• Journal of Engineering Education Research
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• v.15 no.5
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• pp.93-97
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• 2012

Most of ubiquitous computing devices such as stereo camera, ultrasonic sensor based MIT cricket system and other wireless sensor network devices are widely applied to the 2 Dimensional(2D) localization system in today. Because stereo camera cannot estimate the optimal location between moving node and beacon node in Wireless Personal Area Network(WPAN) under Non Line Of Sight(NLOS) environment, it is a great weakness point to the design of the 2D localization system in indoor environment. But the conventional 2D triangulation scheme that is adapted to the MIT cricket system cannot estimate the 3 Dimensional(3D) coordinate values for estimation of the optimal location of the moving node generally. Therefore, the 3D triangulation scheme based on the space segmentation in WPAN is suggested in this paper. The measuring data in the suggested scheme by computer simulation is compared with that of the geographic measuring data in the AutoCAD software system. The average error of coordinates values(x,y,z) of the moving node is calculated to 0.008m by the suggested scheme. From the results, it can be seen that the location correctness of the suggested scheme is very excellent for using the localization system in WPAN.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.9 no.1
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• pp.10-15
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• 2009

With the development of techniques, robots are getting smaller, and the number of robots needed for application is greater and greater. How to coordinate large number of autonomous robots through local interactions has becoming an important research issue in robot community. Swarm Robot Systems (SRS) is a system that independent autonomous robots in the restricted environments infer their status from pre-assigned conditions and operate their jobs through the cooperation with each other. In the SRS, a robot contains sensor part to percept the situation around them, communication part to exchange information, and actuator part to do a work. Especially, in order to cooperate with other robots, communicating with other robots is one of the essential elements. Because Bluetooth has many advantages such as low power consumption, small size module package, and various standard protocols, it is rated as one of the efficient communicating technologies which can apply to small-sized robot system. In this paper, we will develop Bluetooth communicating system for autonomous robots. And we will discuss how to construct and what kind of procedure to develop the communicating system for group behavior of the SRS under intelligent space.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.26 no.3
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• pp.449-455
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• 2022

In this paper, we propose a position measuring system using trilateration based on the illuminance of a light-emitting diode (LED). Three LEDs are located on the ceiling of the virtual space, and each fixed coordinate is inputted to the monitoring program, and Length to the illuminance sensor is drawn through the relational expression of the length and illuminance value from the respective LED. Based on the derived length, the trilateration method is used to find object location information in virtual space. By using the least square equation to minimize the error of the length drawn to trilateration, the error is reduced to the utmost. Unlike the existing indoor positioning system using visible light communication (VLC), the proposed system does not require synchronization between the transmitter and the receiver, so the system can be configured simply.

• Korean Journal of Applied Biomechanics
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• v.14 no.3
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• pp.1-15
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• 2004

The purpose of this study was to investigate the kinematic variables of the upper part of the body for 8 elderly men during walking. For this study, kinematic data were collected using a six-camera (240Hz) Qualisys ProReflex system. The room coordinate system was right-handed and fixed in space, with righted orthogonal segment coordinate systems defined for the head, trunk, and pelvis. Based on a rigid body model, reflective marker triads were attached on the 3 segments. Three-dimensional Cartesian coordinates for each marker were determined at the time of recording using a nonlinear transformation(NLT) technique with ProReflex software (Qualisys, Inc.). Coordinate data were low-pass filtered using a fourth-order Butterworth with cutoff frequency of 6Hz. Three-dimensional angles of the head, trunk, and pelvis segment were determined using a Cardan method. On the basis of each segment angle, angle-angle plot used to estimated the movement coordinations between segments. The conclusions were as follows; (1) During the support phase of walking, the elderly people generally kept their, head the flexional and abductional posture. Particularly, the elderly displayed little internal/external rotation. (2) The elderly people showed extensional and external rotation postures in the trunk movement. Particularly, It showed the change from adduction into abduction at the heel contact event of the stance phase. (3) The elderly people showed almost same pelvis movement from the flexion into extension, from the abduction into adduction, and from internal rotation into external rotation at the mid stance and toe off of the stance phase.

• Journal of KIISE
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• v.43 no.5
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• pp.562-568
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• 2016

Point cloud data can be expressed in a specific coordinate system of a data set with a large number of points, to represent any form that generally has different characteristics in the three-dimensional coordinate space. This paper is aimed at finding a cylindrical pipe in the point cloud of the three-dimensional coordinate system using RANSAC, which is faster than the conventional Hough Transform method. In this study, the proposed cylindrical pipe is estimated by combining the results of parameters based on two mathematical models. The two kinds of mathematical models include a sphere and line, searching the sphere center point and radius in the cylinder, and detecting the cylinder with straightening of center. This method can match cylindrical pipe with relative accuracy; furthermore, the process is rapid except for normal estimation and segmentation. Quick cylinders matching could benefit from laser scanning and reverse engineering construction sectors that require pipe real-time estimates.

