• 한국생산제조학회지
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• 제22권3호
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• pp.452-458
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• 2013

Over the past several years, many studies have been carried out in the field of 3D data inspection systems. Several attempts have been made to improve the quality of manufactured parts. The introduction of laser sensors for inspection has made it possible to acquire data at a remarkably high speed. In this paper, a robust inspection technique for detecting defects in 3D pressed parts using laser-scanned data is proposed. Point cloud data are segmented for the extraction of features. These segmented features are used for shape matching during the localization process. An iterative closest point (ICP) algorithm is used for the localization of the scanned model and CAD model. To achieve a higher accuracy rate, the ICP algorithm is modified and then used for matching. To enhance the speed of the matching process, aKd-tree algorithm is used. Then, the deviation of the scanned points from the CAD model is computed.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2008년도 추계학술대회논문집
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• pp.687-692
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• 2008

In a nuclear power plant, loose part monitoring and its diagnostic technique is one of the major issues for ensuring the structural integrity of the reactor system. Typically, accelerometers are mounted on the surface of a reactor vessel to localize impact location caused by the impact of metallic substances on the reactor system. However, in some cases, the number of the accelerometers is not enough to estimate the impact location precisely. In such a case, one of alternative plan is to utilize another type sensors that can measure the vibration of the reactor structure even though the measuring frequency ranges are different from each others. The AE sensors installed on the reactor structure can be utilized as additional sensors for loose part monitoring. In this paper, we proposed a new method to estimate impact location by using both accelerometer signal and AE signal, simultaneously. The feasibility of the proposed method is verified by an experiment. The experimental results demonstrate that we can enhance the reliability and precision of the loose part monitoring.

• Journal of Mechanical Science and Technology
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• 제14권4호
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• pp.408-417
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• 2000

The design and simulation of meshing of a single enveloping worm-gear drive with modified surfaces is presented. Generally worm-gear is generated by the hob which is identical to the worm. This process guarantees the conjugation between the worm and the gear but results in a line contact at every instant which is very sensitive to misalignment. The localization of bearing contact is necessary to reduce the sensitivity of the worm-gear drive to misalignment. Practically this localization is achieved by application of an oversized worm type hob to cut the worm-gear. The oversized hob approach is very practical and effective to localize bearing contact but can not provide the conjugation between the worm and the modified worm-gear. This work proposes an analytical procedure to make the worm surface conjugate to the worm-gear which is cut by the oversized hob. The developed computer program allows the investigation of the influence of misalignment on the shift of the bearing contact and the determination of the transmission errors, the contact ratio and the principle curvatures. The developed approach has been applied for ZK type of single-enveloping worm-gear drives and the developed theory is illustrated with a numerical example.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2002년도 추계학술대회 논문집
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• pp.68-72
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• 2002

Localization with array sensors has been applied for not only military but also non-military purposes. The identification of submarines and fish finding are those examples. Nowadays the demand for noise identification is increasing to characterize noise sources and improve acoustic performance of underwater acoustic equipment. For that reason KRISO/KORDI recently constructed an anechoic basin which bus reflection only at the free surface. This paper suggests a noise identification methods using MUSIC algorithm in such an acoustic field. For comparison phase delay sum and minimum valiance methods are also described. At first basic principles are described. A several numerical simulations are also performed. The results say that reflection effect many cause a new non-real source although good estimation is obtained under no reflection conditions.

• 대한의용생체공학회:의공학회지
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• 제29권3호
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• pp.231-238
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• 2008

Nelder-Mead downhill simplex method (DSM), a kind of deterministic optimization algorithms, has been used extensively for magnetoencephalography(MEG) dipolar source localization problems because it dose not require any functional differentiation. Like many other deterministic algorithms, however, it is very sensitive to the choice of initial positions and it can be easily trapped in local optima when being applied to complex inverse problems with multiple simultaneous sources. In this paper, some modifications have been made to make up for DSM's limitations and improve the accuracy of DSM. First of all, initial point determination method for DSM using magnetic fields on the sensor surface was proposed. Secondly, Univariant-DSM combined DSM with univariant method was proposed. To verify the performance of the proposed method, it was applied to simulated MEG data and practical MEG measurements.

• 한국소음진동공학회논문집
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• 제18권11호
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• pp.1143-1149
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• 2008

In a nuclear power plant, loose part monitoring and its diagnostic technique is one of the major issues for ensuring the structural integrity of the reactor system. Typically, accelerometers are mounted on the surface of a reactor vessel to localize impact location cavsed by the impact of metallic substances on the reactor system. However, in some cases, the number of the accelerometers is not enough to estimate the impact location precisely. In such a case, one of alternative plan is to utilize another type sensors that can measure the vibration of the reactor structure even though the measuring frequency ranges are different from each others. The AE sensors installed on the reactor structure can be utilized as additional sensors for loose part monitoring. In this paper, we proposed a new method to estimate impact location by using both accelerometer signal and AE signal, simultaneously. The feasibility of the proposed method is verified by an experiment. The experimental results demonstrate that we can enhance the reliability and precision of the loose part monitoring.

