• 제어로봇시스템학회논문지
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• 제8권9호
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• pp.776-787
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• 2002

Automation of welding process in shipyards is ultimately necessary, since the welding site is spatially enclosed by floors and girders, and therefore welding operators are exposed to hostile working conditions. To solve this problem, a welding mobile robot that can navigate autonomously within the enclosure has been developed. To achieve the welding task in the closed space, the robotic welding system needs a sensor system for the working environment recognition and the weld seam tracking, and a specially designed environment recognition strategy. In this paper, a three-dimensional laser vision system is developed based on the optical triangulation technology in order to provide robots with 3D work environmental map. Using this sensor system, a spatial filter based on neural network technology is designed for extracting the center of laser stripe, and evaluated in various situations. An environment modeling algorithm structure is proposed and tested, which is composed of the laser scanning module for 3D voxel modeling and the plane reconstruction module for mobile robot localization. Finally, an environmental recognition strategy for welding mobile robot is developed in order to recognize the work environments efficiently. The design of the sensor system, the algorithm for sensing the partially structured environment with plane segments, and the recognition strategy and tactics for sensing the work environment are described and discussed with a series of experiments in detail.

• ETRI Journal
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• 제26권6호
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• pp.597-604
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• 2004

In stereoscopic television, there is a trade-off between visual comfort and 3-dimensional (3D) impact with respect to the baseline-stretch of a 3DTV camera. It is necessary to adjust the baseline-stretch at an appropriate the distance depending on the contents of a scene if we want to obtain a subjectively optimal quality of an image. However, it is very hard to obtain a small baseline-stretch using commercially available cameras of broadcasting quality where the sizes of the lens and CCD module are large. In order to overcome this limitation, we attempt to freely control the baseline-stretch of a stereoscopic camera by synthesizing the virtual views at the desired location of interval between two cameras. This proposed technique is based on the stereo matching and view synthesis techniques. We first obtain a dense disparity map using a hierarchical stereo matching with the edge-adaptive multiple shifted windows. Then, we synthesize the virtual views using the disparity map. Simulation results with various stereoscopic images demonstrate the effectiveness of the proposed technique.

• 한국생산제조학회지
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• 제24권6호
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• pp.605-612
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• 2015

Three dimensional (3D) position determination and motion recognition using a 3D depth sensor camera are applied to a developed penguin-shaped robot, and its validity and closeness are investigated. The robot is equipped with an Asus Xtion Pro Live as a 3D depth camera, and a sound module. Using the skeleton information from the motion recognition data extracted from the camera, the robot is controlled so as to follow the typical three mode-reactions formed by the operator's gestures. In this study, the extraction of skeleton joint information using the 3D depth camera is introduced, and the tracking performance of the operator's motions is explained.

• 한국추진공학회지
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• 제23권4호
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• pp.81-91
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• 2019

고체 로켓 모터 성능을 계산하기 위해 Face offsetting method를 사용하여 3차원 그레인 burn-back 해석을 수행하였다. 그레인 연소 형상 해석은 표면의 이동을 계산하는 이동 경계면 문제이다. 기존 연구에서는 다양한 이동 경계면 해석 기법이 그레인 burn-back 해석에 적용되었으나 결과가 불완전했다. 이에 본 연구에선 face offsetting method를 사용한 그레인 burn-back 해석 모듈을 개발하였다. Face offsetting method는 기존 해석 기법의 장점을 조합하여 강건하고 정밀한 이동 경계면 해석을 수행한다. 해석 결과, face offsetting method가 그레인 burn-back 해석에 유용함을 검증하였다.

