• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1832-1835
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• 2005

This paper presents the steering control algorithm of an up and down motion robot using a quaternion. The up and down motion robot is to be moved on an irregular floor that can inevitably result in the errors of both position and orientation. Especially the orientation error should be compensated every work in order to adjust the misaligned values of current orientation to those commanded values. In this paper, we propose a new steering control algorithm between the two values by using a quaternion with spherical cubic interpolation. The proposed algorithm is shown to be effective in terms of vibration when compared to a conventional simple compensation without interpolation, by using $MATLAB^{(R)}$ and $VisualNastran4D^{(R)}$

• Journal of the Institute of Convergence Signal Processing
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• v.20 no.4
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• pp.245-251
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• 2019

Sonar bearing accuracy is the correspondence between the target orientation predicted by sonar and actual target orientation, and is obtained from measurements. However, when measuring sonar bearing accuracy, many errors are included in the results because they are made at sea, where complex and diverse environmental factors are applied. In particular, parallax error caused by the difference between the position of the GPS receiver and the sonar sensor, and the time delay error generated between the speed of underwater sound waves and the speed of electromagnetic waves in the air have a great influence on the accuracy. Correcting these parallax errors and time delay errors without an automated tool is a laborious task. Therefore, in this study, we propose a sonar bearing accuracy measurement equipment with parallax error and time delay error correction. The tests were carried out through simulation data and real data. As a result of the test it was confirmed that the parallax error and time delay error were systematically corrected so that 51.7% for simulation data and more than 18.5% for real data. The proposed method is expected to improve the efficiency and accuracy of sonar system detection performance verification in the future.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.888-893
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• 2005

Since inertial sensor errors which increase with time are caused by initial orientation error and sensor errors(accelerometer bias and gyro drift bias), the accuracy of these devices, while still improving, is not adequate for many of today's high-precision, long-duration sea, aircraft, and long-range flight missions. This paper presents a navigation error compensation scheme for Strap-Down Inertial Navigation System(SDINS) using star tracker. To be specific, SDINS error model and measurement equation are derived, and Kalman filter is implemented. Simulation results show the boundedness of position and attitude errors.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.355-356
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• 2006

This paper proposes an Molding error compensation method that improves accuracy with geometry information of injected parts using three-dimensional measuring instrument. a traditional mold design has been conducted by an experience-based trial and error, whereby generally the mold designer would decide the gate location and processing conditions. as a natural consequence, almost all creats inferior goods. It's just a process of trial and error and caught in a vicious circle. Due to this reason, this paper uses a three-dimensional measuring instrument, a commercial analysis package of injection molding(Moldflow, MPI) to analysis a state of flux. In addition to that axiomatic approach.

• 한국가스학회:학술대회논문집
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• 2001.10a
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• pp.23-30
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• 2001

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.32 no.3
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• pp.217-223
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• 2014

With precise sensor position, attitude element, and imaging resolution, a simulated geospatial image can be generated. In this study, a satellite image is simulated using SPOT ortho-image and global elevation data, and the geometric similarity between original and simulated images is analyzed. Using a SPOT panchromatic image and high-density elevation data from a 1/5K digital topographic map data an ortho-image with 10-meter resolution was produced. The simulated image was then generated by exterior orientation parameters and global elevation data (SRTM1, GDEM2). Experimental results showed that (1) the agreement of the image simulation between pixel location from the SRTM1/GDEM2 and high-resolution elevation data is above 99% within one pixel; (2) SRTM1 is closer than GDEM2 to high-resolution elevation data; (3) the location of error occurrence is caused by the elevation difference of topographical objects between high-density elevation data generated from the Digital Terrain Model (DTM) and Digital Surface Model (DSM)-based global elevation data. Error occurrences were typically found at river boundaries, in urban areas, and in forests. In conclusion, this study showed that global elevation data are of practical use in generating simulated images with 10-meter resolution.

