• Journal of Mechanical Science and Technology
• /
• v.18 no.1
• /
• pp.132-144
• /
• 2004

This paper presents a new method driving multiple robots to their goal position without collision. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. The avoidability measure figures the degree of how easily a robot can avoid other robots considering the velocity of the robots. To implement the concept to avoid collision among multiple robots, relative distance between the robots is proposed. The relative distance is a virtual distance between robots indicating the threat of collision between the robots. Based on the relative distance, the method calculates repulsive force against a robot from the other robots. Also, attractive force toward the goal position is calculated in terms of the relative distance. These repulsive force and attractive force are added to form the driving force for robot motion. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. In contrast, since the usual potential field method initiates avoidance motion later than the proposed method, it sometimes fails preventing collision or causes hasty motion to avoid other robots. The proposed method works as a local collision-free motion coordination method in conjunction with higher level of task planning and path planning method for multiple robots to do a collaborative job.

• Journal of Navigation and Port Research
• /
• v.28 no.4
• /
• pp.323-331
• /
• 2004

This paper introduces a novel approach that can provide the three dimensional information about the movement of a spreader by using two CCD cameras and a laser distance measuring unit in order to derive ALS (Automatic Landing System) in the crane used at a harbor. So far a kind of 2D Laser scanner sensor or laser distance measuring units are used as comer detectors for the geometrical matching between the spreader and a container. Such systems provide only two dimensional information which is not enough for an accurate and fast ALS. In addition to this deficiency in performance, the price of the system is too high to adapt to the ALS. Therefore, to overcome these defects, we proposed a novel method to acquire the three dimensional spreader information using two CCD cameras and a laser distance measuring unit. To show the efficiency of proposed method, real experiments are performed to show the improvement of accuracy in distance measurement by fusing the sensory information of the CCD cameras and a laser distance measuring unit.

• Journal of Korean Society of Coastal and Ocean Engineers
• /
• v.17 no.4
• /
• pp.213-220
• /
• 2005

An approach to calculate expected sliding distance of wave dissipating caisson breakwater is proposed. Time history of dynamic wave pressure for the calculation of sliding distance is made by extending conventional static wave pressure developed for the wave dissipating caisson breakwater. Construction of impact wave and standing wave was done by using duration time and maximum wave pressures of themselves. In the numerical analysis, the sliding distance for an attack of single wave and expected sliding distance for 50 years of wave dissipating breakwater by proposed method were compared with those by conventional method for uplift caisson breakwater. It was found that the sliding distance of wave dissipating breakwater by the proposed method is smaller than by conventional method.

• Proceedings of the KSME Conference
• /
• 2004.04a
• /
• pp.519-524
• /
• 2004

This study is concerned with the braking distance estimation using frictional energy rate. First, steady state rolling analysis is performed, and using this result, the braking distance is estimated. Dynamic rolling analysis during entire braking time period is impratical, so that this study divides the vehicle velocity by 10km/h to reduce the analysis time. The multiplication of the slip rate and the shear stress provides the frictional energy rate. Using frictional energy rate, total braking distance is estimated, In addition, ABS(Anti-lock Brake System) is considered, and two type of slip ratios are compared, One is 15% slip ratio for the ABS condition, and the other is 100% slip ratio which leads lo the almost same braking distance as the elementary kinematic theory. A slip ratio is controlled by angular velocity in ABAQUS/Explicit, A 15% slip ratio gives the real vehicle's braking distance when the frictional energy occurred al disk pad is included. Disk pad's frictional energy rate is calculated by the theoretical approach.

• Journal of Information Processing Systems
• /
• v.10 no.4
• /
• pp.589-601
• /
• 2014

The performance of edge detection often relies on its ability to correctly determine the dissimilarities of connected pixels. For grayscale images, the dissimilarity of two pixels is estimated by a scalar difference of their intensities and for color images, this is done by using the vector difference (color distance) of the three-color components. The Euclidean distance in the RGB color space typically measures a color distance. However, the RGB space is not suitable for edge detection since its color components do not coincide with the information human perception uses to separate objects from backgrounds. In this paper, we propose a novel method for color edge detection by taking advantage of the HSV color space and the Mahalanobis distance. The HSV space models colors in a manner similar to human perception. The Mahalanobis distance independently considers the hue, saturation, and lightness and gives them different degrees of contribution for the measurement of color distances. Therefore, our method is robust against the change of lightness as compared to previous approaches. Furthermore, we will introduce a noise-resistant technique for determining image gradients. Various experiments on simulated and real-world images show that our approach outperforms several existing methods, especially when the images vary in lightness or are corrupted by noise.

