• Environmental Analysis Health and Toxicology
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• 제14권3호
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• pp.103-111
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• 1999

To effectively predict the lipophilicity, the aryl hydrocarbon receptor (AhR) affinity, and TEF (Toxic equivalency factor) of dioxins by geometrical descriptors, the multiple linear regression methods with the forward selection and backward elimination were employed with statistical validity. The lipophilicity, the Ah receptor binding affinity, and the toxic equivalency factor of dioxins could be predicted using some geometrical descriptors.

• Journal of the Korean Data and Information Science Society
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• 제21권3호
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• pp.575-580
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• 2010

The Fisher information matrix plays a significant role in statistical inference in connection with estimation and properties of variance of estimators. In this paper, the parameter space of the t-distribution using its Fisher's matrix is de ned. The ${\alpha}$-scalar curvatures to parameter space are calculated.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.207-207
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• 2000

This paper presents an observer for nonlinear systems using approximate observer form. It is shown that if a nonlinear system is approximately error linearizable, then there exists a local nonlinear observer whose estimation error converges exponentially to zero. Since the proposed method relaxes strong geometric conditions of previous works, it improves the existing results for a nonlinear observer design. Finally, some examples are given to show the effectiveness of this scheme.

• 대한산업공학회지
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• 제4권1호
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• pp.29-32
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• 1978

We obtain the minimum variance unbiased estimate of system reliability when a system consists of n components whose life times are assumed to be independent and identically distributed either negative exponential or geometric random variables. For the case of a negative exponential life time, we obtain the minimum variance unbiased estimate of the probability density function of the i-th order statistic.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1093-1098
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• 2003

In this paper, a practical methodology of hand-manipulator motion coordination for indoor service robot is introduced. This paper describes the procedures of opening door performed by service robot as a noticeable example of motion coordination. This paper presents well-structured framework for hand-manipulator motion coordination, which includes intelligent sensor data interpretation, object shape estimation, optimal grasping, on-line motion planning and behavior-based task execution. This proposed approach is focused on how to integrate the respective functions in harmony and enable the robot to complete its operation under the limitation of usable resources. As a practical example of implementation, the successful experimental results in opening door whose geometric parameters are unknown beforehand are provided.

• 로봇학회논문지
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• 제11권1호
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• pp.33-40
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• 2016

In this paper, we propose a method for estimating the pose of the camera using a rectangle feature utilized for the visual SLAM. A warped rectangle feature as a quadrilateral in the image by the perspective transformation is reconstructed by the Coupled Line Camera algorithm. In order to fully reconstruct a rectangle in the real world coordinate, the distance between the features and the camera is needed. The distance in the real world coordinate can be measured by using a stereo camera. Using properties of the line camera, the physical size of the rectangle feature can be induced from the distance. The correspondence between the quadrilateral in the image and the rectangle in the real world coordinate can restore the relative pose between the camera and the feature through obtaining the homography. In order to evaluate the performance, we analyzed the result of proposed method with its reference pose in Gazebo robot simulator.

• 자원환경지질
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• 제27권1호
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• pp.81-91
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• 1994

There has been considerable research dealing with the influence of surface roughness along surfaces of rock discontinuities in relation to the peak shear strength of rock masses. Concepts accepted recently for measuring such strength include estimation of a roughness coefficient such as developed by Barton's studies. The method for estimation the Joint Roughness Coefficient (JRC) value of a measured roughness profile is subjective. The aim of this research is to estimate the JRC value of the roughness of a surface profile in a rock mass system using an objective method. The study of roughness of surfaces has included measurement of fractal geometric characteristics. Once the irregularity of the surface has been described by the fractal dimension, the spatial variation of the surface irregularities can be described using variogram and drift analysis. An empirical relationships between the roughness profiles of selected JRC ranges and their fractal dimension with variogram and drift were derived. The application of analyses of fractal dimension, variogram and drift was novel for the analysis of roughness profiles. Also, an empirical equation was applied to experimental data.

• 한국정밀공학회지
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• 제21권8호
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• pp.50-56
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• 2004

The directional ability of an automobile has an influence on driver directly, and hence it must be given most priority. Alignment factors of automobile such as the camber, caster and toe directly affect the directional ability of a vehicle. The above mentioned factors are determined by the pose of interlinks in the assembly of an automobile front chassis module. Measuring the position of center point of ball joints in the front lower arm is very difficult. A method to determine this position is suggested in this paper. Pose estimation for front chassis module and dimensional evaluation to find the rotational characteristics of front lower arm were developed based on fundamental geometric techniques. To interpret the inspection data obtained for front chassis module, 3-D best fit method is needed. The best fit method determines the relationship between the nominal design coordinate system and the corresponding feature coordinate system. The least squares method based on singular value decomposition is used in this paper.

• Structural Engineering and Mechanics
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• 제74권4호
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• pp.547-557
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• 2020

In this paper, an automatic adaptive mesh refinement procedure is presented for two-dimensional problems on the basis of a new probabilistic error estimator. First-order perturbation theory is employed to determine the lower and upper bounds of the structural displacements and stresses considering uncertainties in geometric sizes, material properties and loading conditions. A new probabilistic error estimator is proposed to reduce the mesh dependency of the responses dispersion. The suggested error estimator neglects the refinement at the critical points with stress concentration. Therefore, the proposed strategy is combined with the classic adaptive mesh refinement to achieve an optimal mesh refined properly in regions with either high gradients or high dispersion of the responses. Several numerical examples are illustrated to demonstrate the efficiency, accuracy and robustness of the proposed computational algorithm and the results are compared with the classic adaptive mesh refinement strategy described in the literature.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2010-2014
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• 2005

Object detection and parameter estimation in point cloud data is a relevant subject to robotics, reverse engineering, computer vision, and sport mechanics. In this paper a software is presented for fully-automatic object detection and parameter estimation in unordered, incomplete and error-contaminated point cloud with a large number of data points. The software consists of three algorithmic modules each for object identification, point segmentation, and model fitting. The newly developed algorithms for orthogonal distance fitting (ODF) play a fundamental role in each of the three modules. The ODF algorithms estimate the model parameters by minimizing the square sum of the shortest distances between the model feature and the measurement points. Curvature analysis of the local quadric surfaces fitted to small patches of point cloud provides the necessary seed information for automatic model selection, point segmentation, and model fitting. The performance of the software on a variety of point cloud data will be demonstrated live.