• 한국수자원학회논문집
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• 제30권4호
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• pp.357-366
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• 1997

3차원 수치고도지도 및 TIN모듈을 이용하여 SCS법에 의한 유효강우량 산정방법을 제안하였다.유역사면경사 $10^{\circ}$ 증가에 대한 유출곡선지수의 증분치(2%, 3%)를 고려하여 유효강우량을 산정한 결과, 호우사상에 따라 약 5.90%~12.0%의 차이를 나타내었다. 따라서 우리나라 대부분의 하천유역과 같ㅇ. 고도차가 큰 일반 산지하천유역에서 SCS법에 의한 유효강우량 산정시에는 유역사면경사를 고려한 해석이 보다 합리적인 것으로 판단되었다.

• Journal of International Society for Simulation Surgery
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• 제3권1호
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• pp.28-32
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• 2016

Background Congenital muscular torticollis (CMT) is a benign condition. With early diagnosis and appropriate management, it can be cured completely, leaving no residual deformity. However, long-standing, untreated CMT can lead to permanent craniofacial deformities and asymmetry.Methods Nineteen patients presented to the author with congenital muscular torticollis. Three dimensional computed tomography (3-D CT) scans was obtained upon patient’s admission. Adjustment of skull’s position to Frankfort horizontal plan was done. Cervical vertebral segmentation was done which allowed a 3D module to be separately created for each vertebra to detect any anatomical or positional changes.Results The segmented vertebrae showed an apparent anatomical changes, which were most noticeable at the level of the atlas and axis vertebrae. These changes decreased gradually till reaching the seventh cervical vertebra, which appeared to be normal in all patients. The changes in the atlas vertebra were mostly due to its intimate relation with the skull base, while the changes of the axis were the most significantConclusion Cervical vertebral segmentation is a reliable tool for isolation and studying cervical vertebral pathological changes of each vertebra separately. The accuracy of the procedures in addition to the availability of many software that can be used for segmentation will allow many surgeons to use segmentation of the vertebrae for diagnosis and even for preoperative simulation planning.

• 대한수학회보
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• 제20권1호
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• pp.45-49
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• 1983

If R is ring and M is a right (or left) R-module, then M is called a faithful R-module if, for some a in R, x.a=0 for all x.mem.M then a=0. In [4], R.E. Johnson defines that M is a prime module if every non-zero submodule of M is faithful. Let us define that M is of prime type provided that M is faithful if and only if every non-zero submodule is faithful. We call a right (left) ideal I of R is of prime type if R/I is of prime type as a R-module. This is equivalent to the condition that if xRy.subeq.I then either x.mem.I ro y.mem.I (see [5:3:1]). It is easy to see that in case R is a commutative ring then a right or left ideal of a prime type is just a prime ideal. We have defined in [5], that a chain of right ideals of prime type in a ring R is a finite strictly increasing sequence I$_{0}$.contnd.I$_{1}$.contnd....contnd.I$_{n}$; the length of the chain is n. By the right dimension of a ring R, which is denoted by dim, R, we mean the supremum of the length of all chains of right ideals of prime type in R. It is an integer .geq.0 or .inf.. The left dimension of R, which is denoted by dim$_{l}$ R is similarly defined. It was shown in [5], that dim$_{r}$R=0 if and only if dim$_{l}$ R=0 if and only if R modulo the prime radical is a strongly regular ring. By "a strongly regular ring", we mean that for every a in R there is x in R such that axa=a=a$^{2}$x. It was also shown that R is a simple ring if and only if every right ideal is of prime type if and only if every left ideal is of prime type. In case, R is a (right or left) primitive ring then dim$_{r}$R=n if and only if dim$_{l}$ R=n if and only if R.iden.D$_{n+1}$ , n+1 by n+1 matrix ring on a division ring D. in this paper, we establish the following results: (1) If R is prime ring and dim$_{r}$R=n then either R is a righe Ore domain such that every non-zero right ideal of a prime type contains a non-zero minimal prime ideal or the classical ring of ritght quotients is isomorphic to m*m matrix ring over a division ring where m.leq.n+1. (b) If R is prime ring and dim$_{r}$R=n then dim$_{l}$ R=n if dim$_{l}$ R=n if dim$_{l}$ R<.inf. (c) Let R be a principal right and left ideal domain. If dim$_{r}$R=1 then R is an unique factorization domain.TEX>R=1 then R is an unique factorization domain.

