• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.246-249
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• 2003

The constraints necessary guarantee using the comparison of these extrinsic parameters, which each Rotation matrix and Translation Vector must be equal to the either, except the X-axis Translation Vector. Thus, we can not yet calculate the 3D-range measurement in the end of camera calibration. To minimize this disadvantage, the Epipolar Rectification has been proposed in the literature. This paper aims to present the development of Epipolar Rectification to calibrate Stereo cameras. The required computation of the transformation mapping between points in 3D-space is based on calculating the image point that appears on new image plane by using calibrated parameters. This computation is assumed from the rotating the old ones around their optical center until focal planes becomes coplanar, thereby containing the baseline, and the Z-axis of both camera coordinate to be parallel together. The optical center positions of the new extrinsic parameters are the same as the old camera, whereas the new orientation differs from the old ones by the suitable rotations. The intrinsic parameters are the same for both cameras. So that, after completed calibration process, immediately can calculate the 3D-range measurement. And the rectification determines a transformation of each image plane such that pairs of conjugate Epipolar lines become collinear and parallel to one of the image axis. From the experimental results verify the proposed technique are agreed with the expected specifications.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.3 s.309
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• pp.8-15
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• 2006

Obstacle detection is an important task for many mobile robot applications. The methods using stereo vision and optical flow are computationally expensive. Therefore, this paper presents a vision-based obstacle detection method using only two view images. The method uses a single passive camera and odometry, performs in real-time. The proposed method is an obstacle detection method using 3D reconstruction from taro views. Processing begins with feature extraction for each input image using Dr. Lowe's SIFT(Scale Invariant Feature Transform) and establish the correspondence of features across input images. Using extrinsic camera rotation and translation matrix which is provided by odometry, we could calculate the 3D position of these corresponding points by triangulation. The results of triangulation are partial 3D reconstruction for obstacles. The proposed method has been tested successfully on an indoor mobile robot and is able to detect obstacles at 75msec.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.11
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• pp.1088-1095
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• 2009

In this paper, we describe the reorientation method of distorted road sign by using projection transformation for improving recognition rate of road sign. RSR (Road Sign Recognition) is one of the most important topics for implementing driver assistance in intelligent transportation systems using pattern recognition and vision technology. The RS (Road Sign) includes direction of road or place name, and intersection for obtaining the road information. We acquire input images from mounted camera on vehicle. However, the road signs are often appeared with rotation, skew, and distortion by perspective camera. In order to obtain the correct road sign overcoming these problems, projection transformation is used to transform from 4 points of image coordinate to 4 points of world coordinate. The 4 vertices points are obtained using the trajectory as the distance from the mass center to the boundary of the object. Then, the candidate areas of road sign are transformed from distorted image by using homography transformation matrix. Internal information of reoriented road signs is segmented with arrow and the corresponding indicated place name. Arrow area is the largest labeled one. Also, the number of group of place names equals to that of arrow heads. Characters of the road sign are segmented by using vertical and horizontal histograms, and each character is recognized by using SAD (Sum of Absolute Difference). From the experiments, the proposed method has shown the higher recognition results than the image without reorientation.

• Tunnel and Underground Space
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• v.20 no.3
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• pp.225-232
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• 2010

In this study, a newly modified 3-dimensional strain-dependent hydraulic conductivity modification relation which incorporates the influences of normal deformation and shear dilation is suggested. Since rock mass is simulated as a orthogonally jointed medium, an anisotropic hydraulic conductivity field can be evaluated using that relation. The empirical relationship on the basis of GSI and disturbance factor has been used to estimate the value of a modulus reduction ratio (ratio of rock mass deformation modulus to rock matrix elastic modulus). Principal hydraulic conductivity directions is not generally coincident with the global coordinate due to the inclining of joint and the influence of joint inclination is evaluated under strain rotation. Result shows that change of hydraulic conductivity does decreases with the increase of GSI and disturbance factor has much effects on the hydraulic conductivity of rock mass getting GSI value above 50. It is found that the inclination of joint impacts on the variation of hydraulic conductivity.

• The KIPS Transactions:PartB
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• v.13B no.5 s.108
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• pp.499-506
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• 2006

This Paper describes a fast and stable camera pose estimation method for real-time augmented reality systems. From the feature tracking results of a marker on a single frame, we estimate the camera rotation matrix and the translation vector. For the camera pose estimation, we use the shape factorization method based on the scaled orthographic Projection model. In the scaled orthographic factorization method, all feature points of an object are assumed roughly at the same distance from the camera, which means the selected reference point and the object shape affect the accuracy of the estimation. This paper proposes a flexible and stable selection method for the reference point. Based on the proposed method, we implemented a video augmentation system that inserts virtual 3D objects into the input video frames. Experimental results showed that the proposed camera pose estimation method is fast and robust relative to the previous methods and it is applicable to various augmented reality applications.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.42 no.8 s.338
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• pp.27-34
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• 2005

In this paper, FPGA It/w and S/W Embedded system for LDM remote control is implemented. XScale CPU is used on developed system and in communcation ethenet and serial is used. CPU interface with H/W LDM rotation and to drive LDM FPGA logic is implemented, to transmit LDM data from long distance command packet is composed, for S/W Embedded linux is used to design linux device driver and linux application program. This S/W is run by module so by loading this module to linu)( file system it can do any movement. Also by compiling Embedded linux to the system it can lower the price of the system. By using this H/W and S/W theory it can be used on any other embedded system.

