• The Journal of Korea Robotics Society
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• v.8 no.3
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• pp.173-178
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• 2013

We present six-degree-of-freedom (6DoF) haptic rendering algorithms using translational ($PD_t$) and generalized penetration depth ($PD_g$). Our rendering algorithm can handle any type of object/object haptic interaction using penalty-based response and makes no assumption about the underlying geometry and topology. Moreover, our rendering algorithm can effectively deal with multiple contacts. Our penetration depth algorithms for $PD_t$ and $PD_g$ are based on a contact-space projection technique combined with iterative, local optimization on the contact-space. We circumvent the local minima problem, imposed by the local optimization, using motion coherence present in the haptic simulation. Our experimental results show that our methods can produce high-fidelity force feedback for general polygonal models consisting of tens of thousands of triangles at near-haptic rates, and are successfully integrated into an off-the-shelf 6DoF haptic device. We also discuss the benefits of using different formulations of penetration depth in the context of 6DoF haptics.

• Journal of Korea Multimedia Society
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• v.15 no.6
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• pp.770-783
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• 2012

In this paper, we propose a novel structure recovery algorithm in the projective space using image feature points. We use normalized image feature coordinates for the numerical stability. To acquire an initial value of the structure and motion, we decompose the scaled measurement matrix using the singular value decomposition. When recovering structure and motion in projective space, we introduce matrix decomposition constraints. In the reconstruction procedure, a nonlinear iterative optimization technique is used. Experimental results showed that the proposed method provides proper accuracy and the error deviation is small.

• Proceedings of the KSRS Conference
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• v.2
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• pp.610-614
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• 2006

In this paper the advanced method of geodesic active contours was developed for the task of building detection from aerial and satellite images. Automatic extraction of man-made structures including buildings, building blocks or roads from remote sensing data is useful for land use mapping, scene understanding, robotic navigation, image retrieval, surveillance, emergency management procedures, cadastral etc. A level set method based on a region-driven segmentation model was implemented with which building boundaries were detected, through this curve propagation technique. The essence of this approach is to optimize the position and the geometric form of the curve by measuring information along that curve, and within the regions that compose the image partition. To this end, one can consider uniform intensities inside objects and the background. Thus, given an initial position of the curve, one can determine global, region-driven functions and provide a statistical description of the inside and outside object area. The calculus of variations and a gradient descent method was used to optimize the variational functional by an iterative steady state process. Experimental results demonstrate the potential of the proposed processing scheme.

• Nuclear Engineering and Technology
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• v.52 no.3
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• pp.485-498
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• 2020

A diffusion synthetic acceleration (DSA) technique for the S_N transport equation discretized with the linear discontinuous expansion method with subcell balance (LDEM-SCB) on unstructured tetrahedral meshes is presented. The LDEM-SCB scheme solves the transport equation with the discrete ordinates method by using the subcell balances and linear discontinuous expansion of the flux. Discretized DSA equations are derived by consistently discretizing the continuous diffusion equation with the LDEM-SCB method, however, the discretized diffusion equations are not fully consistent with the discretized transport equations. In addition, a fine mesh rebalance (FMR) method is devised to accelerate the discretized diffusion equation coupled with the preconditioned conjugate gradient (CG) method. The DSA method is applied to various test problems to show its effectiveness in speeding up the iterative convergence of the transport equation. The results show that the DSA method gives small spectral radii for the tetrahedral meshes having various minimum aspect ratios even in highly scattering dominant mediums for the homogeneous test problems. The numerical tests for the homogeneous and heterogeneous problems show that DSA with FMR (with preconditioned CG) gives significantly higher speedups and robustness than the one with the Gauss-Seidel-like iteration.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.41 no.11
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• pp.105-113
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• 2004

This paper proposes 3D graphics accelerator, especially rendering unit, for portable devices. The existing 3D architecture is not suitable for portable devices because of its huge size. To reduce the size, we use iterative architecture and fixed-point calculation. In this paper, we suggest the format of fixed-point comparing with the result images, and some special technique to control. Finally, it is implemented with FPGA and 0.25um ASIC technology respectively. The ASIC chip can execute 47.88M pixels per second. The size of ASIC chip is 4.9287mm*4.9847mm and the power consumption is 263.7mW with 50MHz operation frequency.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.15-19
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• 2001

A dedicated reverse engineering(RE) system for rapid manufacturing of human head in a 3D bust has been developed. The first step in the process is to capture the surface details of a human head and shoulder by three scanners based upon the digital moire fringe technique. Then the multiple scans captured from different angles are aligned and merged into a single polygonal mesh, and the aligned data set is refined by smoothing, subdividing or hole filling process. Finally, the refined data set is sent to a 4-axis computer numerically control(NC) machine to manufacture a replica. In this paper, we mainly describe on the algorithms and software for aligning multiple data sets. The method is based on the recently popular Iterative Closest Point(ICP) algorithm that aligns different polygonal meshes into one common coordinate system. The ICP algorithm finds the nearest positions on one scan to a collection of points on the other scan by minimizing the collective distance between different scans. We also integrate some heuristics into the ICP to enhance the aligning process. A typical example is presented to validate the system and further research work is also discussed.

