• 한국축산시설환경학회지
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• 제8권3호
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• pp.165-170
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• 2002

This study was carried out to measure the 3D-distance of a cow model teat for an application possibility on Robotic Milking System(RMS). A teat recognition algorithm was made to find 3D-distance of the model by using Gonzalrez's theory. Some of the results are as follows. 1 . In the distance measurement experiment on the test board, as the measured length, and the length between the center of image surface and the measured image point became longer, their error values increased. 2. The model teat was installed and measured the error value at the random position. The error value of X and Y coordinates was less than 5㎜, and that of Z coordinates was less than 20㎜. The error value increased as the distance of camera's increased. 3. The equation for distance information acquirement was satisfied with obtaining accurate distance that was necessary for a milking robot to trace teats, A teat recognition algorithm was recognized well four model cow teats. It's processing time was about 1 second. It appeared that a teat recognition algorithm could be used to determine the 3D-distance of the cow teat to develop a RMS.

• Journal of Mechanical Science and Technology
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• 제18권1호
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• pp.132-144
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• 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.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제5권4호
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• pp.316-321
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• 2005

We designed and implemented fish robots for various purposes such as autonomous navigation, maneuverability control, posture balancing and improvement of quick turns in a tank of 120 X 120 X 180cm size. Typically, fish robots have 30-50 X 15-25 X 10-20cm dimensions; length, width and height, respectively. It is essential to have the ability of quick and smooth turning to avoid collision with obstacles or walls of the water pool at a close distance. Infrared distance sensors are used to detect obstacles, magneto-resistive sensors are used to read direction information, and a two-axis accelerometer is mounted to compensate output of direction sensors. Because of the swing action of its head due to the tail fin movement, the outputs of an infrared distance sensor contain a huge amount of noise around true distances. With the information from accelerometers and e-compass, much improved distance data can be obtained by fuzzy logic based estimation. Successful swimming and smooth turns without collision demonstrated the effectiveness of the distance estimation.

• Journal of Korea Trade
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• 제27권2호
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• pp.77-95
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• 2023

Purpose - This study aims to identify the importance of subsidiary entrepreneurship as a key factor when MNE attempts to invest in challenging overseas markets. Through the simultaneous consideration of institutional theory and entrepreneurship theory, this study would like to examine how Korean subsidiaries in the Middle East improve their performance locally. Design/methodology - To reflect the characteristics of emerging markets, this study conducted a survey of Korean subsidiaries in the Middle East in cooperation with KOTRA and analyzed the hypotheses using a structural equation model based on 249 valid responses. Findings - The findings of this study are as follows. First, we found that institutional and business distance would positively affect subsidiaries' entrepreneurship. The result that subsidiaries' entrepreneurship is positively affected by institutional and business distance implies that attempts to close the difference between heterogeneous markets would increase subsidiaries' innovative proactiveness, such as R&D and creative marketing strategies. Second, we confirmed that the institutional and business distance positively mediate the subsidiaries' entrepreneurship growth, leading to high performance. Therefore, Korean subsidiaries are required and prepared to establish strategies to better understand institutional and business distances in advance and reduce the liability of foreignness by conducting customized research and training programs before sending Korean expatriates to local subsidiaries in the Middle East. Originality/value - This study contributed to institutional and entrepreneurship theory by proving the traditional relationship between institutional and business distance to subsidiaries' performance and the mediation of subsidiary entrepreneurship.

• Journal of Astronomy and Space Sciences
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• 제24권3호
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• pp.203-208
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• 2007

We report the distance modulus of nearby dwarf elliptical galaxy NGC 147 estimated from the Tip of Red-giant Branch (TRGB) method applying to the color-magnitude diagrams and luminosity functions in the near-infrared JHK bands. Apparent magnitudes of TRGBs in each band are obtained by applying Savitzky-Golay filter to the luminosity functions, and the theoretical absolute magnitudes are estimated from Yonsei-Yale isochrones. The derived values of distance modulus to NGC 147 are $(m-M)=23.69{\pm}0.12,\;23.78{\pm}0.17,\;and\;23.85{\pm}0.22\;for\;J,\;H,\;and\;K$ bands, respectively. Distance modulus in bolometric magnitude is also derived as $(m-M)=23.87{\pm}0.11$. We compare the derived values of the TRGB distance modulus to NGC 147 in the near-infrared bands with the previous results in other bands.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 2009년도 IWAIT
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• pp.695-698
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• 2009

Three-dimensional (3D) shape recognition and distance recognition methods utilizing monocular camera systems have been required for field of virtual-reality, computer graphics, measurement technology and robot technology. There have been many studies regarding 3D shape and distance recognition based on geometric and optical information, and it is now possible to accurately measure the geometric information of an object at short range distances. However, these methods cannot currently be applied to long range objects. In the field of virtual-reality, all visual objects must be presented at widely varying ranges, even though some objects will be hazed over. In order to achieve distance recognition from a landscape image, we focused on the use of aerial perspective to simulate a type of depth perception and investigated the relationship between distance and color perception. The applicability of our proposed method was demonstrated in experimental results.

