• Journal of the Society of Naval Architects of Korea
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• v.37 no.2
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• pp.57-69
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• 2000

A higher order panel method based on representation for both the geometry and the velocity potential is developed for the analysis of steady flow around marine propellers. The self-influence functions due to the normal dipole and the source are desingularized through the quadratic transformation, and then the singular part is integrated analytically whereas the non-singular part is integrated using Gaussian quadrature. A null pressure jump Kutta condition at the trailing edge is found to be effective in stabilizing the solution process and in predicting the correct solution. Numerical experiments indicate that the present method is robust and predicts the pressure distribution around lifting bodies with much fewer panels than existing low order panel methods.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.9
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• pp.1689-1696
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• 2017

In the process of obtaining and transmitting image, there is degradation of image due to various noise, and there have been many active studies ongoing to remove the noise added on the images. This thesis has proposed a switching filter processing by the types of noise in order to remove the complex noise added on images. When the center value of local mask is damaged by AWGN based on the noise judgment, the threshold value is applied on standard deviation of local mask to process by applying different weight of weighted mask, and if the image is damaged by the salt and pepper noise, the local mask is subdivided into 4 directions, and processed by applying cubic spine interpolation in the direction with the least slat and pepper noise. Also, in order to evaluate the performance of proposed filter algorithm, the study conducted comparison among the existing methods and proposed filter using PSNR.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.4
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• pp.1005-1012
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• 1995

This paper proposes a new approach for modeling sweep surfaces. The overall modeling procedure consists of following steps : (1)remeshing the section curves based on the curve lengths ; (2)remeshing the guide curve and the boundary curves based on a given sweeping rule ; (3)obtaining intermediate section curves at the remeshed points of the guide curve by blending the initial section curves ; (4)compensation of the intermediate section curves ; (5)interpolating the initial and intermediate curves using Hermite interpolant. The resulting sweep surface is expressed in a G$^{2}$ bicubic parametric spline surface.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.1133-1137
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• 1995

This paper presents a numerical method of the global search for an optimal geometric path for a manipulator arm amid obstacles. Finite term quintic B-splines are used to describe an arbitrary point-to-point manipulator motion with fixed moving time. The coefficients of the splines span a linear vector space, a point in which uniquely represents the manipulator motion. All feasible geometric paths are searched by adjusting the seed points of the obstacle models in the penetration growth distances. In the numerical implementation using nonlinear programming, the globally optimal geometric path is obtained for a spatial 3-link(3-revolute joints) manipulator amid several hexahedral obstacles without simplifying any dynamic or geometric models.

• The korean journal of orthodontics
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• v.37 no.1 s.120
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• pp.16-28
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• 2007

Objective: Evaluation of individual growth is important in orthodontics. The aim of this study was to develop a convenient software that can evaluate current growth status and predict further growth. Methods: Stature data of 2 to 20 year-old Koreans (4893 boys and 4987 girls) were extracted from a nationwide data. Age-sex-specific continuous functions describing percentile growth curves were constructed using natural cubic spline function (NCSF). Then, final stature prediction algorithm was developed and its validity was tested using longitudinal series of stature measurements on randomly selected 200 samples. Various accuracy measurements and analyses of errors between observed and predicted stature using NCSF growth curves were performed. Results: NCSF growth curves were shown to be excellent models in describing reference percentile stature growth curie over age. The prediction accuracy compared favorably with previous prediction models, even more accurate. The current prediction models gave more accurate results in girls than boys. Although the prediction accuracy was high, the error pattern of the validation data showed that in most cases, there were a lot of residuals with the same sign, suggestive of autocorrelation among them. Conclusion: More sophisticated growth prediction algorithm is warranted to enhance a more appropriate goodness of model fit for individual growth.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.6
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• pp.148-159
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• 1999

