• 한국정밀공학회지
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• 제19권1호
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• pp.172-179
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• 2002

In a robot/vision system, the vision sensor, typically a CCD array sensor, is mounted on the robot hand. The problem of determining the relationship between the camera frame and the robot hand frame is refered to as the hand-eye calibration. In the literature, various methods have been suggested to calibrate camera and for sensor registration. Recently, one-step approach which combines camera calibration and sensor registration is suggested by Horaud & Dornaika. In this approach, camera extrinsic parameters are not need to be determined at all configurations of robot. In this paper, by modifying the camera model and including the lens distortion effect in the perspective transformation matrix, a new one-step approach is proposed in the hand-eye calibration.

• 조명전기설비학회논문지
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• 제29권12호
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• pp.83-87
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• 2015

This paper presents a simple notch filter, which is so suitable for three-phase unbalanced and distorted power line. In the d-q synchronous transformation, three-phase unbalanced and distorted voltages generate lots of ripple voltages on d-q axes. The ripples make disturbances on controllers such as PLL of phase tracking. Unbalanced state makes ripple of double the frequency of power line. Odd harmonics 5th and 7th on the line make even 4th and 6th ripples on d-q axes due to the rotating reference frame, respectively. Cascaded two comb filters, delay lines 1/4T and 1/8T, are adopted for the ripple rejection. The filter rejects harmonics 2nd, 4th, 6th, 10th and so on. They are very effective to remove the ripples of both unbalance and distortion. The filter, implemented by two FIFOs on an experimental system, is adopted on a PLL controller of power line phase tracking. Through the simulation and experimental results, performance of the proposed comb filter has been validated.

• 한국주거학회논문집
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• 제9권1호
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• pp.11-19
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• 1998

A transitional trend of architectural elements which would happen naturally in a building may be a cue to the changes of the times. In this respect, this study is to investigate the transformation of types of windows and doors with the full-openable bay size in Korean Buddhist Temples and search for transitional process on types of windows and doors according to the flow of the times. As the results of this study, the following conclusion could be obtained. 1. The type of bunhap(connected door frame) Deul E-Yul-Gae doors + Deul E-Yul-Gas (life up) single windows would be changed from windows of a bay just beside a on the transition that the whole would be altered into the same type. 2. The type of Bunhap (connected door frame)Deul E-Yul-Gae doors + Bunhap (connected door frame) Deul E-Yul-Gae doors would be changed into Bunhap swinging doors that the whole of windows and doors could be opend very easily. 3. The type of Bunhap swinging doors + Bunhap swinging doors would be seen in the transition that windows and doors would be altered separately due to the exchange from window and doors of one of a middle bay or a bay just beside a middle bay to swinging doors and etc.

• 대한전자공학회논문지SP
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• 제39권6호
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• pp.696-708
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• 2002

본 논문에서는 AMR과 EVRC 음성부호화기를 위한 새로운 파라미터 직접 변환 방식의 상호부호화 알고리듬을 제안한다. 상호부호화를 위하여 부가적인 복호화, 부호화 과정을 거쳐야하는 기존의 Tandem 방식과 달리 제안된 파라미터 직접 변환 방식에서는 양 음성부호화기가 음성을 부호화하기 위하여 공통적으로 사용하는 파라미터들이 직접 변환된다. 제안된 알고리듬은 파라미터 복호화, 프레임 분류, 모드 결정, 그리고 두가지 프레임형을 위한 상호부호화기로 구성된다. 상호부호화기는 LSP, 프레임 에너지, 적응 코드북을 위한 피치 지연, 고정 코드북 벡터, 그리고 양 코드북의 이득을 변환한다. 제안된 알고리듬을 다양한 방법으로 평가해본 결과 기존의 Tandem 방식과 비교하여 계산량과 지연 시간을 줄이면서도 동등한 음질을 구현함을 확인할 수 있었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.109-114
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• 1987

In this thesis, we work on the curve recognition with real time processing and the Robot tracking method on recognized curve. Image information of segment curve is supplied to computer to run to a Robot so that it is a feedback system. Image coordinate frame to world coordinate transformation represents in this paper and curve matching algorithm subscribes by two method, first transformation matching algorithm, second image coordinate matching algorithm. Also Robot running time to computer image processing time relationships finally includes.

• Computational Structural Engineering : An International Journal
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• 제1권2호
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• pp.97-106
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• 2001

Safety and serviceability of a planar steel frame are assessed. Attention is turned to the individual main steps in the assessment procedure, i.e., to the definition of loads, selection of transformation model, determination of the response of the structure to the loading, and to the definition of the limiting values (considering safely and serviceability of the structure). The potential of the method using direct Monte Carlo technique as a powerful tool is emphasized.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1999년도 하계종합학술대회 논문집
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• pp.655-658
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• 1999

In this paper we design a key-frame editor for 3D sign-language animation using the inverse kinematics. Using the editor, we can calculate the joint angles for two arms automatically. Up to now we have computed the values of the joint angles using the forward kinematics, where we have determined the values heuristically based on our experiences. To overcome the drawbacks, we employ the arm transformation matrix of the inverse kinematics. Experimental results show a possibility that the proposed method could be used for making up the sign-language communication dictionaries.

• Journal of applied mathematics & informatics
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• 제37권5_6호
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• pp.429-442
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• 2019

This article addresses the influence of partial slip condition in the hydromagnetic flow of Burgers fluid in a rotating frame of reference.The flows are induced by oscillation of a boundary. Two problems for oscillatory flows are considered. Exact solutions to the resulting boundary value problems are constructed. Analysis has been carried out in the presence of magnetic field. Physical interpretation is made through the plots for various embedded parameters.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.61.2-61
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• 2001

The purpose of the initial alignment of a SDINS is to get a coordinate transformation matrix from the body frame to the navigation frame. The initial alignment is one of the most important processes in the navigation system since its error has a large influence on the navigation solution. In this paper, a real-time initial alignment algorithm for the SDINS is developed using the Kalman filter. The steady state error analysis is performed for the developed Kalman filter technique and the gyrocompass loop method. The performance of the developed alignment method is compared with the gyrocompass loop method through the real-time alignment experiments.

• 한국기계가공학회지
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• 제3권4호
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• pp.7-12
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• 2004

Inspection and analysis are essential process to determine whether a completed product is in given specification or not. Analysis of products with very complicated shape is difficult to carry out direct comparison between inspected coordinate and designed coordinates. So process called as matching or registrations is needed to solve this problem. By defining error between two coordinates and minimizing the error, registration is done. Registration consists of translation, rotation and scale transformations. Error must be defined to express feature of inspected product. In this paper, registration algorithm is developed to determine pose of sub-frame at assembly with body of automobile by defining error between two coordinates considering geometric feature of sub-frame.