• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.38 no.6
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• pp.663-670
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• 2020

In the present study, we assessed the accuracy of aerial triangulation using a UAV (Unmanned Aerial Vehicle) capable of network RTK (Real-Time Kinematic) survey in a disaster situation that may occur in a semi-urban area mixed with buildings. For a reliable survey of check points, they were installed on the roofs of buildings, and static GNSS (Global Navigation Satellite System) survey was conducted for more than four hours. For objective accuracy assessment, coded aerial targets were installed on the check points to be automatically recognized by software. At the instance of image acquisition, the 3D coordinates of the UAV camera were measured using VRS (Virtual Reference Station) method, as a kind of network RTK survey, and the 3-axial angles were achieved using IMU (Inertial Measurement Unit) and gimbal rotation measurement. As a result of estimation and update of the interior and exterior orientation parameters using Agisoft Metashape, the 3D RMSE (Root Mean Square Error) of aerial triangulation ranged from 0.153 m to 0.102 m according to the combination of the image overlap and the angle of the image acquisition. To get higher aerial triangulation accuracy, it was proved to be effective to incorporate oblique images, though it is common to increase the overlap of vertical images. Therefore, to conduct a UAV mapping in an urgent disaster site, it is necessary to acquire oblique images together rather than improving image overlap.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.7
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• pp.611-617
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• 2004

This paper presents a simple method of rotational motion estimation and correction for roll axis stabilization of an image. The scheme first computes the rotation center by taking least squares of selected local velocity vectors, and the rotational angle is found from special subset of motion vectors. Roll motion correction is then performed by the nearest neighbor interpolation technique. To show the effectiveness of our approach, the synthetic and real images are evaluated, resulting in better performance than the previous ones.

• Journal of the Institute of Convergence Signal Processing
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• v.5 no.2
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• pp.96-105
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• 2004

The recovering 3D image from 2D requires the depth information for each picture element. The manual creation of those 3D models is time consuming and expensive. The goal in this paper is to estimate the relative depth information of every region from single view image with camera translation. The paper is based on the fact that the motion of every point within image which taken from camera translation depends on the depth. Motion vector using full-search motion estimation is compensated for camera rotation and zooming. We have developed a framework that estimates the average frame depth by analyzing motion vector and then calculates relative depth of region to average frame depth. Simulation results show that the depth of region belongs to a near or far object is consistent accord with relative depth that man recognizes.

• Journal of Acupuncture Research
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• v.23 no.1
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• pp.15-23
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• 2006

목적 : 경사계와 각도기로 경추, 요추 및 견관절의 운동 범위를 반복 측정하여 두 도구의 측정자내 신뢰도 우위를 추정하여 보고자 하였다. 방법 : 각 관절에 별다른 증상이 없는 104명의 학생들을 대상으로 경추, 요추 및 견관절의 능동 운동 범위를 경사계와 각도기로 각 도구 당 2회씩 측정하였다. 측정하기 바로 전에, 한 명의 교육자가 경사계와 각도기를 이용한 경추, 요추 및 견관절의 운동 범위 측정 방법을 교육하였다. 104명은 두 명 씩 쌍을 이룬 후 각도기, 경사계, 각도기, 경사계를 이용하는 순서로 서로의 경추, 요추 및 견관절의 운동 범위를 측정하였다. 결과 : 견관절의 수평 외전과 외회전에서 경사계의 측정값이 각도기의 측정값보다 통계적으로 의미 있게 안정적으로 반복되었다(P<0.05, 독립 이 표본 t-검정). 결론 : 견관절의 운동 범위 측정에 있어서 경사계가 각도기보다 높은 측정자내 신뢰도를 가지는 것으로 추정되어, 경사계와 각도기의 신뢰도를 급간내 상관 계수(intraclass correlation coefficient)를 이용하여 비교해보는 연구의 예비 조사로서 실시된 이번 연구의 결과는 향후 시행될 연구에 있어서 견관절의 운동 범위 측정에 보다 집중적인 연구를 진행할 수 있는 근거를 마련하였다.

• Journal of Aerospace System Engineering
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• v.13 no.3
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• pp.56-63
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• 2019

Performance analyses were performed on a propeller developed for use in a PAV (Personal Air Vehicle) under 600 kg Maximum Take-Off Weight (MTOW). The actuator disc theory and CFD analyses were used to estimate the hovering time with regards to MTOW variation for a given battery weight. The interference induced power factor kint was introduced to account for the effect of flow interference between the propellers and to estimate the performance of counter-rotating propellers. The Maximum Figure of Merit (FM) value of the propeller pitch was determined and the design RPM range for the required power inversely obtained from the CFD results. Previous research indicate that the flight time of large multi-copter is limited by the available battery energy density. Similarly, the propeller pitch settings and spacing are important factors in reducing the kint value.