A numerical method is presented for the dynamic analysis of spur gears rotating with very high angular speeds. For an efficient computation each gear is assumed to consist of a rotating rigid disk and an elastic tooth having mass, and finite element formulations are used for the equations of motion of the tooth. The geometric constraint is imposed between the rigid disk and the elastic tooth to fix them, and contact condition is imposed between the meshing teeth of the gears. At each iteration of each time step the Lagrange multiplier and contact force are revised by using the constraint error vector, and then the whole equations of motion are time integrated with the given Lagrange multiplier and contact force. For the accurate solution the velocity and acceleration constraints as well as the displacement constraint are satisfied by the monotone reductions of the constraint error vectors. Computing procedures associated with the iterative schemes are explained and numerical simulations are conducted with the spur gears.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.7
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• pp.618-626
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• 2011

In order to complete missions in a complicated terrain or highly dangerous area, an unmanned aerial vehicle(UAV) needs a fine controller to precisely follow the desired path. A PID controller used for the path following feeds forward path curvature information to the control input to improve the path following performance. High gain for PID controller is necessary to follow path tightly. However the high gain could cause instability or performance degradation when the vehicle has slow dynamics. We present PID controller design method which considers response delay of vehicle as well as path curvature. In order to obtain path curvature the desired path is described as a 3rd order polynomial by applying cubic spline interpolation. We apply the proposed controller to the path following of a UAV which is operated in high altitude and has very slow lateral dynamics. The lateral dynamics are modelled as a first order delayed system in the controller design. Nonlinear simulation shows the UAV with proposed controller follows an arbitrary path very tightly.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.05a
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• pp.389-391
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• 2013

본 논문에서는 초음파 검사자가 효율적으로 충수염을 진단할 수 있도록 하기 위하여 초음파 영상에서 충수를 추출하는 방법을 제안한다. 충수를 추출하는 과정은 초음파 영상에서 Ends_in Search Stretching 기법을 적용하여 명암 대비를 강조하고, Max-Min 이진화, 영역 레이블링, 잡음 제거, Cubic Spline 보간법을 적용하여 복부 근육의 하단 근막 부분을 추출한다. 초음파 영상에서 추출된 근막 영역을 제거한 후, K-Means 클러스터링과 영역 레이블링을 적용하여 충수 영역을 추출한다. 제안된 방법을 초음파 영상을 대상으로 실험한 결과, 충수염을 진단하기에 적합한 충수 영역이 추출되는 것을 영상의학과 전문의를 통하여 확인하였다.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.1
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• pp.78-86
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• 1998

This paper presents a numerical method of the minimum-time trajectory planning for a robot manipulator amid obstacles. Each joint displacement is represented by the linear combination of the finite-term quintic B-splines which are the known functions of the path parameter. The time is represented by the linear function of the same path parameter. Since the geometric path is not fixed and the time is linear to the path parameter, the coefficients of the splines and the time-scale factor span a finite-dimensional vector space, a point in which uniquely represents the manipulator motion. The displacement, the velocity and the acceleration conditions at the starting and the goal positions are transformed into the linear equality constraints on the coefficients of the splines, which reduce the dimension of the vector space. The optimization is performed in the reduced vector space using nonlinear programming. The total moving time is the main performance index which should be minimized. The constraints on the actuator forces and that of the obstacle-avoidance, together with sufficiently large weighting coefficients, are included in the augmented performance index. In the numerical implementation, the minimum-time motion is obtained for a planar 3-1ink manipulator amid several rectangular obstacles without simplifying any dynamic or geometric models.

• Journal of Advanced Navigation Technology
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• v.11 no.2
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• pp.209-216
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• 2007

In this paper, we embodied posture-stabilization and dynamic gait in a walking robot. 10 RC servo motors are used to operate joints. And the joints have enough moving ranges suitable in any walking pattern. Each joint trajectory is generated by cubic spline interpolation method and the stability of the trajectory is verified by using Zero Moment Point from the robot modeling. To avoid complex structure and expression, Zero Moment Point of the biped robot used angular acceleration is suggested. To measure the stability of the biped robot, Tilt sensor and gyro sensor are used. Finally, Personal Computer is used computer monitoring and data processing. Most of computation, such as 10 RC servo motor control, joint trajectory generating, ZMP compensation, sense measuring, etc, was used Digital Signal Processor.