• Computers and Concrete
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• v.31 no.3
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• pp.173-184
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• 2023

In this study, the flexural behaviors of one- and two-way reinforced concrete (RC) slabs strengthened with carbon-fiber-reinforced polymer (CFRP) strips under impact loads were investigated. The flexural strengthening of RC slabs under simulated static monotonic loads has been comprehensively studied. However, the flexural behavior of RC slabs strengthened with CFRP strips has not been investigated extensively, particularly those conducted numerically. Nonlinear three-dimensional finite element models were developed, executed, and verified against previous experimental results, producing satisfactory models with approximately 4% error. The models were extended to a parametric study, considering three geometric parameters: the slab rectangularity ratio, CFRP strip width, and CFRP strip configuration. Finally, the main results were used to derive a new formula for predicting the total deflection of RC slabs strengthened with CFRP strips under impact loads with an error of approximately 10%. The proposed equation reflected the slab rectangularity, CFRP strip width, equivalent slab stiffness, and dropped weight. Results indicated that the use of CFRP strips enhanced the overall impact performance, the wider the CFRP width, the better the enhancement. Moreover, the application of diagonally oriented CFRP strips diminished the cracking zone compared to straight strips. Additionally, the diagonal orientation of CFRP strips was more efficient for two-way slabs while the vertical orientation was found to be better in the case of one-way slabs.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.29B no.7
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• pp.52-61
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• 1992

An iterative scheme for computing the three-dimensional position and the surface orientation of an opaque object from a singel shaded image is proposed. This method demonstrates that calculating the depth(distance) between the camera and the object from one shaded video image is possible. Most previous research works on $'Shape from Shading$' problem, even in the $'Photometric Stereo Method$', invoved the determination of surface orientation only. To measure the depth of an object, depth of the object, and the reflectance properties of the surface. Assuming that the object surface is uniform Lambertian the measured intensity level at a given image pixel*x,y0becomes a function of surface orientation and depth component of the object. Derived Image Irradiance Equation can`t be solved without further informations since three unknown variables(p,q and D) are in one nonlinear equation. As an additional constraints we assume that surface satisfy smoothness conditions. Then equation can be solved relaxatively using standard methods of TEX>$'Calculus of VariationTEX>$'. After checking the sensitivity of the algorithm to the errors ininput parameters, the theoretical results is tested by experiments. Three objects (plane, cylinder, and sphere)are used. Thees initial results are very encouraging since they match the theoretical calculations within 20$\%$ error in simple experiments.> error in simple experiments.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.22 no.10
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• pp.2317-2328
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• 1997

The objective of this paper is to develop an algorithm for a real-time automatic fingerprint recognition system. The algorithm employs the wavelet transform(WT) and the dominat local orientation that derived from the gradient Gaussian(GoG) and coherence in determining the directions of ridges in fingerprint images. By using the WT, the algorithm does not require conventional preprocessing procedures such as smothing, binarization, thining and restoration. For recognition, two fingerprint images are compared in three different ST domains;one that represents the original image compressed to quarter(LL), another that shows vertical directional characteristic(LH), and third as the block that contains horizontal direction(HL) in WT domain. Each block has dominat local orientation that derived from the GoG and coherence. The proposed algorithm is imprlemented on a SunSparc-2 workstation under X-window environment. Our simulation results, in real-time have shown that while the rate of Type II error-Incorrect recognition of two identical fingerprints as the identical fingerprints-is held at 0%, the rate of Type I error-Incorrect recognitionof two identical fingerprints as the different ones-is 2.5%.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.26 no.4
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• pp.351-357
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• 2008

An aerial multi-looking camera system equips itself with five separate cameras which enables acquiring one vertical image and four oblique images at the same time. This provides diverse information about the site compared to aerial photographs vertically. The geometric relationship of oblique cameras and a vertical camera can be modelled by 6 exterior orientation parameters. Once the relationship between the vertical camera and each oblique camera is determined, the exterior orientation parameters of the oblique images can be calculated by the exterior orientation parameters of the vertical image. In order to examine the exterior orientation of both a vertical camera and each oblique cameras in the multi-looking camera relatively, calibration targets were installed in a lab and 14 images were taken from three image stations by tilting and rotating a non-metric digital camera. The interior orientation parameters of the camera and the exterior orientation parameters of the images were estimated. The exterior orientation parameters of the oblique image with respect to the vertical image were calculated relatively by the exterior orientation parameters of the images and error propagation of the orientation angles and the position of the projection center was examined.