• The Journal of the Acoustical Society of Korea
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• v.16 no.5
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• pp.26-35
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• 1997

This paper deals with establishing correspondent points of feature pints and sampling period when we estimate object motion parameters from image information of freely moving objects in space of gravity-free state. Replacing the inertial coordinate system with the camera coordinate system which is equipped within a space robot, it is investigated to be able to analyze a problem of correspond points from image information, and to obtain sequence of angular velocity $\omega$ which determine a motion of object by means of computer simulation. And if a sampling period ${\Delta}t$ is shortened, the relative errors of angular velocity are increased because the relative errors against moving distance of feature points are increased by quantization. In reverse, if a sampling period ${\Delta}t$ is lengthened too much, the relative error are likewise increased because a sampling period is long for angular velocity to be approximated, and we confirmed the precision that grows according to ascending of resolution.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.4 no.4
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• pp.127-135
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• 1984

This paper considers the problem of optimum shaping of steel arches subjected to general loading. The weight of arches is considered as the objective function and the appropriate combinations of section forces, material volume, arc length, and closed section area of arches are considered as the stress constraints. The shape optimization problems are formulated in terms of the design variables of sectional areas of each element. First the cost sensitivity of the design is investigated. Then the investigation comprises the search for the optimum arch form as well as the optimum area distribution along the arch. Two spaces of shape optimization algorithm will be treated, the first space corresponding to the section optimization by the Modified Newton Raphson Method, and the second space to the coordinate optimization by the Powell Method. The optimization algorithm is evaluated and the optimum span-rise ratios for the given arches are evaluated.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2007.04a
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• pp.59-63
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• 2007

Each country uses its own datum which well represent its topography. The uses of the space technology such as GPS and the effort of establishing the consistent data over the world, Korea changed the survey act to use a world geodetic system from January 1, 2007. In this study, spatial analysis carried out to transform the GIS DB of electric power distribution system based on the old Tokyo datum the new world geodetic system, KGD 2002. Based on the study, problems on the transformation had been identified and efficient solutions are suggested. The data used for the 7 parameter similarity transformation in this study is the blueprints of the electric equipment and base maps. It is expected that this study provide general scheme and procedure for efficient GIS DB transformation to the new world geodetic system.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.289-294
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• 1998

The distributed-parameter structures expressed with the partial differential equations are considered as the infinite-dimensional dynamic system. For implementation of a controller in multivariate systems, it is necessary to derive the state-space reduced order model. By the eigensystem realization algorithm, we can yield tile subspace system with the Markov parameters derived from the measured frequency response function by the inverse discrete Fourier transformation. We also review the necessary conditions for the convergence of the approximation system and the error bounds in terms of the singular values of Markov-parameter matrices. To determine the natural frequencies and modal damping ratios, the modal coordinate transformation is applied to the realization system. The vibration test for a smart structure is performed to provide the records of frequency response functions used in the subspace system realization.

• The Bulletin of The Korean Astronomical Society
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• v.42 no.2
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• pp.82.2-82.2
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• 2017

Korea Microlensing Telescope Network (KMTNet) is one of powerful tools for investigating primordial objects in the inner solar system in that it covers a large area of the sky ($2{\times}2$ degree2) with a high observational cadence. The Deep Ecliptic Patrol of the Southern sky (DEEP-South) survey has been scanning the southern sky using KMTNet for non-bulge time (45 full nights per year) [1] since 2015 for examining color, albedo, rotation, and shape of the solar system bodies. Since 2017 January, we have launched a new collaborative group between Korea Astronomy and Space Science Institute (KASI) and Seoul National University (SNU) with support from KASI to reinforce mutual collaboration among these institutes and further to enhance human resources development by utilizing the KMTNet/DEEP-South data. In particular, we focus on the detection of comets and asteroids spontaneously scanned in the DEEP-South for (1) investigating the secular changes in comet's activities and (2) analyzing precovery and recovery images of objects in the NASA's NEOWISE survey region. In this presentation, we will describe our scientific objectives and current status on using KMTNet data, which includes updating the accuracy of the world coordinate system (WCS) information, finding algorithm of solar system bodies in the image, and doing non-sidereal photometry.