• Coupled systems mechanics
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• 제11권1호
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• pp.15-32
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• 2022

The comprehensive understanding of the fiber reinforced polymer behavior requires the use of advanced non-destructive testing methods due to its heterogeneous microstructure and anisotropic mechanical proprieties. In addition, the material response under load is strongly associated with manufacturing defects (e.g., voids, inclusions, fiber misalignment, debonds, improper cure and delamination). Such imperfections and microstructures induce various damage mechanisms arising at different scales before macrocracks are formed. The origin of damage phenomena can only be fully understood with the access to underlying microstructural features. This makes X-ray Computed Tomography an appropriate imaging tool to capture changes in the bulk of fibrous materials. Moreover, Digital Volume Correlation (DVC) can be used to measure kinematic fields induced by various loading histories. The correlation technique relies on image contrast induced by microstructures. Fibrous composites can be reinforced by different fiber architectures that may lead to poor natural contrast. Hence, a priori analyses need to be performed to assess the corresponding DVC measurement uncertainties. This study aimed to evaluate measurement resolutions of global and regularized DVC for glass fiber reinforced polymers with different fiber architectures. The measurement uncertainties were evaluated with respect to element size and regularization lengths. Even though FE-based DVC could not reach the recommended displacement uncertainty with low spatial resolution, regularized DVC enabled for the use of fine meshes when applying appropriate regularization.

• 대한전자공학회논문지
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• 제17권1호
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• pp.1-9
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• 1980

신호처리와 analysis를 위한 여러 기초적인 기술이 소개되었다. 이들은 먼저 불확정성순리의 개입에 의하여 특히 교환불가능한 operator 들이 작용한 결과의 등호는 tolerance가 있을 수 있음과 random process 처리방법과 manmum entropy estimate적인 ,사고방식을 통하여 재래식 확정론적 사고방식으로부터의 이탈을 길잡았다. 마지막으로 검출, 추정 및 함수추정의 여러 기법과 covariance functron의 posltive semi-definite-ness 그리고 Karhunen-Loeve 전개, 한 화상의 SVD 등이 설명됐다.

• 제어로봇시스템학회논문지
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• 제19권8호
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• pp.731-737
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• 2013

In this paper, we propose an image-based output feedback robust controller of robot manipulators which have bounded parametric uncertainty. The proposed controller contains an integral action and high-gain observer in order to improve steady state error of joint position and performance deterioration due to measurement errors of joint velocity. The stability of the closed-loop system is proved by Lyapunov approach. The performance of the proposed method is demonstrated by simulations on a 5-link robot manipulators with two degrees of freedom.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제6권10호
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• pp.2650-2662
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• 2012

Due to the semantic gap issue, the performance of automatic image annotation is still far from satisfactory. Active learning approaches provide a possible solution to cope with this problem by selecting most effective samples to ask users to label for training. One of the key research points in active learning is how to select the most effective samples. In this paper, we propose a novel active learning approach based on sparse graph. Comparing with the existing active learning approaches, the proposed method selects the samples based on two criteria: uncertainty and representativeness. The representativeness indicates the contribution of a sample's label propagating to the other samples, while the existing approaches did not take the representativeness into consideration. Extensive experiments show that bringing the representativeness criterion into the sample selection process can significantly improve the active learning effectiveness.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1816-1819
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• 1997

Using the vision system, robotic tasks in unstructured environments can be accompished, which reduces greatly the cost and steup time for the robotic system to fit to he well-defined and structured working environments. This paper proposes a dynamic control scheme for robot manipulator with eye-in-hand camera configuration. To perfom the tasks defined in the image plane, the camera motion Jacobian (image Jacobian) matrix is used to transform the camera motion to the objection position change. In addition, the dynamic learning controller is designed to improve the tracking performance of robotic system. the proposed control scheme is implemented for tasks of tracking moving objects and shown to outperform the conventional visual servo system in convergence and robustness to parameter uncertainty, disturbances, low sampling rate, etc.

• IEIE Transactions on Smart Processing and Computing
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• 제4권4호
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• pp.216-223
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• 2015

The autonomous underwater vehicle (AUV) is being widely researched in order to achieve superior performance when working in hazardous environments. This research focuses on using image processing techniques to estimate the AUV's egomotion and the changes in orientation, based on image frames from different time frames captured from a single high-definition web camera attached to the bottom of the AUV. A visual odometry application is integrated with other sensors. An internal measurement unit (IMU) sensor is used to determine a correct set of answers corresponding to a homography motion equation. A pressure sensor is used to resolve image scale ambiguity. Uncertainty estimation is computed to correct drift that occurs in the system by using a Jacobian method, singular value decomposition, and backward and forward error propagation.

