• Current Optics and Photonics
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• v.8 no.3
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• pp.300-306
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• 2024

To solve the nozzle swing angle non-contact measurement problem, we present a nozzle pose estimation algorithm involving weighted measurement uncertainty based on rotation parameters. Firstly, the instantaneous axis of the rocket nozzle is constructed and used to model the pivot point and the nozzle coordinate system. Then, the rotation matrix and translation vector are parameterized by Cayley-Gibbs-Rodriguez parameters, and the novel object space collinearity error equation involving weighted measurement uncertainty of feature points is constructed. The nozzle pose is obtained at this step by the Gröbner basis method. Finally, the swing angle is calculated based on the conversion relationship between the nozzle static coordinate system and the nozzle dynamic coordinate system. Experimental results prove the high accuracy and robustness of the proposed method. In the space of 1.5 m × 1.5 m × 1.5 m, the maximum angle error of nozzle swing is 0.103°.

• Proceedings of the IEEK Conference
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• 2009.05a
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• pp.106-108
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• 2009

In this paper, we handle automatic estimation of mechanical parameters for mobile robots. Most estimation methods are based on the sequence and move-measurement-estimation. Estimated accuracy is largely dependent on the paths. Mathematical conditions minimizing estimation errors are derived, and then a method finding optimal paths for mechanical parameters estimation is proposed.

• Journal of Sensor Science and Technology
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• v.25 no.3
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• pp.202-207
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• 2016

Estimation of vertical position is critical in applications of sports science and fall detection and also controls of unmanned aerial vehicles and motor boats. Due to low accuracy of GPS(global positioning system) in the vertical direction, the integration of IMU(inertial measurement unit) with the GPS is not suitable for the vertical position estimation. This paper investigates an IMU-barometer integration for estimation of vertical position (as well as vertical velocity). In particular, a new two-step Kalman/complementary filter is proposed for accurate and efficient estimation using 6-axis IMU and barometer signals. The two-step filter is composed of (i) a Kalman filter that estimates vertical acceleration via tilt orientation of the sensor using the IMU signals and (ii) a complementary filter that estimates vertical position using the barometer signal and the vertical acceleration from the first step. The estimation performance was evaluated against a reference optical motion capture system. In the experimental results, the averaged estimation error of the proposed method was 19.7 cm while that of the raw barometer signal was 43.4 cm.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.768-772
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• 2009

This paper proposes a method for measurement three-dimensional trajectories of bubbles generated around a swimmer's arms from stereo high-speed camera videos. This method is based on two techniques: two-dimensional trajectory estimation in single-camera images and trajectory pair matching in stereo-camera images. The two-dimensional trajectory is estimated by block matching using similarity of bubble shape and probability of bubble displacement. The trajectory matching is achieved by a consistensy test using epipolar constraint in multiple frames. The experimental results in two-dimensional trajectory estimation showed the estimation accuracy of 47% solely by the general optical flow estimation, whereas 71% taking the bubble displacement into consideration. This concludes bubble displacement is an efficient aspect in this estimation. In three-dimensional trajectory estimation, bubbles were visually captured moving along the flow generated by an arm; which means an efficient material for swimmers to swim faster.

• Smart Structures and Systems
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• v.24 no.6
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• pp.709-721
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• 2019

This paper investigates the framework of vision-based dense displacement and strain measurement of miter gates with the approach for the quantitative evaluation of the expected performance. The proposed framework consists of the following steps: (i) Estimation of 3D displacement and strain from images before and after deformation (water-fill event), (ii) evaluation of the expected performance of the measurement, and (iii) selection of measurement setting with the highest expected accuracy. The framework first estimates the full-field optical flow between the images before and after water-fill event, and project the flow to the finite element (FE) model to estimate the 3D displacement and strain. Then, the expected displacement/strain estimation accuracy is evaluated at each node/element of the FE model. Finally, methods and measurement settings with the highest expected accuracy are selected to achieve the best results from the field measurement. A physics-based graphics model (PBGM) of miter gates of the Greenup Lock and Dam with the updated texturing step is used to simulate the vision-based measurements in a photo-realistic environment and evaluate the expected performance of different measurement plans (camera properties, camera placement, post-processing algorithms). The framework investigated in this paper can be used to analyze and optimize the performance of the measurement with different camera placement and post-processing steps prior to the field test.

