• Proceedings of the IEEK Conference
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• 1999.06a
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• pp.639-642
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• 1999

There exist geometrically invariant relations in single-view images under a specific geometrical structure. This invariance may be utilized for 3D object recognition. Two types of invariants are compared in terms of the robustness to the variation of the feature points. Deviation of the invariant relations are measured by adding random noise to the feature point location. Zhu’s invariant requires six points on adjacent planes having two sets of four coplanar points, whereas the Kaist method requires four coplanar points and two non-coplanar points. Experimental results show that the latter method has the advantage in choosing feature points while suffering from weak robustness to the noise.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.226-234
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• 2016

In this study, a model-referenced underwater navigation algorithm is proposed for high-precise underwater navigation using monocular vision near underwater structures. The main idea of this navigation algorithm is that a 3D model-based pose estimation is combined with the inertial navigation using an extended Kalman filter (EKF). The spatial information obtained from the navigation algorithm is utilized for enabling the underwater robot to navigate near underwater structures whose geometric models are known a priori. For investigating the performance of the proposed approach the model-referenced navigation algorithm was applied to an underwater robot and a set of experiments was carried out in a water tank.

• Journal of Korean Association for Spatial Structures
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• v.24 no.2
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• pp.91-99
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• 2024

In this paper, machine learning models were applied to predict the seismic response of steel frame structures. Both geometric and material nonlinearities were considered in the structural analysis, and nonlinear inelastic dynamic analysis was performed. The ground acceleration response of the El Centro earthquake was applied to obtain the displacement of the top floor, which was used as the dataset for the machine learning methods. Learning was performed using two methods: Decision Tree and Random Forest, and their efficiency was demonstrated through application to 2-story and 6-story 3-D steel frame structure examples.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.818-821
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• 2004

With a rapid development in the area of micro and ultra precision technology, the micro surface machining of small size parts are explosively increased. Especially, to improve efficiency of various beams in lens and reflector, non-rotational symmetric form and several mm level heights changeable surface can be machined at a time. These geometric complex 3D surface cannot be machined by general short stroke FTS. The long stroke FTS if firmly needed to move directly several mm and have nm level positioning accuracy for the complex surface form. The long stroke FTS used linear motors to drive moving unit long and fine, aero static bearings to decrease friction and moving errors in guide way, optical linear scale with nm level resolution to measure position of FTS. Furthermore, to increase the performance of acceleration of FTS, the light material, such as AL is used for the structure and the high stiffness box type structure is selected. In this paper, the genetic algorithm approach is described to determine a set of design parameters for auto tuning. The authors have attempted to model the design problem with the objective of minimizing the error, such as variable pattern change. This method can give the better alternative than existing other method.

• KIPS Transactions on Software and Data Engineering
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• v.4 no.4
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• pp.177-186
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• 2015

For data fusion of laser range finder (LRF) and vision camera, accurate calibration of external parameters which describe relative pose between two sensors is necessary. This paper proposes a new calibration method which can acquires more accurate external parameters between a LRF and a vision camera compared to other existing methods. The main motivation of the proposed method is that any corner data of a known 3D structure which is acquired by the LRF should be projected on a straight line in the camera image. To satisfy such constraint, we propose a 3D geometric model and a numerical solution to minimize the energy function of the model. In addition, we describe the implementation steps of the data acquisition of LRF and camera images which are necessary in accurate calibration results. In the experiment results, it is shown that the performance of the proposed method are better in terms of accuracy compared to other conventional methods.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.34 no.2
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• pp.655-666
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• 2014

Recently, as the appearance and exterior design of the construction structure are highlighted, the irregularly shaped structures are increasing in a construction facility. Many softwares provide a quantity take-off function of 3D object under BIM environment, however, they are focused on the limited function based on the solid modeling method. Because the vast geometric information of the curved surface is difficult to extract in the 3D objects that consist of major changes in vertical section shape as the irregularly shaped structures, it is difficult to express a 3D object as a solid model. On the other hand, the irregularly shaped structures can be expressed in relatively free in the surface model because the surface model consists of points, lines and surfaces. Accordingly, the surface modeling method is suitable for the modeling of large irregularly shaped structures. This study suggests a quantity take-off algorithm for the irregularly shaped structures using the surface modeling approach that is beneficial in the design work of structures. Some case projects are used for verifying the accuracy of the proposed method.