• Journal of the Korean Society for Railway
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• v.8 no.5
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• pp.425-433
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• 2005

For the design of welded bogie frame, the concept of multidisciplinary engineering activities, i.e. static, fatigue and dynamic analysis, has been applied, in which the sharing of design parameters related with each analysis and the collaboration of the working parts in charge should be fulfilled. However, in spite of these necessities, the multi-disciplinary engineering activities couldn't be performed in practice due to tack of the automation of the required analysis. In this paper, an automation of fatigue durability analysis of welded bogie frame according to UIC-Code was proposed by using the Model Center, which enables to integrate the several tools for the fatigue durability analysis, i.e. I-DEAS, ANSYS and BFAP, and to perform iterative analysis works in relation to the geometrical change of transom support bracket. Besides, the wrapping programs to control I/O-data and interfaces of these tools were developed. The developed automation technique brings not only significant decreasing man-hour required in the durability analysis, but also providing a platform of the multidisciplinary engineering activities.

• Journal of the Korean Wood Science and Technology
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• v.33 no.5 s.133
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• pp.21-28
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• 2005

For the proper conservation of wooden cultural properties, non-destructive evaluation (NDE) method, which can be used to quantitatively evaluate the internal state of wood members, are needed. In this study, an ultrasonic CT system composed of portable devices was attempted, and the capacity of this system was verified by reconstructing the CT images for two phantoms and two artificially defected specimens. Results from this study showed that the sizes of detected defects were enlarged and the shapes were distorted on the CT images. Also, the positions were shifted somewhat toward the surface of specimen, which is regarded due to the anisotropic property of wood. Compared to the filtered back-projection method, SIRT (simultaneous iterative reconstruction technique) method was determined to be more efficient as the algorithm of image reconstruction for wood. A new ultrasonic CT system is thought to be used as a NDE method for wood. However wood characteristics and wave diffraction within wood made it difficult to accurately evaluate the size, shape and position of defects. To improve the quality of CT image of wood, more research including the relationship between wood and ultrasound is needed, and wood properties should be taken into consideration on the image reconstruction algorithm.

• Journal of Ocean Engineering and Technology
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• v.27 no.4
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• pp.83-89
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• 2013

A numerical scheme based on a mode superposition method is presented for the dynamic response analysis of a top-tensioned riser (TTR) under sheared current loads. The natural frequencies and mode shapes of the TTR have been calculated analytically for a beam with a slowly varying tension and pinned-pinned boundary conditions at the top and bottom ends. The lift coefficients and corresponding amplitudes used to estimate the vortex-induced modal force and damping for each mode were predicted via iterative calculations based on the input and output power balancing concept. Here, the power-in regions were controlled by the normal distribution function, for which the center was coincident with the lock -in location by local vortex-shedding, and the range was defined by the constant standard deviation for the reduced velocity by the local current speed. Finally, dynamic responses such as root-mean-squared displacement and stress were calculated using the mode superposition technique. In order to verify the presented scheme, a numerical calculation was performed for a TTR under an arbitrary linearly sheared current and linearly varying tension. A comparison with the results of the existing software showed that the presented scheme could give reliable and feasible solutions. Case studies were performed to investigate the effects of various current loads and tensions.

• Journal of IKEEE
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• v.22 no.3
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• pp.558-564
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• 2018

In distributed estimation where each node can collect only partial information on the parameter of interest without communication between nodes and quantize it before transmission to a fusion node which conducts estimation of the parameter, we consider a novel quantization technique employed at local nodes. It should be noted that the performance can be greatly improved if each node can transmit its measurement to one designated node (namely, head node) which can quantize its estimate using the total rate available in the system. For this case, the best strategy at the head node would be simply to partition the parameter space using the generalized Lloyd algorithm, producing the global codewords, one of which is closest to the estimate is transmitted to a fusion node. In this paper, we propose an iterative design algorithm that seeks to efficiently assign the codewords into each of quantization partitions at nodes so as to achieve the performance close to that of the system with the head node. We show through extensive experiments that the proposed algorithm offers a performance improvement in rate-distortion perspective as compared with previous novel techniques.