• Journal of Korea Multimedia Society
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• v.14 no.2
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• pp.171-181
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• 2011

A vision-based method for positioning and orienting of pallets is presented in this paper, which guides autonomous forklifts to engage pallets automatically. The method uses a single camera mounted on the fork carriage instead of two cameras for stereo vision that is conventionally used for positioning objects in 3D space. An image back-projection technique for determining the orient of a pallet without any fiducial marks is suggested in tins paper, which projects two feature lines on the front plane of the pallet backward onto a virtual plane that can be rotated around a given axis in 3D space. We show the fact that the rotation angle of the virtual plane on which the back-projected feature lines are parallel can be used to describe the orient of the pallet front plane. The position of the pallet is determined by using ratio of the distance between the back-projected feature lines and their real distance on the pallet front plane. Through a test on real pallet images, we found that the proposed method was applicable to real environment practically in real-time.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.6
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• pp.549-559
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• 2015

In this paper, an efficient dynamic reactive motion planning method for an autonomous vehicle in a dynamic environment is proposed. The purpose of the proposed method is to improve the robustness of autonomous robot motion planning capabilities within dynamic, uncertain environments by integrating a virtual plane-based reactive motion planning technique with a sensor fusion-based obstacle detection approach. The dynamic reactive motion planning method assumes a local observer in the virtual plane, which allows the effective transformation of complex dynamic planning problems into simple stationary ones proving the speed and orientation information between the robot and obstacles. In addition, the sensor fusion-based obstacle detection technique allows the pose estimation of moving obstacles using a Kinect sensor and sonar sensors, thus improving the accuracy and robustness of the reactive motion planning approach. The performance of the proposed method was demonstrated through not only simulation studies but also field experiments using multiple moving obstacles in hostile dynamic environments.

• Structural Engineering and Mechanics
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• v.42 no.4
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• pp.589-608
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• 2012

In this study, the effect of in-plane deformations on the dynamic behavior of laminated plates is investigated. For this purpose, the displacement-time and strain-time histories obtained from the large deflection analysis of laminated plates are compared for the cases with and without including in-plane deformations. For the first one, in-plane stiffness and inertia effects are considered when formulating the dynamic response of the laminated composite plate subjected to the blast loading. Then, the problem is solved without considering the in-plane deformations. The geometric nonlinearity effects are taken into account by using the von Karman large deflection theory of thin plates and transverse shear stresses are ignored for both cases. The equations of motion for the plate are derived by the use of the virtual work principle. Approximate solution functions are assumed for the space domain and substituted into the equations of motion. Then, the Galerkin method is used to obtain the nonlinear algebraic differential equations in the time domain. The effects of the magnitude of the blast load, the thickness of the plate and boundary conditions on the in-plane deformations are investigated.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.18 no.4
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• pp.448-457
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• 2008

A principal components analysis (PCA) of the median-plane head-related impulse responses (HRIRs) in the CIPIC HRTF database reveals that the individual HRIRs in the median plane can be adequately reconstructed by a linear combination of 12 orthonormal basis functions. These basis functions can be used to model arbitrary median-plane HRIRs, which are not included in the process to obtain the basis functions. Memory size can be reduced up to 5-fold depending on the number of HRIRs to be modeled. To clarify whether these basis functions can be used to model other set of arbitrary median plane HRIRs, a numerical error analysis for modeling and a series of subjective listening tests were carried out using the measured and modeled HRIRs. The results showed that the set of individual HRIRs in the median plane, which were measured in our lab using different measurement conditions, techniques, and source positions, can be modeled with reasonable accuracy. All subjects, involved in the subjective listening test, reported not only the accurate vertical perception but also the front-back discrimination with the modeled HRIRs based on 12 basis functions.

• Journal of the Korean Society for Railway
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• v.19 no.6
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• pp.765-776
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• 2016

In this study, a standard section of a railway bridge abutment wall was designed to satisfy the external stability condition in accordance with the design criteria; this design was used to compare and analyze the active earth pressure and to calculate various types of earth pressure acting on the virtual back (wall, plane) according to the frictional angle of the backfill materials. Also, the external stability, member force and construction cost were analyzed according to the frictional angle of the backfill materials using various theories of earth pressure such as Rankine, Coulomb, Trial Wedge, and Improved Trial Wedge. As for the results, it was found that lateral earth pressure at the virtual back plane was higher than at the virtual back wall, and that these values decreased with the increase of the frictional angle of the backfill materials. The increasing of the frictional angle of the backfill materials decreased the active earth pressure (according to Rankine, Coulomb, Trial Wedge, and Improved Trial Wedge results), and the member force as well as the construction cost were reduced.