• 천문학회보
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• 제41권1호
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• pp.81.3-81.3
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• 2016

We examine whether the observational stand-off distance ratios of CMEs and their associated ICMEs could be explained by theoretical model or not. For this, we select 16 CME-ICME pairs from September 2009 to October 2012 with the following conditions: (1) limb CMEs by SOHO and their associated ICMEs by twin STEREO spacecraft and vice versa when both spacecraft were roughly in quadrature; (2) the faint structure ahead of a limb CME is well identified; and (3) its associated ICME clearly has a sheath structure. We determine the observational stand-off distance ratios of the CMEs by using brightness profiles from LASCO-C2 (or SECCHI-COR2) observations and those of the ICMEs by solar wind data from STEREO-IMPACT/PLASTIC (or OMNI database) observations. We also determine the theoretical stand-off distance ratios of the CME-ICME pairs using semi-empirical relationship based on the bow shock theory. We find the following results. (1) Observational CME stand-off distance ratio decreases with increasing Mach number at the Mach numbers between 2 and 6. This tendency is consistent with the results from the semi-empirical relationship. (2) The observational stand-off distance ratios of several ICMEs can be explained by the relationship.

• Journal of the Optical Society of Korea
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• 제15권1호
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• pp.30-37
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• 2011

Binocular-pair images obtained from two cameras can be used to calculate the three-dimensional (3D) world coordinate of a feature point. However, to apply this method, measurement accuracy of binocular vision depends on some structure factors. This paper presents an experimental study of measurement distance, baseline distance, and baseline direction. Their effects on camera reconstruction accuracy are investigated. The testing set for the binocular model consists of a series of feature points in stereo-pair images and corresponding 3D world coordinates. This paper discusses a method to increase the baseline distance of two cameras for enhancing the accuracy of a binocular vision system. Moreover, there is an inflexion point of the value and distribution of measurement errors when the baseline distance is increased. The accuracy benefit from increasing the baseline distance is not obvious, since the baseline distance exceeds 1000 mm in this experiment. Furthermore, it is observed that the direction errors deduced from the set-up are lower when the main measurement direction is similar to the baseline direction.

• Structural Engineering and Mechanics
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• 제56권1호
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• pp.49-56
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• 2015

Dynamic compaction (DC) is a useful method for improvement of granular soils. The method is based on falling a tamper (weighting 5 to 40 ton) from the height of 15 to 30 meters on loose soil that results in stress distribution, vibration of soil particles and desirable compaction of the soil. Propagation of the waves during tamping affects adjacent structures and causes structural damage or loss of performance. Therefore, determination of the safe or critical distance from tamping point to prevent structural hazards is necessary. According to FHWA, the critical distance is defined as the limit of a particle velocity of 76 mm/s. In present study, the ABAQUS software was used for numerical modeling of DC process and determination of the safe distance based on particle velocity criterion. Different variables like alluvium depth, relative density, and impact energy were considered in finite element modeling. It was concluded that for alluvium depths less than 10 m, reflection of the body waves from lower boundaries back to the soil and resonance phenomenon increases the critical distance. However, the critical distance decreases for alluvium depths more than 10 m. Moreover, it was observed that relative density of the alluvium does not significantly influence the critical distance value.

• 제어로봇시스템학회논문지
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• 제17권2호
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• pp.88-92
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• 2011

This paper looks at the development of the visual system of robots, and the development of image processing algorism to measure the size of an object and the distance from robot to an object for the visual system. Robots usually get the visual systems with a camera for measuring the size of an object and the distance to an object. The visual systems are accurately impossible the size and distance in case of that the locations of the systems is changed and the objects are not on the ground. Thus, in this paper, we developed robot's visual system to measure the size of an object and the distance to an object using two cameras and two-degree robot mechanism. And, we developed the image processing algorism to measure the size of an object and the distance from robot to an object for the visual system, and finally, carried out the characteristics test of the developed visual system. As a result, it is thought that the developed system could accurately measure the size of an object and the distance to an object.