• The KIPS Transactions:PartB
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• v.10B no.1
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• pp.81-86
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• 2003

In this paper, we propose the tracking method of moving object which use extracted object by difference between background image and target image in fixed domain. As a extraction method of object, calculate not pixel of full image but predefined some edge pixel of image to get a position of new object. Since the center area Is excluded from calculation, the extraction time is efficiently reduced. To extract object in the predefined area, get a starting point in advance and then extract size of width and height of object. Central coordinate is used to track moved object.

• International Journal of Naval Architecture and Ocean Engineering
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• v.11 no.1
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• pp.233-243
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• 2019

In this paper, numerical and experimental studies are performed to investigate the liquid impact on a free falling wedge. In the numerical simulation, the structure is assumed to be rigid and the elastic response is ignored. The fully nonlinear coupling between wedge and water is considered by an auxiliary function method based on the Boundary Element Method (BEM). At the intersection of the wedge surface and liquid surface, two coincident nodes are used to decouple the boundary conditions. The Eulerian free surface conditions in the local coordinate system are adopted to update the deformed free surface. In the experiments, five pressure sensors are fixed on each side of the wedge which is released from an experimental installation. Steel and aluminum wedges that have different structural elasticity are used in the experiments to investigate the influence of structural elasticity on the impact force. Numerical results are compared with experimental data and they agree very well. The influence of fluid gravity, body mass, initial entry speed and deadrise angle on the impact pressure are further investigated.

• Journal of Digital Contents Society
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• v.15 no.6
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• pp.663-673
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• 2014

The WBAN technology means a short distance wireless network which provides each device interactive communication by connecting devices inside and outside of body. Standardization on the physical layer, data link layer, network layer and application layer is in progress by IEEE 802.15.6 TG BAN. Wireless body area network is usually configured in energy efficient using sensor and zigbee device due to the power limitation and the characteristics of human body. Wireless sensor network consist of sensor field and sink node. Sensor field are composed a lot of sensor node and sink node collect sensing data. Wireless sensor network has capacity of the self constitution by protocol where placed in large area without fixed position. In this paper, we proposed the efficient addressing scheme for improving the performance of routing algorithm by using ZigBee in WBAN environment. A distributed address allocation scheme used an existing algorithm that has wasted in address space. Therefore proposing x, y and z coordinate axes from divided address space of 16 bit to solve this problems. Each node was reduced not only bitwise but also multi hop using the coordinate axes while routing than Cskip algorithm. I compared the performance between the standard and the proposed mechanism through the numerical analysis. Simulation verified performance about decrease averaging multi hop count that compare proposing algorithm and another. The numerical analysis results show that proposed algorithm reduced the multi hop better than ZigBee distributed address assignment

• Journal of Broadcast Engineering
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• v.18 no.3
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• pp.445-454
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• 2013

By using the radio propagation prediction of Rec. ITU-R P.1546, geographic information system, and S-I plane, we presented the methodology of interference analysis based on the minimum coupling loss, and also suggested the local coordinate system for calculating azimuth and elevation angles between the victim receiver and the interferer for an arbitrary antenna pattern. To check the presented algorithm, the map with the land-sea mixed area was taken for the given area of $80{\times}60[km^2]$ as real geography information. Field strength, path profile, and protection ratio with maximum allowable interference level have been illustrated for radar and fixed wireless system for the assumed frequency. In addition interference power of the victim receiver was calculated asa function of azimuth and elevation angles of the interferer. The developed methodology of interference analysis in the VHF and UHF bands can be actually applied to assess interoperability as well as compatibility in the civil or military applications.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.42 no.5 s.305
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• pp.1-12
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• 2005

A Mobile manipulator - a serial connection of a mobile robot and a task robot - is a very useful system to achieve various tasks in dangerous environment. because it has the higher performance than a fixed base manipulator in regard to the size of it's operational workspace. Unfortunately the use of a mobile robot introduces non-holonomic constraints, and the combination of a mobile robot and a manipulator generally introduces kinematic redundancy. In this paper, first a method for estimating the position of object at the cartesian coordinate system acquired by using the geometrical relationship between the image captured by 2-DOF active camera mounted on mobile robot and real object is proposed. Second, we propose a method to determine a optimal path between current the position of mobile manipulator whose mobile robot is non-holonomic and the position of object estimated by image information through the global displacement of the system in a symbolic way, using homogenous matrices. Then, we compute the corresponding joint parameters to make the desired displacement coincide with the computed symbolic displacement and object is captured through the control of a manipulator. The effectiveness of proposed method is demonstrated by the simulation and real experiment using the mobile manipulator.