• Journal of the Korean Society of Radiology
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• v.12 no.1
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• pp.85-91
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• 2018

Computed tomography, which obtains section images from reconstruction process using projection images, has been applied to various fields. The spatial resolution of the reconstructed image depends on the device used in CT system, the object, and the reconstruction process. In this paper, we investigates the effect of the number of projection images and the pixel size of the detector on the spatial resolution of the reconstructed image under the parallel beam geometry. The reconstruction program was written in Visual C++, and the matrix size of the reconstructed image was $512{\times}512$. The numerical bar phantom was constructed and the Min-Max method was introduced to evaluate the spatial resolution on the reconstructed image. When the number of projections used in reconstruction process was small, artifact like streak appeared and Min-Max was also low. The Min-Max showed upper saturation when the number of projections is increased. If the pixel size of the detector is reduced to 50% of the pixel size of the reconstructed image, the reconstructed image was perfectly recovered as the original phantom and the Min-Max decreased as increasing the detector pixel size. This study will be useful in determining the detector and the accuracy of rotation stage needed to achieve the spatial resolution required in the CT system.

• Structural Engineering and Mechanics
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• v.13 no.5
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• pp.557-568
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• 2002

For the evaluation of the capability of a tubular member of an offshore structure to absorb the collision energy, a simple method can be employed for the collision analysis without performing the detailed analysis. The most common simple method is the rigid-plastic method. However, in this method any characteristics for horizontal movement and rotation at the ends of the corresponding tubular member are not included. In a real structural system of an offshore structure, tubular members sustain a certain degree of elastic support from the adjacent structure. End fixity has influences in the behaviors of a tubular member. Three-dimensional FEM analysis can include the effect of end fixity fully, however in viewpoints of the inherent computational complexities of the 3-D approach, this is not the recommendable analysis at the initial design stage. In this paper, influence of end fixity on the behaviors of a tubular member is investigated, through a new approach and other approaches. A new analysis approach that includes the flexibility of the boundary points of the member is developed here. The flexibility at the ends of a tubular element is extracted using the rational reduction of the modeling characteristics. The property reduction is based on the static condensation of the related global stiffness matrix of a model to end nodal points of the tubular element. The load-displacement relation at the collision point of the tubular member with and without the end flexibility is obtained and compared. The new method lies between the rigid-plastic method and the 3-demensional analysis. It is self-evident that the rigid-plastic method gives high strengthening membrane effect of the member during global deformation, resulting in a steeper slope than the present method. On the while, full 3-D analysis gives less strengthening membrane effect on the member, resulting in a slow going load-displacement curve. Comparison of the load-displacement curves by the new approach with those by conventional methods gives the figures of the influence of end fixity on post-yielding behaviors of the relevant tubular member. One of the main contributions of this investigation is the development of an analytical rational procedure to figure out the post-yielding behaviors of a tubular member in offshore structures.

• International Journal of Naval Architecture and Ocean Engineering
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• v.6 no.4
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• pp.1130-1147
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• 2014

Large size ships have a very flexible construction resulting in low resonance frequencies of the structural eigen-modes. This feature increases the dynamic response of the structure on short period waves (springing) and on impulsive wave loads (whipping). This dynamic response in its turn increases both the fatigue damage and the ultimate load on the structure; these aspects illustrate the importance of including the dynamic response into the design loads for these ship types. Experiments have been carried out using a segmented scaled model of a container ship in a Seakeeping Basin. This paper describes the development of the model for these experiments; the choice was made to divide the hull into six rigid segments connected with a flexible beam. In order to model the typical feature of the open structure of the containership that the shear center is well below the keel line of the vessel, the beam was built into the model as low as possible. The model was instrumented with accelerometers and rotation rate gyroscopes on each segment, relative wave height meters and pressure gauges in the bow area. The beam was instrumented with strain gauges to measure the internal loads at the position of each of the cuts. Experiments have been carried out in regular waves at different amplitudes for the same wave period and in long crested irregular waves for a matrix of wave heights and periods. The results of the experiments are compared to results of calculations with a linear model based on potential flow theory that includes the effects of the flexural modes. Some of the tests were repeated with additional links between the segments to increase the model rigidity by several orders of magnitude, in order to compare the loads between a rigid and a flexible model.

• Archives of Pharmacal Research
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• v.28 no.5
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• pp.619-625
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• 2005

Beads loaded with the water-soluble drug, phenylpropanolamine HCl (PPA), were prepared using an extruder and double arm counter-rotating roller modified from a traditional pill machine. The mean diameter of the cylindrical rod-like extrudate from the ram extruder was 3 mm; that of the uncoated bead after cutting and spheronization by the modified double arm counter-rotating roller was 3.26~3.28 mm. Although the surface of the beads was moderately rough and irregular, some exhibited hump-shaped protrusions, the sphericity was acceptable (roundness 1.15) and adequate for the subsequent coating process. An increase in mean diameter of the coated beads and improvements in friability and sphericity were observed in proportion to the amount of coating material applied (ethylcellulose or Eudragit？？ RS 100). It was also found that the release rate of PPA from the coated beads could be controlled by the amount and type of coating materials applied or with the incorporation of Eudragit ？？ RS 100 into the core matrix. Further modifications to the double arm counter-rotating roller, including adjustment of the rotation speed and distance between the rollers, would yield smaller uncoated beads with improved roundness and surface roughness. In conclusion , the present method could be potentially applied to prepare controlled release drug delivery beads or pellet dosage forms.