabrication process enables a mirror to be fabricated on the wafer-scale. By bonding a double-side polished (DSP) wafer and a silicon-on-insulator (SOI) wafer together, all actuators on the wafer are completely hidden under the reflectors. Nickel lines are embedded on a Pyrex wafer for the electrical access to numerous electrodes of mirrors. An anodic bonding step is implemented to contact electrical lines with ail electrodes on the wafer at a time. The mechanical angle of a fabricated mirror has been measured to be 1.9 degree and 1.6 degree, respectively, in the two orthogonal axes under driving voltages of 100 V. Also, a $8{\times}8$ array of micromirrors with high fill-factor of 70 % is fabricated by the same fabrication process.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.1
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• pp.39-46
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• 2013

Smart material such as SMA (Shape Memory Alloy) has been studied in various ways because it can perform continuous, flexible, and complex actuation in simple structure. Smart soft composite (SSC) was developed to achieve large deformation of smart material. In this paper, a shell actuator using woven type SSC was developed to enhance stiffness of the structure while keeping its deformation capacity. The fabricated actuator consisted of a flexible polymer and woven structure which contains SMA wires and glass fibers. The actuator showed various actuation motions by controlling a pattern of applied electricity because the SMA wires are embedded in the structure as fibers. To verify the actuation ability, we measured its maximum end-edge bending angle, twisting angle, and actuating force, which were $103^{\circ}$, $10^{\circ}$, and 0.15 N, respectively.