• Journal of the wind engineering institute of Korea
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• v.22 no.4
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• pp.163-169
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• 2018

In this study, wind loads exerted on the offshore wind turbine rotor in parked condition were predicted with variations of wind speeds, yaw angles, azimuth angle, pitch angles, and power of the atmospheric boundary layer profile. The calculated wind loads using blade element theorem were compared with those of estimated aerodynamic loads for the simplified blade shape. Wind loads for an NREL's 5 MW scaled offshore wind turbine rotor were also compared with those of NREL's FAST results for more verification. All of the 6-component wind loads including forces and moments along the three axis were represented on a non-rotating coordinate system fixed at the apex of rotor hub. The calculated wind loads are applicable for the dynamic analysis of the wind turbine system, or obtaining the over-turning moment at the foundation of support structure for wind turbine system.

• Journal of Korea Water Resources Association
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• v.41 no.8
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• pp.855-862
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• 2008

Surface Image Velocimetry (SIV) is an instrument to measure water surface velocity by using image processing techniques. To improve its measuring accuracy, it is essential to get high quality images with low skewness. A truck-mounted SIV system would be a good way to get images, since its crane gives high altitude to the images. However, the images taken with a truck-mounted SIV would be swayed due to the movement of crane and the camera by winds. In that case, to analyze the images, it is necessary to compensate the side sway in the images. The present study is to develop an algorithm to analyze the swayed images by combining common image processing techniques and coordinate transform techniques. The system follows the traces of some selected fixed points and calculates the displacements of the video camera. By subtracting the average velocity of the fixed points from that of grid points, the velocity fields of the flow can be corrected. To evaluate the system's performance, two image sets were used, one image set without side sway and another set with side sway. The comparison of their results showed very close with the error of around 6 %.

• Journal of the Korea Society of Computer and Information
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• v.10 no.6 s.38
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• pp.345-354
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• 2005

A mobile manipulator - a serial connection of a mobile robot and a task robot - is a very useful system to achieve various tasks in dangerous environment, because it has the higher performance than a fixed base manipulator in terms of its operational workspace size as well as efficiency. A method for estimating the position of an object in the Cartesian coordinate system based upon the geometrical relationship between the image captured by 2-DOF active camera mounted on mobile robot and the real object, is proposed. With this Position estimation, a method of determining an optimal path for the mobile manipulator from the current position to the position of object estimated by the image information using homogeneous matrices. Finally, the corresponding joint parameters to make the desired displacement are calculated to capture the object through the control of a manipulator. The effectiveness of proposed method is demonstrated by the simulation and real experiments using the mobile manipulator.

• Proceedings of KOSOMES biannual meeting
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• 2006.11a
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• pp.303-308
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• 2006

In this paper, the authors calculated manoeuvring motions of a large container vessel approaching to the newly built container piers to get alongside to her berth in Busan harbour. The motion calculations were done by using fixed coordinate system and the object of the calculations is to check the manoeuvring motions are safe or not for berthing the large vessel to her berth. The result of calculations manifested that a large container vessel can get alongside to the piers without any difficulty under normal weather conditions by using 2 Z. Peller tug boats of 4500 H.P. each and also these demonstrated it is difficult to conduct and get her alongside to the piers under rough weather conditions of wind force 16.9m/sec or more. Under rough weather conditions of 6 by beaufort scale the average wind velocity is about 13.5m and if we add 25% increase of the normal velocity to it, the wind will becomes a gust of 16.9m/sec. So it is advisable to avoid conducting a large container vessel to the pier under the rough weather conditions of 6 or more by beaufort scale. Also, I is better to use 3 Z. peller tug boats of 4500 HP. each under the above mentioned rough weather in a case of unavoidable circumstances.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.38 no.3
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• pp.175-185
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• 2020

Three-dimensional registration is a process of matching data with or without a coordinate system to a reference coordinate system, which is used in various fields such as the absolute orientation of photogrammetry and data combining for producing precise road maps. Three-dimensional registration is divided into a method using points and a method using linear features. In the case of using points, it is difficult to find the same conjugate point when having different spatial resolutions. On the other hand, the use of linear feature has the advantage that the three-dimensional registration is possible by using not only the case where the spatial resolution is different but also the conjugate linear feature that is not the same starting point and ending point in point cloud type data. In this study, we proposed a method to determine the scale and the three-dimensional translation after determining the three-dimensional rotation angle between two data using quaternion to perform three-dimensional registration using linear features. For the verification of the proposed method, three-dimensional registration was performed using the linear features constructed an indoor and the linear features acquired through the terrestrial mobile mapping system in an outdoor environment. The experimental results showed that the mean square root error was 0.001054m and 0.000936m, respectively, when the scale was fixed and if not fixed, using indoor data. The results of the three-dimensional transformation in the 500m section using outdoor data showed that the mean square root error was 0.09412m when the six linear features were used, and the accuracy for producing precision maps was satisfied. In addition, in the experiment where the number of linear features was changed, it was found that nine linear features were sufficient for high-precision 3D transformation through almost no change in the root mean square error even when nine linear features or more linear features were used.