• 제어로봇시스템학회논문지
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• 제22권1호
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• pp.8-16
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• 2016

In the field of computer vision and robotics, bin picking is an important application area in which object pose estimation is necessary. Different approaches, such as 2D feature tracking and 3D surface reconstruction, have been introduced to estimate the object pose accurately. We propose a new approach where we can use both 2D image features and 3D surface information to identify the target object and estimate its pose accurately. First, we introduce a label detection technique using Maximally Stable Extremal Regions (MSERs) where the label detection results are used to identify the target objects separately. Then, the 2D image features on the detected label areas are utilized to generate 3D surface information. Finally, we calculate the 3D position and the orientation of the target objects using the information of the 3D surface.

• 로봇학회논문지
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• 제12권1호
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• pp.33-41
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• 2017

We present a region-based approach for accurate pose estimation of small mechanical components. Our algorithm consists of two key phases: Multi-view object co-segmentation and pose estimation. In the first phase, we explain an automatic method to extract binary masks of a target object captured from multiple viewpoints. For initialization, we assume the target object is bounded by the convex volume of interest defined by a few user inputs. The co-segmented target object shares the same geometric representation in space, and has distinctive color models from those of the backgrounds. In the second phase, we retrieve a 3D model instance with correct upright orientation, and estimate a relative pose of the object observed from images. Our energy function, combining region and boundary terms for the proposed measures, maximizes the overlapping regions and boundaries between the multi-view co-segmentations and projected masks of the reference model. Based on high-quality co-segmentations consistent across all different viewpoints, our final results are accurate model indices and pose parameters of the extracted object. We demonstrate the effectiveness of the proposed method using various examples.

• 수산해양기술연구
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• 제58권4호
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• pp.352-358
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• 2022

We explored the frequency response of krill target strength (TS) to understand the Antarctic krill (Euphausia superba) and ice krill (Euphausia crystallorophias) using the stochastic distorted-wave Born approximation (SDWBA) model. The results showed that the distribution of orientation and the fatness factor could significantly impact on the frequency response of TS. Krill TS is clearly depended on acoustic properties, which could affect to estimate the biomass of two krill species. The results provide insight into the importance of understanding TS variation to estimate the Antarctic krill and ice krill biomass, and their ecology related to the environmental features in the Southern Ocean.

• 한국세라믹학회지
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• 제36권2호
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• pp.116-121
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• 1999

MgO 단결성 (100) 기판 위에 0.5 wt% Nb 첨가된 전기전도성의 SrTiO3 (Nb:STO) 박막을 Pulsed Laser Deposition 법으로 제조하였다. 산소압력, 타겟과 기판거리, 기판온도, 박막증착시간 등의 박막형성 조건을 다양하게 변화시켜 Nb:STO박막의 격자상수와 박막두께의 변화를 조사하였다. $700^{\circ}C$에서 제작한 0.5 wt% Nb doped SrTiO3 박막의 배향성은 산소분압변화에 따라(100), (110)과 (111)배향이 관찰되었고, 박막제조시의 산소분압이 79.8 Pa로 증가됨에 따라 격자상수는 감소하여 벌크값인 0.390 nm에 근접하였다. 증착시간증가에 따른 박막의 두께는 증착시간에 비례하여 증가하였고, 격자상수의 변화는 거의 없었다. 타겟과 기판사이의 거리가 멀어짐에 따라 박막의 두께는 감소하였으나, 격자상수에는 큰 변화가 없었고 박막두께분포의 균일성이 향상되었다.

• 한국진공학회지
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• 제16권5호
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• pp.343-347
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• 2007

Glass disk상에 대향 타겟식 스퍼터링(Facing Target Sputtering) 방식을 이용하여 $0.1\;{\AA}/s$의 낮은 증착속도로 증착시킬 경우 b.c.c. (100)면 우선배향성을 확인하였으며, 그 위에 Pt박막을 증착시킨 경우 hetero-epitaxial 성장에 의해 Pt박막이(111)의 조밀면이 아닌 (100)면이 우선배향 되었다. 이렇게 형성된 Fe (100)/Pt (100) 이층막(두께 각 3 nm)을 $600\;^{\circ}C$ 수소분위기에서 열처리함에 의해 막전체에 걸쳐서 f.c.t. (00n)면을 형성시키는 데 성공하고, 또한 Fe (100)면 상에 Pt 박막을 증착시키는 동안 열처리를 하고 증착 이후 수소분위기에서 열처리함에 의해 열처리 시간 및 온도를 크게 낮출 수 있음을 확인하였다.