• International Journal of Automotive Technology
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• v.6 no.2
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• pp.149-159
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• 2005

A full nonlinear finite element P185/70Rl4 passenger car radial-ply tire model was developed and run on a 1.7-meter-diameter spinning test drum/cleat model at a constant speed of 50 km/h in order to investigate the tire transient response characteristics, i.e. the tire in-plane free vibration modes transmissibility. The virtual tire/drum finite element model was constructed and tested using the nonlinear finite element analysis software, PAM-SHOCK, a nonlinear finite element analysis code. The tire model was constructed in extreme detail with three-dimensional solid, layered membrane, and beam finite elements, incorporating over 18,000 nodes and 24 different types of materials. The reaction forces of the tire axle in vertical (Z axis) and longitudinal (X axis) directions were recorded when the tire rolled over a cleat on the drum, and then the FFT algorithm was applied to examine the transient response information in the frequency domain. The result showed that this PI 85/70Rl4 tire has clear peaks of 84 and 45 Hz transmissibility in the vertical and longitudinal directions. This result was validated against more than 10 previous studies by either theoretical or experimental approaches and showed excellent agreement. The tire's post-impact response was also investigated to verify the numerical convergence and computational stability of this FEA tire model and simulation strategy, the extraordinarily stable scenario was confirmed. The tire in-plane free vibration modes transmissibility was successfully detected. This approach was never before attempted in investigations of tire in-plane free vibration modes transmission phenomena; this work is believed to be the first of its kind.

• Journal of Korea Multimedia Society
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• v.15 no.4
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• pp.425-438
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• 2012

In this paper, We propose Augmented Reality (AR) System for the interaction between user's hand motion and virtual object motion based on computer vision. The previous AR system provides inconvenience to user because the users have to control the marker and the sensor like a tracker. We solved the problem through hand motion and provide the convenience to the user. Also the motion of virtual object using a physical phenomenon gives a reality. The proposed system obtains geometrical information by the marker and hand. The system environments like virtual space of moving virtual ball and bricks are made by using the geometrical information and user's hand motion is obtained from the hand's information with extracted feature point through the taping hand. And it registers a virtual plane stably by getting movement of the feature points. The movement of the virtual ball basically is parabolic motion with a parabolic equation. When the collision occurs either the planes or the bricks, we show movement of the virtual ball with ball position and normal vector of plane and the ball position is faulted. So we showed corrected ball position through experiment. and we proved that this system can replaced the marker system to compare to jitter of augmented virtual object and progress speed with it.

• Proceedings of the IEEK Conference
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• 2002.07a
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• pp.450-453
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• 2002

In this paper a Phase-based virtual image encryption and decryption techniques based on a joint transform correlator (JTC) are proposed. In this method, an encrypted image is obtained by multiplying a phase-encoded virtual image that contains no information from the decrypted image with a random phase. Even if this encryption process converts a virtual image into a white-noise-like image, the unauthorized users can permit a counterfeiting of the encrypted image by analyzing the random phase mask using some phase-contrast technique. However, they cannot reconstruct the required image because the virtual image protects the original image from counterfeiting and unauthorized access. The proposed encryption technique does not suffer from strong auto-correlation terms appearing in the output plane. In addition, the reconstructed data can be directly transmitted to a digital system for real-time processing. Based on computer simulations, the proposed encryption technique and decoding system were demonstrated as adequate for optical security applications.

• Korean Journal of Optics and Photonics
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• v.14 no.6
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• pp.630-635
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• 2003

We propose an encryption method using visual cryptography and virtual phase images. In the encryption process, the original image is shared by virtual images and the decryption key image. We multiply the virtual phase images with each complex image, which has the constant value of its sum after performing the phase modulation of the virtual images and the decryption key. The encryption cards are made by Fourier transforming the multiplied images. It is possible to protect information about the original image because the cards do not have any information from the original image. To reconstruct the original image, all the encryption cards are placed on each path of a Mach-Zehnder interferometer and then the lights passing through them are summed. Since the summed image is inverse Fourier transformed by a Fourier lens, the phase image is multiplied with the decryption key and the output image is obtained in the form of intensity on the CCD plane. Computer simulations show a good performance of the pro-posed optical security system.

• Steel and Composite Structures
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• v.30 no.6
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• pp.517-534
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• 2019

In this paper, the effects of inevitable out-of-plane defects on the postbuckling behavior of single-layered graphene sheets (SLGSs) under in-plane loadings are investigated based on nonlocal first order shear deformation theory (FSDT) and von-Karman nonlinear model. A generic imperfection function, which takes the form of the products of hyperbolic and trigonometric functions, is employed to model out-of-plane defects as initial geometrical imperfections of SLGSs. Nonlinear equilibrium equations are derived from the principle of virtual work and variational formulation. The postbuckling equilibrium paths of imperfect graphene sheets (GSs) are presented by solving the governing equations via isogeometric analysis (IGA) and Newton-Raphson iterative method. Finally, the sensitivity of the postbuckling behavior of GS to shape, amplitude, extension on the surface, and location of initial imperfection is studied. Results showed that the small scale and initial imperfection effects on the postbuckling behavior of defective SLGS are important and cannot be ignored.