• Journal of the Korean Society of Industry Convergence
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• v.25 no.5
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• pp.773-782
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• 2022

Estimation of cable tension through proper measurements is one of the essential tasks in evaluating the safety of cable structures. In this paper, a study on cable tension estimation using the built-in accelerometer and camera in a smartphone was conducted. For the experimental study, visual displacement measurement using a smartphone camera and acceleration measurement using a built-in accelerometer were performed in the cable-stayed bridge model. The estimated natural frequencies and transformed tensions from these measurements were compared with the theoretical values and results from the normal visual displacement method. Through comparison, it can be seen that the error between the method using the smartphone and the normal visual displacement is sufficiently small to be acceptable. It has also been shown that those errors are much smaller than the difference between the values calculated by the theoretical model. These results show that the deviation according to the type of measurement method is not large and it is rather important to use an appropriate mathematical model. In conclusion, in the case of cable tension estimation, it can be said that the visual displacement measurement and acceleration using a smartphone can be a sufficiently applicable method, just like the normal visual displacement method. It is also noteworthy that the smartphone accelerometer has a larger magnitude error and has more limitations such as high-frequency sampling instability compared to the visual displacement method, but shows almost the same performance as the visual displacement method in this cable tension estimation.

• Proceedings of the Korea Water Resources Association Conference
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• 2008.05a
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• pp.805-809
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• 2008

Measurement of leaf area index (LAI) is useful for understanding rice growth, water use, and canopy light interception. The top nitrogen content(TNC) per unit area is an important quantitative index of the condition of nitrogen nutrition in rice production. The rapid and simple method of estimation of TNC, with the use of the existing nondestructive analyzing instruments chlorophyll meter SPAD-502 and plant canopy analyzer (PCA) LAI-2000, was scrutinized. Destructive measurement is time consuming and labor intensive. Our objective was to evaluate sampling procedures using the Li-Cor LI-1800, LAI 2000 plant canopy analyzer (PCA) for nondestructive estimation of rice LAI, and SPAD-502 on the Northern Plains of Cheongju. The LAI estimated by PCA tended to underestimate the LAI determined by actual measurement by about 20%. The estimation of LAI by PCA was judged to have a sufficient accuracy as a practical technique. A high positive correlation was obtained between the values of the SPAD reading and LAI. NDVI and LAI also showed a very high correlation. The values of the SPAD reading and LAI, and NDVI gave a high positive correlation. These results indicated that the method described in this study was effective as a simple and rapid method for the estimation of rice growth.

• The Journal of Korea Robotics Society
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• v.11 no.2
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• pp.51-59
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• 2016

In this paper we present (1) analysis of imaging sonar measurement for two-view relative pose estimation of an autonomous vehicle and (2) bundle adjustment and 3D reconstruction method using imaging sonar. Sonar has been a popular sensor for underwater application due to its robustness to water turbidity and visibility in water medium. While vision based motion estimation has been applied to many ground vehicles for motion estimation and 3D reconstruction, imaging sonar addresses challenges in relative sensor frame motion. We focus on the fact that the sonar measurement inherently poses ambiguity in its measurement. This paper illustrates the source of the ambiguity in sonar measurements and summarizes assumptions for sonar based robot navigation. For validation, we synthetically generated underwater seafloor with varying complexity to analyze the error in the motion estimation.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.18 no.8
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• pp.1791-1797
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• 2014

A water level measurement radar estimates beat frequencies to extract the corresponding water level information for water resource management. Therefore, it is required to maintain the high degree of reliability and accuracy in beat frequency estimates. However, Beat spectra of water surface return echoes can have very widely varying shapes according to system frequency linearity, measurement environments and weather conditions. Therefore, serious problems may arise in maintaining the reliability and accuracy of the conventional level estimation method. Therefore, in this paper, high resolution spectrum estimates are analyzed for improvement of the conventional method. These methods show that the more accurate level measurement can be possible on the condition that SNR is higher than a certain required threshold. However, if SNR is too low, the conventional method shows that estimates are more reliable than the suggested method though absolute errors are too large.

• The Journal of the Korea institute of electronic communication sciences
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• v.14 no.1
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• pp.265-274
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• 2019

The paper describes an application of unscented Kalman filter(UKF) for attitude estimation of an unmanned vehicle(UV), which is equipped with a low-cost attitude heading reference system (AHRS). The roll, pitch and yaw required at the correction stage of the UKF are calculated from the measurements of acceleration and geomagnetic field. The roll and pitch are attributed to the measurement of acceleration, while yaw is calculated from the geomagnetic field measurement. Since the measurement of geomagnetic field is vulnerable to distortion by hard-iron and soft-iron effects, the calculated yaw has more uncertainty than the calculated roll and pitch. To reduce the uncertainty of geomagnetic field measurement, the proposed method estimates bias in the geomagnetic field measurement and compensates for the bias for more accurate calculation of yaw. The proposed method is verified through navigation experiments of a UV in a test pool. The results show that the proposed method yields more accurate attitude estimation; thus, it results more accurate location estimation.