• 한국측량학회지
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• 제38권6호
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• pp.511-519
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• 2020

카메라 캘리브레이션을 위해 일반적으로 체커보드를 이용하여 주점, 초점거리, 렌즈 왜곡을 결정한다. 체커보드는 평면 형태와 3차원 형태가 있으며 체커보드의 크기, 타겟의 배치와 타겟점의 개수에 따라 카메라 캘리브레이션 매개변수에 영향을 미친다. 본 연구에서는 스테레오 카메라 캘리브레이션을 위해 체커보드의 유형에 따른 정확도를 검사점을 이용하여 비교하였으며 이를 통해 가장 성능이 우수한 체커보드를 제안하는 것을 목적으로 하였다. 평면 형태의 크기가 큰 체커보드는 검사점과의 비교를 통해서 비교적 높은 정확도를 나타내었다. 그러나 체커보드의 크기로 인하여 이동과 회전이 불편하였고 스테레오 카메라에서 타겟점이 모두 나타날 수 있도록 촬영하는 것이 어려운 단점이 있었다. 평면 형태의 작은 크기로 제작된 체커보드는 이동 및 회전이 편리하지만 가장 낮은 3차원 정확도를 나타내었다. 높이 값이 있는 타겟을 부착한 체커보드는 타겟점의 3차원 좌표를 카메라 캘리브레이션을 위해서 관측장비를 이용하여 결정해야 하는 번거로움이 있었지만 크기가 작아 이동과 회전이 편리하였고 가장 높은 3차원 정확도를 나타내었다.

• 대한의용생체공학회:의공학회지
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• 제37권2호
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• pp.68-74
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• 2016

In this study, we investigated the rotational characteristics which were comprised of directionality and linearity of target registration error (TRE) as a study in advance to enhance the accuracy of contour-based registration in neuronavigation. For the experiment, two rigid head phantoms that have different faces with specially designed target frame fixed inside of the phantoms were used. Three-dimensional coordinates of facial surface point cloud and target point of the phantoms were acquired using computed tomography (CT) and 3D scanner. Iterative closest point (ICP) method was used for registration of two different point cloud and the directionality and linearity of TRE in overall head were calculated by using 3D position of targets after registration. As a result, it was represented that TRE had consistent direction in overall head region and was increased in linear fashion as distance from facial surface, but did not show high linearity. These results indicated that it is possible for decrease TRE by controlling orientation of facial surface point cloud acquired from scanner, and the prediction of TRE from surface registration error can decrease the registration accuracy in lesion. In the further studies, we have to develop the contour-based registration method for improvement of accuracy by considering rotational characteristics of TRE.

• 한국측량학회:학술대회논문집
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• 한국측량학회 2003년도 추계학술발표회 논문집
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• pp.181-186
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• 2003

As the approach close-range digital photogrammetry has a variety of merits, the application of precision requiting fields is in Increase for its scope expansion. In the meantime, in case of photographic surveying by use of films, a lot of studies on experiment analysis and theoretical forecast models about a change of the exactness as per photographing coordinates have been conducted, but experiments about approach close-range digital photogrammetry are not enough yet. In consequence, this study has made photographing respectively by changing the photographic distance, converging angle, picturing direction by use of Rollei d7 metric and d7 metric$\^$5/ that is a measurement digital camera. And also in order to minimize the errors happened at the relative orientation, we have sorted out the prototype target that the relative orientation is automatically on the programming and have calculated RMSE by carrying out the bundle adjustment. We think that such a study could be used as very important basic data necessary in deriving the optimal photographic conditions by the close-range digital photogrammetry and in judging such a degree.

• 한국지리정보학회지
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• 제8권4호
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• pp.123-133
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• 2005

본 연구는 측량용 디지털 카메라인 d7 $metric^5$를 이용하여 수렴각을 변화시켜가면서 촬영을 실시하였으며, 표정 시 발생하는 오차를 최소화하기 위해 프로그램 상에서 자동적으로 상호표정 되는 원형표지를 이용하였다. 그리고 사진의조정기법은 해석적 방법 중에서 현재 가장 좋은 정도를 얻을 수 있는 광속조정법(bundle adjustment)를 이용하였다. 또한 대상물과 수렴각간의 기하학적 형태변하에 따른 함수모형화를 통해 최적촬영식을 제시한다. 이러한 연구는 향후 근거리수치사진측량에서 요구하는 정도의 사진촬영과 예상되는 정도를 판단하는데 중요한 자료로 이용될 것으로 판단된다.

• Advanced Composite Materials
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• 제18권4호
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• pp.297-314
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• 2009

A design method is proposed to optimize the stacking sequence of laminated composite plates for desired vibration characteristics. The objective functions are the natural frequencies of the laminated plates, and three types of optimization problems are studied where the fundamental frequency and the difference of two adjacent frequencies are maximized, and the difference between the target and actual frequencies is minimized. The design variables are a set of discrete values of fiber orientation angles with prescribed increment in the layers of the plates. The four lamination parameters are used to describe the bending property of a symmetrically laminated plate, and are optimized by a gradient method in the first stage. A new technique is introduced in the second stage to convert from the optimum four lamination parameters into the stacking sequence that is composed of the optimum fiber orientation angles of all the layers. Plates are divided into sub-domains composed of the small number of layers and designed sequentially from outer domains. For each domain, the optimum angles are determined by minimizing the errors between the optimum lamination parameters obtained in the first step and the parameters for all possible discrete stacking sequence designs. It is shown in numerical examples that this design method can provide with accurate optimum solutions for the stacking sequence of vibrating composite plates with various boundary conditions.