• The Journal of Korea Robotics Society
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• v.14 no.1
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• pp.65-73
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• 2019

In this paper, we propose an algorithm that estimates the location of lunar rover using IMU and vision system instead of the dead-reckoning method using IMU and encoder, which is difficult to estimate the exact distance due to the accumulated error and slip. First, in the lunar environment, magnetic fields are not uniform, unlike the Earth, so only acceleration and gyro sensor data were used for the localization. These data were applied to extended kalman filter to estimate Roll, Pitch, Yaw Euler angles of the exploration rover. Also, the lunar module has special color which can not be seen in the lunar environment. Therefore, the lunar module were correctly recognized by applying the HSV color filter to the stereo image taken by lunar rover. Then, the distance between the exploration rover and the lunar module was estimated through SIFT feature point matching algorithm and geometry. Finally, the estimated Euler angles and distances were used to estimate the current position of the rover from the lunar module. The performance of the proposed algorithm was been compared to the conventional algorithm to show the superiority of the proposed algorithm.

• Journal of the Korean Society of Visualization
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• v.19 no.2
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• pp.26-31
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• 2021

The spanwise growth of turbulence structures in turbulent pipe flow was investigated using the direct numerical simulation data of Re_𝜏 = 544, 934 and 3008. Two-point correlations and pre-multiplied energy spectra of streamwise velocity fluctuations were examined along the spanwise direction. The arclength direction is defined as r𝛳, which is useful for an analogy with the spanwise direction for channels or boundary layers; here, r and 𝛳 are the radial distance from the core and the azimuthal angles, respectively. Both analyses showed that the arclength scales increased with increasing the wall-normal distance. It showed that the coherent structures were confined in the core region due to the crowding effect of a circular pipe geometry. The pipe flow simulation could describe a realistic geometrical flow along the azimuthal direction, unlike the simulations of turbulent channel or boundary layer flow using periodic boundary conditions along the spanwise direction. The present results provided the spanwise organization of energy-containing motions over a broad range of scales in turbulent pipe flow.

• Progress in Medical Physics
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• v.22 no.4
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• pp.190-197
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• 2011

Currently, the dose distribution calculation used by commercial treatment planning systems (TPSs) for high-dose rate (HDR) brachytherapy is derived from point and line source approximation method recommended by AAPM Task Group 43 (TG-43). However, the study of Monte Carlo (MC) simulation is required in order to assess the accuracy of dose calculation around three-dimensional Ir-192 source. In this study, geometry factor was calculated using segmented sources integration method by dividing microSelectron HDR Ir-192 source into smaller parts. The Monte Carlo code (MCNPX 2.5.0) was used to calculate the dose rate $\dot{D}(r,\theta)$ at a point ($r,\theta$) away from a HDR Ir-192 source in spherical water phantom with 30 cm diameter. Finally, anisotropy function and radial dose function were calculated from obtained results. The obtained geometry factor was compared with that calculated from line source approximation. Similarly, obtained anisotropy function and radial dose function were compared with those derived from MCPT results by Williamson. The geometry factor calculated from segmented sources integration method and line source approximation was within 0.2% for $r{\geq}0.5$ cm and 1.33% for r=0.1 cm, respectively. The relative-root mean square error (R-RMSE) of anisotropy function obtained by this study and Williamson was 2.33% for r=0.25 cm and within 1% for r>0.5 cm, respectively. The R-RMSE of radial dose function was 0.46% at radial distance from 0.1 to 14.0 cm. The geometry factor acquired from segmented sources integration method and line source approximation was in good agreement for $r{\geq}0.1$ cm. However, application of segmented sources integration method seems to be valid, since this method using three-dimensional Ir-192 source provides more realistic geometry factor. The anisotropy function and radial dose function estimated from MCNPX in this study and MCPT by Williamson are in good agreement within uncertainty of Monte Carlo codes except at radial distance of r=0.25 cm. It is expected that Monte Carlo code used in this study could be applied to other sources utilized for brachytherapy.

• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.667-670
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• 2005

Ground control points(GCPs) can be extracted from SAR data given precise orbit for DTM generation using optic images and other SAR data. In this study, we extract GCPs from ERS SAR data and SRTM DEM. Although it is very difficult to identify GCPs in ERS SAR image, the geometry of optic image and other SAR data are able to be corrected and more precise DTM can be constructed from stereo optic images. Twenty GCPs were obtained from the ERS SAR data with precise Delft orbit information. After the correction was applied, the mean values of planimetric distance errors of the GCPs were 3.7m, 12.1 and -0.8m with standard deviations of 19.9m, 18.1, and 7.8m in geocentric X, Y, and Z coordinates, respectively. The geometries of SPOT stereo pair were corrected by 13 GCPs, and r.m.s. errors were 405m, 705m and 8.6m in northing, easting and height direction, respectively. And the geometries of RADARS AT stereo pair were corrected by 12 GCPs, and r.m.s. errors were 804m, 7.9m and 6.9m in northing, easting and height direction, respectively. DTMs, through a method of area based matching with pyramid images, were generated by SPOT stereo images and RADARS AT stereo images. Comparison between points of the obtained DTMs and points estimated from a national 1 :5,000 digital map was performed. For DTM by SPOT stereo images, the mean values of distance errors in northing, easting and height direction were respectively -7.6m, 9.6m and -3.1m with standard deviations of 9.1m, 12.0m and 9.1m. For DTM by RADARSAT stereo images, the mean values of distance errors in northing, easting and height direction were respectively -7.6m, 9.6m and -3.1m with standard deviations of 9.1m, 12.0m and 9.1m. These results met the accuracy of DTED level 2

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.24 no.1
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• pp.124-129
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• 2010

When a phenolic resin is carbonized by the leakage current flowing along its surface, the carbonization pattern is one of the most important factors to determine its carbonization characteristics. However, the typical carbonization pattern of a phenolic resin is too complicated to be analyzed by conventional Euclidean geometry. In most cases, such a complicated shape shows a fractal structure. It is possible, therefore, to examine the characteristics of the carbonization pattern regarding a given phenolic resin. In order to quantitatively investigate the carbonization pattern of the phenolic resin carbonized by a leakage current, in this paper, the fractal dimension of the carbonization pattern has been calculated as a function of the magnitude of a leakage current and the distance between two electrodes. For reliability of calculation, the correlation function as well as the box counting method has been used to calculate the fractal dimension. According to the result of calculation, the fractal dimension increases as the current increases at the constant electrode gap distance. However, there is no significant relation between the fractal dimension and the electrode gap distance at a constant current.

• Journal of ILASS-Korea
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• v.18 no.1
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• pp.35-43
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• 2013

The empirical correlations for the prediction of breakup length of liquid jet in uniform cross flow are reviewed and classified in this study. The breakup length of liquid jets in cross flow was normally discussed in terms of the distances from the nozzle exit to the column breakup location in the x and y directions, called as column fracture distance and column fracture height, respectively. The empirical correlations for the prediction of column fracture distance can be classified as constant form, momentum flux ratio form, Weber number form and other parameter form, respectively. In addition, the empirical correlations for the prediction of column fracture height can be grouped as momentum flux ratio form, Weber number form and other parameter form, respectively. It can be summarized that the breakup length of liquid jet in a cross flow is a basically function of the liquid to air momentum flux ratio. However, Weber number, liquid-to-air viscosity ratio and density ratio, Reynolds number or Ohnesorge number were incorporated in the empirical correlations depending on the investigators. It is clear that there exist the remarkable discrepancies of predicted values by the existing correlations even though many correlations have the same functional form. The possible reasons for discrepancies can be summarized as the different experimental conditions including jet operating condition and nozzle geometry, measurement and image processing techniques introduced in the experiment, difficulties in defining the breakup location etc. The evaluation of the existing empirical correlations for the prediction of breakup length of liquid jet in a uniform cross flow is required.

• The Transactions of the Korean Institute of Electrical Engineers C
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• v.51 no.6
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• pp.229-235
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• 2002