• 한국수소및신에너지학회논문집
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• 제30권3호
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• pp.243-250
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• 2019

In this study, to ensure the safety of the packaged hydrogen refueling system, the improvement plan was derived by using 3-dimensional CFD program (FLACS). We also confirmed the effectiveness of risk reduction and the suitability of safety standard. By ventilation performance evaluation according to the position of the vent, it demonstrated that the vent should be installed at the ceiling to safely ventilate without stagnation of the leaked gas. In case of ventilation system according to KGS standard, risk situation could be resolved after about 5 minutes in the worst leaked condition. The result showed that jet fire and explosion inside the packaged system could affect the surrounding facilities. This proves that the standard for installing flame detectors, emergency shut down system and protection wall is appropriate.

• 건축역사연구
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• 제7권4호
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• pp.29-47
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• 1998

The aim of this study is to understand the original methods of architectural composition in F. L. Wright's works, For this purpose, the principal thoughts based on his organic architecture was examined over all others, and the results of this study are as follows. 1. F. L. Wright knew Taoist Philosophy, especially Lao-tzu's thought about space based on traditional oriental arts included traditional japanese arts by his superior intuition. this is similar to Froebel Thought in the principal theory, that is, his own unique field of abstract architectural education with three-dimensional geometry learned through Froebel Gifts. 2. Space is reality ; such Lao-tzu's thought, reversed the sense of values, influenced F. L. Wright's way to accomplish his own continuous space. that is to say, he attempted taking precedence of spatial organization by the unit of three-dimensional module made the substance, Froebel Blocks (3, 4, 5, 6 Gifts) into non-substance, and trying to do the methods of continuous liberal composition in architecture. which is his original accomplishment, namely his mentioned 'democratic' because of judging the space and the mold of architecture as individualities. 3. F. L. Wright treated the space as a positive entity, so that he created his own architecture organically combined with spaces and forms. : This was the result that he comprehended both formative, physical worth in West and spatial, non-physical worth in East as equivalence. It is understood that F. L. Wright's works combined with East and West are the significance of his architecture and the progress of true internationalities and modernization in modern architecture. 4. From the analyses of his works, we knew the fact that F. L. Wright's architecture, especially in the spatial organization were performed by the reasonable methods with geometric system of Froebel Gifts. In the observation of our fundamental way of thinking on his architecture, this study shows the necessity to let us get out of preconceptions and conclusions that the organic architecture is mysterious and difficult, but to systematize and put his organic methods to practical use.

• 한국지리정보학회지
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• 제6권2호
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• pp.65-79
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• 2003

본 연구에서는 지리정보시스템(GIS)을 사용하여 Visual MODFLOW 지하수 유동 모델링 툴에 필요한 입력 인자(자료)를 과학적으로 만들어줄 뿐만 아니라, 모델링을 위해 입력된 인자들과 모델링 후 생성된 결과물들을 DB화하고 이를 체계적으로 관리할 수 있도록 하는 Visual MODFLOW 지하수 유동 모델링을 위한 GIS 기반 전 후처리기를 개발하였다. 이 전 후처리기의 모듈로서 가장 특징적인 것은 모델구역 내에서 관정 주변에 상대적으로 조밀하게 즉, 셀의 크기가 다양한 그리드를 GIS ArcView에서 자동 또는 반자동으로 형성하는 툴을 개발하였다는 것이다. 모델링 구역 내에서 다양한 경계조건(boundary condition)을 반영한 DXF 생성을 위한 툴 개발도 들 수 있다. 아울러 2차원인 ArcView를 이용하여 3차원 수리지질구조를 생성하고, MODFLOW 프로그램의 입출력 자료형태와 동일한 위상구조를 유지한 채 전 후처리하도록 한 것은 이 연구의 가장 큰 성과이다.