• Journal of the Korean Institute of Intelligent Systems
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• v.11 no.6
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• pp.516-523
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• 2001

This paper introduces a indirect rotor position and speed estimation algorithm for the SRM(switched reluctance motor) sensorless control based on the sliding mode observer and evolutionary programming The information of position and speed is generally provided by encoder or resolve. However, the position sensor not only adds complexity, cost and size to the whole drive system, but also causes limitation for industrial applications. In this paper, in order to eliminate the position sensor, indirect position sensing, indirect position sensing method using sliding mode observer is used for SRM drives. But if sliding mode observer parameters are selected to be large, the corresponding rapid changes of estimated position and velocity result in chattering phenomenon. Therefore in order to reduce the chattering, this observer parameters are optimized by evolutionary programming. And PID controller is also optimized to track precisely for the SRM using evolutionary programming.

• Journal of Broadcast Engineering
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• v.24 no.4
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• pp.580-591
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• 2019

This paper focuses on to improving object detection performance using the camera and LiDAR on autonomous vehicle platforms by fusing detected objects from individual sensors through a late fusion approach. In the case of object detection using camera sensor, YOLOv3 model was employed as a one-stage detection process. Furthermore, the distance estimation of the detected objects is based on the formulations of Perspective matrix. On the other hand, the object detection using LiDAR is based on K-means clustering method. The camera and LiDAR calibration was carried out by PnP-Ransac in order to calculate the rotation and translation matrix between two sensors. For Sensor fusion, intersection over union(IoU) on the image plane with respective to the distance and angle on world coordinate were estimated. Additionally, all the three attributes i.e; IoU, distance and angle were fused using logistic regression. The performance evaluation in the sensor fusion scenario has shown an effective 5% improvement in object detection performance compared to the usage of single sensor.

• The Transactions of the Korean Institute of Power Electronics
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• v.13 no.5
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• pp.329-335
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• 2008

Recently, super high-speed motor drives have been available due to the development of power electronics technology And they are used in various fields of industry because of their advantages. This paper describes the control algorithm for a permanent magnet synchronous motor(PMSM) drive at the speed of 118,000r/min using DSP and IGBT inverter. Hall sensors are implemented to measure the rotor position and speed, and a speed observer is used to reduce the performance deterioration caused by the low resolution of hall sensors. To enhance the output power capacity in the high-speed operating region, a flux weakening controller which also can work as an anti-wind up controller is used. Computer simulations and experiments are peformed to validate the proposed method.

• Tunnel and Underground Space
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• v.12 no.1
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• pp.19-30
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• 2002

Rock joint orientation is one of important geometric attributes that have an influence on the stability of rock structures such as rock slopes and tunnels. Especially, statistical models of the geometric attributes of rock joints can provide a probabilistic approach of rock engineering problems. The result from probabilistic modeling relies on the choice of statistical model. Therefore, it is critical to define a representative statistical model for joint orientation data as well as joint size and intensity and build up a series of modeling procedure including analytical validation. In this paper, we have examined a theoretical methodology for the statistical estimate and hypothesis analysis based upon Fisher distribution and bivariate normal distribution. In addition, we have proposed the algorithms of random number generator which is applied to the simulation of rock joint networks and risk analysis.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.13 no.4
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• pp.217-226
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• 1993

This study is related to the surface subsidence due to the collapse of a underground void during earthquakes. The amount of the settlement due to the collapse of a underground void will depend on the depth of the void, the initial condition of unit weight of sand, the size and type of foundation, the strength of earthquake, the size of a void, etc. The purpose of the paper is to estimate the amount of the subsidence, analyse the factors affecting the subsidence, and develop a program determining the probability of the damages to structures in terms of absolute and differential settlement and rotational settlement. On the base of the results obtained in this study, when the depth of a void is constant and the width of the void increases, the change of the subsidence factor due to the angle of internal friction and the actual effective factor of the void become smaller than that due to the unit weight of sand deposits. In the same condition, the probabilities of damages due to the absolute and differential settlement increase, and those due to the rotational settlement decrease.