• Journal of Advanced Marine Engineering and Technology
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• 제22권4호
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• pp.468-480
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• 1998

A flow measurement system which is able to measure the instantaneous three-dimensional velocity components and the pressure distribution of fluid flows is developed using a digital image processing system and the stereoscopic photogrammetry. This system consists of two TV cameras a digital image processor and a 32-bit microcomputer. The capability of the developed system is verified by a preliminary test in which three-dimensional displancements of moving particles arranged on a rotating plate are tracked automatically. The constructed system is through the measurement and spatial pressure distribution is also obtained. The measurement uncertainty of this system is evaluated quantitatively. The present technique is applicable to the measurement of an unsteady fluid phenomenon especially to the measurement of three-dimensional velocity field of a complex flow.

• 로봇학회논문지
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• 제18권3호
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• pp.260-270
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• 2023

We introduce a novel Visual Inertial Odometry (VIO) algorithm designed to improve the performance of thermal-inertial odometry. Thermal infrared image, though advantageous for feature extraction in low-light conditions, typically suffers from a high noise level and significant information loss during the 8-bit conversion. Our algorithm overcomes these limitations by approximating a 14-bit raw pixel histogram into a Gaussian mixture model. The conversion method effectively emphasizes image regions where texture for visual tracking is abundant while reduces unnecessary background information. We incorporate the robust learning-based feature extraction and matching methods, SuperPoint and SuperGlue, and zero velocity detection module to further reduce the uncertainty of visual odometry. Tested across various datasets, the proposed algorithm shows improved performance compared to other state-of-the-art VIO algorithms, paving the way for robust thermal-inertial odometry.

• International Journal of Control, Automation, and Systems
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• 제4권2호
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• pp.204-216
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• 2006

Latest advances in hardware technology and state of the art of mobile robot and artificial intelligence research can be employed to develop autonomous and distributed monitoring systems. And mobile service robot requires the perception of its present position to coexist with humans and support humans effectively in populated environments. To realize these abilities, robot needs to keep track of relevant changes in the environment. This paper proposes a localization of mobile robot using the images by distributed intelligent networked devices (DINDs) in intelligent space (ISpace) is used in order to achieve these goals. This scheme combines data from the observed position using dead-reckoning sensors and the estimated position using images of moving object, such as those of a walking human, used to determine the moving location of a mobile robot. The moving object is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Using the a priori known path of a moving object and a perspective camera model, the geometric constraint equations that represent the relation between image frame coordinates of a moving object and the estimated position of the robot are derived. The proposed method utilizes the error between the observed and estimated image coordinates to localize the mobile robot, and the Kalman filtering scheme is used to estimate the location of moving robot. The proposed approach is applied for a mobile robot in ISpace to show the reduction of uncertainty in the determining of the location of the mobile robot. Its performance is verified by computer simulation and experiment.

• 제어로봇시스템학회논문지
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• 제22권1호
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• pp.24-30
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• 2016

The accuracy of small and low-cost CCD cameras is insufficient to provide data for precisely tracking unmanned aerial vehicles (UAVs). This study shows how a quad rotor UAV can hover on a human targeted tracking object by using data from a CCD camera rather than imprecise GPS data. To realize this, quadcopter UAVs need to recognize their position and posture in known environments as well as unknown environments. Moreover, it is necessary for their localization to occur naturally. It is desirable for UAVs to estimate their position by solving uncertainty for quadcopter UAV hovering, as this is one of the most important problems. In this paper, we describe a method for determining the altitude of a quadcopter UAV using image information of a moving object like a walking human. This method combines the observed position from GPS sensors and the estimated position from images captured by a fixed camera to localize a UAV. Using the a priori known path of a quadcopter UAV in the world coordinates and a perspective camera model, we derive the geometric constraint equations that represent the relation between image frame coordinates for a moving object and the estimated quadcopter UAV's altitude. Since the equations are based on the geometric constraint equation, measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the quadcopter UAV. The Kalman filter scheme is applied for this method. Its performance is verified by a computer simulation and experiments.