• 제어로봇시스템학회논문지
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• 제15권7호
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• pp.700-710
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• 2009

A computer vision technique of estimating the location of an unmanned ground vehicle is proposed. Identifying the location of the unmaned vehicle is very important task for automatic navigation of the vehicle. Conventional positioning sensors may fail to work properly in some real situations due to internal and external interferences. Given a DSM(Digital Surface Map), location of the vehicle can be estimated by the registration of the DSM and multiview range images obtained at the vehicle. Registration of the DSM and range images yields the 3D transformation from the coordinates of the range sensor to the reference coordinates of the DSM. To estimate the vehicle position, we first register a range image to the DSM coarsely and then refine the result. For coarse registration, we employ a fast random sample matching method. After the initial position is estimated and refined, all subsequent range images are registered by applying a pair-wise registration technique between range images. To reduce the accumulation error of pair-wise registration, we periodically refine the registration between range images and the DSM. Virtual environment is established to perform several experiments using a virtual vehicle. Range images are created based on the DSM by modeling a real 3D sensor. The vehicle moves along three different path while acquiring range images. Experimental results show that registration error is about under 1.3m in average.

• 한국음향학회지
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• 제27권1호
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• pp.40-46
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• 2008

천해 영역에서 선박과 같은 수상 소음원의 간섭 신호는 정합장처리를 이용한 수중 표적 탐지 및 위치추정 기법 적용에 있어 문제점으로 남아있다. 정지 음원의 경우 수신기공간의 음장에 대한 고유벡터분해를 통해 각 음원 성분을 분리하고 간섭 신호 성분을 제거할 수 있다. 하지만 일반적인 이동 음원 환경에서는 각 신호 성분의 에너지가 수신 음장의 부분공간에 퍼지게 되므로, 고유값 분포 비교만으로 각 신호 성분을 구별하기 어렵게 되거나 하나의 고유벡터에 각 신호성분이 섞이는 경우도 발생한다. 본 논문에서는 수상 음원과 수중 음원 신호의 물리적 특성 차이를 이용한 모드공간 간섭 신호 제거 기법을 제안하였다. 이 기법은 모드-공분산행렬에 대한 고유벡터분해를 통해 간섭 신호 성분을 판별하며, 이 성분들을 부분공간에서 제거함으로써 차폐되었던 표적 신호를 복원하고 위치추정을 가능하게 한다. 이를 모의실험을 통해 확인하고 결과에 대해 논의하였다.

• KSBB Journal
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• 제26권3호
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• pp.243-247
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• 2011

Using Bacillus subtilis spore display system, with cotG as an anchoring motif, levansucrase from Zymomonas mobilis, was displayed on the outer surface of Bacillus subtilis spore. Flow cytometry of DB104 (pSDJH-cotG-levU) spore, proved the surface localization of CotG-LevU fusion protein on the spore compared to that of DB104. Enzymatic activity of DB104 (pSDJH-cotG-levU) spore showed more than 1.5 times higher levansucrase specific activity compared to that of the host spore, which is a remarkable increase of enzymatic activity considering the existence of sacA (sucrase) and sacB (levansucrase) in the Bacillus subtilis chromosome. The spore integrity, revealed by sporulation frequency test after heat and lysozyme treatment of spore, did not changed at all in spite of the CotG-LevU fusion protein incorporation into the spore coat layer during spore formation process. These data prove again that Bacillus subtilis spore could be considered as good live immobilization vehicle for efficient bioconversion process.

• 제어로봇시스템학회논문지
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• 제19권4호
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• pp.341-348
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• 2013

A location estimation algorithm based on the sea-surface beacon is proposed in this paper. The beacon is utilized to provide ultrasonic signals to the underwater vehicles around the beacon to estimate precise position of underwater vehicles (ROV, AUV, Diver robot), which is named as USBL (Ultra Short Baseline) system. It utilizes GPS and INS data for estimating its position and adopts DWT (Discrete Wavelet Transform) de-noising filter and UKF (Unscented KALMAN Filter) elaborating the position estimation. The beacon system aims at estimating the precise position of underwater vehicle by using USBL to receive the tracking signals. The most important one for the precise position estimation of underwater vehicle is estimating the position of the beacon system precisely. Since the beacon is on the sea-waves, the received GPS signals are noisy and unstable most of times. Therefore, the INS data (gyroscope sensor, accelerometer, magnetic compass) are obtained at the beacon on the sea-surface to compensate for the inaccuracy of the GPS data. The noises in the acceleration data from INS data are reduced by using DWT de-noising filter in this research. Finally the UKF localization system is proposed in this paper and the system performance is verified by real experiments.