• Structural Engineering and Mechanics
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• v.35 no.3
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• pp.335-348
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• 2010

Cutouts are often provided in structural and aircraft components for ventilation, for access, inspection, electric lines and fuel lines or sometimes to lighten the structure. This paper addresses the effects of cutout shape (i.e., circular, square, diamond, elliptical-vertical and elliptical-horizontal) and size on buckling and postbuckling response of quasi-isotropic (i.e., $(+45/-45/0/90)_{2s}$) composite laminate under uni-axial compression. The finite element method is used to carry out the investigation. The formulation is based on first order shear deformation theory and von Karman's assumptions are used to incorporate geometric nonlinearity. The 3-D Tsai-Hill criterion is used to predict the failure of a lamina while the onset of delamination is predicted by the interlaminar failure criterion. It is observed that for the smaller size cutout area there is no significant effect of cutout shape on load-deflection response of the laminate. It is also concluded that the cutout size has substantial influence on the buckling and postbuckling response of the laminate with elliptical-horizontal cutout, while this effect is observed to be the least in case of laminate with elliptical-vertical cutout.

• Structural Engineering and Mechanics
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• v.77 no.2
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• pp.167-177
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• 2021

Due to various benefits such as unlimited degrees of freedom, environment adaptability, and safety for humans, engineers have used soft materials with hyperelastic behavior in various industrial, medical, rescue, and other sectors. One of the applications of these materials in the fabrication of bending soft actuators (SA) is that they have eliminated many problems in the actuators such as production cost, mechanical complexity, and design algorithm. However, SA has complexities, such as predicting and monitoring behavior despite the many benefits. The first part of this paper deals with the prediction of SA behavior through mathematical models such as Ogden and Darijani, and its comparison with the results of experiments. At first, by examining different geometric models, the cubic structure was selected as the optimal structure in the investigated models. This geometrical structure at the same pressure showed the most significant bending in the simulation. The simulation results were then compared with experimental, and the final gripper model was designed and manufactured using a 3D printer with silicone rubber as for the polymer part. This geometrical structure is capable of bending up to a 90-degree angle at 70 kPa in less than 2 seconds. The second section is dedicated to monitoring the bending behavior created by the strain sensors with different sensitivity and stretchability. In the fabrication of the sensors, silicon is used as a soft material with hyperelastic behavior and carbon fiber as a conductive material in the soft material substrate. The SA designed in this paper is capable of deforming up to 1000 cycles without changing its characteristics and capable of moving objects weigh up to 1200 g. This SA has the capability of being used in soft robots and artificial hand making for high-speed objects harvesting.

• Transactions of Materials Processing
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• v.16 no.8
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• pp.596-602
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• 2007

LGP (Light Guiding Plate) of LCD-BLU (Liquid Crystal Display - Back Light Unit) is one of the major components that affect the product quality of LCD. The optical patterns of LGP(2.2") molds are fabricated by three different methods, namely, (1) laser ablation, (2) chemical etching and (3) LiGA-reflow, respectively. The characteristics of surface patterns and roughnesses of molds and injection molded parts were compared to evaluate the optical characteristics. The optical patterns of injection molded LGP with mold fabricated by LiGA - reflow method showed the best geometric structure. The surface roughness (Ra) of LGP#s with molds fabricated by (1) laser ablation: $Ra={\sim}31nm$, (2) chemical etching: $Ra={\sim}22nm$, and (3) LiGA-reflow: $Ra={\sim}4nm$.

• Journal of the Earthquake Engineering Society of Korea
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• v.6 no.1
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• pp.55-62
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• 2002

The upper wall-lower frame structures(mixed building structures) are usually composed of shear wall structure in the upper part of structure which is used as residential space and frame structure in the lower part of structure which is used as commercial space centering around the transfer system in the lower part of structure. These structures are characteristics of stiffness irregularity, mass irregularity, and vertical geometric irregularity. The purpose of this study is to investigate the nonlinear response characteristics and the seismic capacity of mixed building structures when the number of stories in the lower frame is varied. The conclusions of this study are following. 1) As the result of push-over analysis of structure such as roof drift(i.e. roof displacement/structural height) and base shear coefficient, when the stories of lower frame system are increased, base shear coefficient is decreased, but roof drift is increased. 2) According to an increase in stories of the lower fame, story drift and ductility ratio of upper wall system are decreased and behavior of upper wall system is closed to elastic. 3) When the stories of lower frame system are increased, the excessive story drift is concentrated on the lower frame system.