This paper presents the fabrication of polycrystalline thin film transistor(TFT) using sequential lateral solidification(SLS) of amorphous silicon. The fabricated SLS TFT showed high Performance suitable for active matrix liquid crystal display(AMLCD). The SLS process involves (1) a complete melting of selected area via irradiation through a patterned mask, and (2) a precisely controlled pulse translation of the sample with respect to the mask over a distance shorter than the super lateral growth(SLG) distance so that lateral growth extended over a number of iterative steps. The SLS experiment was performed with 550$\AA$ a-Si using 308nm XeCl laser having $2\mu\textrm{m}$ width. Irradiated laser energy density is 310mJ/$\textrm{cm}^2$ and pulse duration time was 25ns. The translation distance was 0.6$\mu$m/pulse, 0.8$\mu$m/pulse respectively. As a result, a directly solidified grain was obtained. Thin film transistors (TFTs) were fabricated on the poly-Si film made by SLS process. The characteristics of fabricated SLS p -type poly-Si TFT device with 2$\mu\textrm{m}$ channel width and 2$\mu\textrm{m}$ channel length showed the mobility of 115.5$\textrm{cm}^2$/V.s, the threshold voltage of -1.78V, subthreshold slope of 0.29V/dec, $I_{off}$ current of 7$\times$10$^{-l4}$A at $V_{DS}$ =-0.1V and $I_{on}$ / $I_{off}$ ratio of 2.4$\times$10$^{7}$ at $V_{DS}$ =-0.1V. As a result, SLS TFT showed superior characteristics to conventional poly-Si TFTs with identical geometry.y.y.y.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.2
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• pp.364-370
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• 2011

This paper propose a novel method for tracking moving object based on covariance matrix and Riemannian Manifolds. With image backgrounds continuously changed, we use the covariance matrices to extract features for tracking nonrigid object undergoing transformation and deformation. The covariance matrix can make fusion of different types of features and has its small dimension, therefore we enable to handle the spatial and statistical properties as well as the component correlation. The proposed method can estimate the position of the moving object by employing the covariance matrix of object region as a feature vector and comparing the candidate regions. Rimannian Geometry is efficiently adapted to object deformation and change of shape and improve the accuracy by using geodesic distance to predict the estimated position with the minimum distance. The experimental results have shown that the proposed method correctly tracked the moving object.

• Wind and Structures
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• v.32 no.2
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• pp.127-142
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• 2021

Wind load acting on a standalone structure is different from that acting on a similar structure which is surrounded by other structures in close proximity. The presence of other structures in the surrounding can change the wind flow regime around the principal structure and thus causing variation in wind loads compared to a standalone case. This variation on wind loads termed as interference effect depends on several factors like terrain category, geometry of the structure, orientation, wind incident angle, interfering distances etc., In the present study, a three building configuration is considered and the mean pressure coefficients on each face of principle building are determined in presence of two interfering buildings. Generally, wind loads on interfering buildings are determined from wind tunnel experiments. Computational fluid dynamic studies are being increasingly used to determine the wind loads recently. Whereas, wind tunnel tests are very expensive, the CFD simulation requires high computational cost and time. In this scenario, Artificial Neural Network (ANN) technique and Support Vector Regression (SVR) can be explored as alternative tools to study wind loads on structures. The present study uses these data-driven approaches to predict mean pressure coefficients on each face of principle building. Three typical arrangements of three building configuration viz. L shape, V shape and mirror of L shape arrangement are considered with varying interfering distances and wind incidence angles. Mean pressure coefficients (Cp mean) are predicted for 45 degrees wind incidence angle through ANN and SVR. Further, the critical faces of principal building, critical interfering distances and building arrangement which are more prone to wind loads are identified through this study. Among three types of building arrangements considered, a maximum of 3.9 times reduction in Cp mean values are noticed under Case B (V shape) building arrangement with 2.5B interfering distance. Effect of interfering distance and building arrangement on suction pressure on building faces has also been studied. Accordingly, Case C (mirror of L shape) building arrangement at a wind angle of 45º shows less suction pressure. Through this study, it was also observed that the increase of interfering distance may increase the suction pressure for all the cases of building configurations considered.

• Journal of the Korean Society of Marine Environment & Safety
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• v.28 no.4
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• pp.499-506
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• 2022

For autonomous ships to be commercialized and be able to navigate in coastal water, they must be able to detect maritime obstacles. One of the most common obstacles seen in coastal area are the farm buoys. In this study, a maritime object detection system was developed that detects buoys using the YOLO algorithm and visualizes the distance and bearing between buoys and the ship through geometric interpretation of camera images. After training the maritime object detection model with 1,224 pictures of buoys, the precision of the model was 89.0%, the recall was 95.0%, and the F1-score was 92.0%. Camera calibration had been conducted to calculate the distance and bearing of an object away from the camera using the obtained image coordinates and Experiment A and B were designed to verify the performance of the maritime object detection system. As a result of verifying the performance of the maritime object detection system, it can be seen that the maritime object detection system is superior to radar in its short-distance detection capability, so that it can be used as a navigational aid along with the radar.