• Proceedings of the IEEK Conference
• /
• 2001.09a
• /
• pp.283-286
• /
• 2001

In this paper, we present a robust region segmentation method based on the watershed transformation of a pseudo-distance map (PDM). A usual approach for the segmentation of a gray-scale image with the watershed algorithm is to apply it to a gradient magnitude image or the Euclidean distance map (EDM) of an edge image. However, it is well known that this approach suffers from the oversegmentation of the given image due to noisy gradients or spurious edges caused by a thresholding operation. In this paper we show thor applying the watershed algorithm to the EDM, which is a regularized version of the EDM and is directly computed form the edgestrength function (ESF) of the input image, significantly reduces the oversegmentation, and the final segmentation results obtained by a simple region-merging process are more reliable and less noisy than those of the gradient-or EDM-based methods. We also propose a simple and efficient region-merging criterion considering both boundary strengths and inner intensities of regions to be merged. The robustness of our method is proven by testing it with a variety of synthetic and real images.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.30 no.5
• /
• pp.41-47
• /
• 2002

In this paper, a guidance law applicable to aircraft automatic landing is proposed and its performance is compared with the conventional ILS-type landing approach. The concept of miss distance, which is commonly used in the missile guidance laws, and Lyapunov stability are effectively combined to obtain the landing guidance law. The new landing guidance law is integrated into the existing controller and is applied to the landing approach and flare phases of landing procedure. Numerical simulation results show that the new landing guidance law is a viable alternative to the conventional strategies that directly control the longitudinal deviation or altitude.

• International Journal of Quality Innovation
• /
• v.3 no.2
• /
• pp.113-131
• /
• 2002

The relationships among multi-dimensional data (such as medical examination data) with ambiguity and variation are difficult to explore. The traditional approach to building a data classification system requires the formulation of rules by which the input data can be analyzed. The formulation of such rules is very difficult with large sets of input data. This paper first describes two classification approaches using back-propagation (BP) neural network and Mahalanobis distance (MD) classifier, and then proposes two classification approaches for multi-dimensional feature selection. The first one proposed is a feature selection procedure from the trained back-propagation (BP) neural network. The basic idea of this procedure is to compare the multiplication weights between input and hidden layer and hidden and output layer. In order to simplify the structure, only the multiplication weights of large absolute values are used. The second approach is Mahalanobis-Taguchi system (MTS) originally suggested by Dr. Taguchi. The MTS performs Taguchi's fractional factorial design based on the Mahalanobis distance as a performance metric. We combine the automatic thresholding with MD: it can deal with a reduced model, which is the focus of this paper In this work, two case studies will be used as examples to compare and discuss the complete and reduced models employing BP neural network and MD classifier. The implementation results show that proposed approaches are effective and powerful for the classification.

• Anatomy and Cell Biology
• /
• v.56 no.3
• /
• pp.342-349
• /
• 2023

This study was conducted to investigate the clinical and anatomical importance of the relevant region from the perspective of surgical approaches by determining the morphometric analysis of the craniocervical junction and foramen magnum (FM) region and determining their distances from important anatomical points. This research was carried out with 59 skulls found at the Anatomy Laboratories of Erciyes and Ankara Medipol University. Metric measurements of FM and condyle, FM shape, condyle-fossa relationship, and pharyngeal tubercle (PT) were made in mm-based dry bone samples of unknown age and sex. The distance between the anterior notches and the FM was 87.01±4.35, the distance between the anterior notches and the PT was 77.70±4.24, the distance between the PT-sphenooccipital junction was 13.23±2.42, and the FM index was 81.86±7.47. The anteroposterior and transverse lengths of FM were determined as 33.80±2.99 and 27.72±2.30, respectively. The morphometric and morphological data available regarding the craniocervical junction showed significant differences between populations. Comprehensive knowledge of this topic will provide a better approach to treat Arnold Chiari Malformation, FM meningiomas, and other posterior cranial fossa lesions. Therefore, we believe that FM and craniocervical junction morphology will be a guide not only for anatomists, but also for radiologists, neurosurgeons, ENT surgeons, and orthopedists.

• Tunnel and Underground Space
• /
• v.24 no.2
• /
• pp.155-165
• /
• 2014

Multiple thermal energy storage (TES) caverns can be used for storing thermal energy on a large scale and for a high-aspect-ratio heat storage design to provide good thermal performance. It may also be necessary to consider the use of multiple caverns with a reduced length when a single, long tunnel-shaped cavern is not suitable for connection to aboveground heat production and injection equipments. When using multiple TES caverns, the separation distance between the caverns is one of the significant factors that should be considered in the design of storage space, and the optimal separation distance should be determined based on a quantitative stability criterion. In this paper, we described a numerical approach for determining the optimal separation distance between multiple caverns for large-scale TES utilization. For reliable stability evaluation of multiple caverns, we employed a probabilistic method which can quantitatively take into account the uncertainty of input parameters by probability distributions, unlike conventional deterministic approaches. The present approach was applied to the design of a conceptual TES model to store hot water for district heating. The probabilistic stability results of this application demonstrated that the approach in our work can be effectively used as a decision-making tool to determine the optimal separation distance between multiple caverns. In addition, the probabilistic results were compared to those obtained through a deterministic analysis, and the comparison results suggested that care should taken in selecting the acceptable level of stability when using deterministic approaches.