• 제어로봇시스템학회논문지
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• 제17권2호
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• pp.157-163
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• 2011

This paper proposes a hybrid image stabilizing system which uses both optical image stabilizing system based on EKF (Extended Kalman Filter) and digital image stabilization based on SURF (Speeded Up Robust Feature). Though image information is one of the most efficient data for object recognition, it is susceptible to noise which results from internal vibration as well as external factors. The blurred image obtained by the camera mounted on a robot makes it difficult for the robot to recognize its environment. The proposed system estimates shaking angle through EKF based on the information from inclinometer and gyro sensor to stabilize the image. In addition, extracting the feature points around rotation axis using SURF which is robust to change in scale or rotation enhances processing speed by removing unnecessary operations using Hessian matrix. The experimental results using the proposed hybrid system shows its effectiveness in extended frequency range.

• 한국해양공학회지
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• 제13권1호통권31호
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• pp.23-28
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• 1999

For offshore structures, dynamic analysis becomes increasingly important as water depth increases and structural configuration becomes more slender. In the case of dynamic analysis of frame structures, much computer time and high cost are required due to many degrees of freedom, In this paper, a new technique of permutating a segment of frame structure to a beam is developed, which is called here Beam Permutation Technique. The technique is based on definition of stiffness matrix of the beam which is obtained by defining the actions(or forces) required to obtain unit translation or rotation for each degree of freedom wiht al other degree of freedom restrained to zero displacement or rotation. In the technique, an assumption is made that relative positions of nodes in the ends of the segment are not variable, The technique can significantly reduce the degrees of freedom of frame structures and thus the computiong time in dynamic analysis. The natural frequencies and static displacements of the permutated beam are obtained and compared to those of ANSYS with a good agreement.

• 대한금속재료학회지
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• 제47권7호
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• pp.397-405
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• 2009

The high strain rate deformation behavior of ultra-fine grained 5083 aluminum alloys prepared via equal channel angular (ECA) extrusion was investigated in this study. The microstructure of ECA extruded specimens consisted of ultra-fine grains, and contained a considerable amount of second phase particles, which were fragmented and distributed homogeneously in the matrix. According to the dynamic torsion test results, the maximum shear stress and fracture shear strain of the route A (no rotation) specimen were lower than those of route C ($180^{\circ}$ rotation) specimen since that adiabatic shear bands of $100{\mu}m$ in width were formed in the route A specimen. The formation of adiabatic shear bands was addressed by concepts of critical shear strain, deformation energy required for void initiation, and microstructural homogeneity associated with ECA operations.

• 한국분말재료학회지
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• 제13권1호
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• pp.62-67
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• 2006

Friction welding of $Al_2O_3$ particulate reinforced aluminum composites was performed and the following conclusions were drawn from the study of interfacial bonding characteristics and the relationship between experimental parameters of friction welding and interfacial bond strength. Highest bonded joint efficiency (HBJE) approaching $100\%$ was obtained from the post-brake timing, indicating that the bonding strength of the joint is close to that of the base material. For the pre-brake timing, HBJE was $65\%$. Most region of the bonded interface obtained from post-brake timing exhibited similar microstructure with the matrix or with very thin, fine-grained $Al_2O_3$ layer. This was attributed to the fact that the fine-grained $Al_2O_3$ layer forming at the bonding interface was drawn out circumferentially in this process. Joint efficiency of post-brake timing was always higher than that of pre-brake timing regardless of rotation speed employed. In order to guarantee the performance of friction welded joint similar to the efficiency of matrix, it is necessary to push out the fine-grained $Al_2O_3$ layer forming at the bonding interface circumferentially. As a result, microstructure of the bonded joint similar to that of the matrix with very thin, fine-grained $Al_2O_3$ layer can be obtained.

• Structural Engineering and Mechanics
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• 제68권4호
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• pp.385-398
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• 2018

In the present paper, we offer a new flat shell finite element. It is the result of the combination of a membrane element and a bending element, both based on the strain-based formulation. It is known that $C^{\circ}$ plane membrane elements provide poor deflection and stress for problems where bending is dominant. In addition, they encounter continuity and compliance problems when they connect to C1 class plate elements. The reach of the present work is to surmount these problems when a membrane element is coupled with a thin plate element in order to construct a shell element. The membrane element used is a triangular element with four nodes, three nodes at the vertices of the triangle and the fourth one at its barycenter. Each node has three degrees of freedom, two translations and one rotation around the normal. The coefficients related to the degrees of freedom at the internal node are subsequently removed from the element stiffness matrix by using the static condensation technique. The interpolation functions of strain, displacements and stresses fields are developed from equilibrium conditions. The plate element used for the construction of the present shell element is a triangular four-node thin plate element based on Kirchhoff plate theory, the strain approach, the four fictitious node, the static condensation and the analytic integration. The shell element result of this combination is robust, competitive and efficient.

• 한국게임학회 논문지
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• 제18권1호
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• pp.125-134
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• 2018

본 논문에서는 시간에 따라 연속적으로 변하는 $3{\times}3$ 행렬의 회전 성분을 효율적으로 추출하는 실용적인 방법을 제안한다. 이는 물리기반 동적 변형을 위하여 널리 사용되는 공회전 유한 요소법이나 형상 맞춤 변형에서 매우 중요한 기술이다. 최근 극분해를 사용하는 시간 독립적인 기존 방법들과 달리 회전행렬 추출을 물리적으로 공식화한 후, 점진적 회전 표현법을 이용하는 반복법이 제안되었다. 본 논문에서는 점진적 회전 벡터의 최대 회전각을 ${\pi}/2$ 이내로 제한함으로써 반복 횟수를 줄이는 최적화 기법을 개발한다. 사실적인 동적 변형 시뮬레이션에서는 충분히 작은 시간 간격을 사용하기 때문에 이러한 제한은 실용적으로 문제가 되지 않는다. 다양한 실험을 통해 제안된 방법의 효율성 및 실용성을 보인다.

• 한국게임학회 논문지
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• 제7권4호
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• pp.63-70
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• 2007

넓은 시야각을 갖는 전방향(omnidirectional) 카메라 시스템은 적은 수의 영상으로도 주변 장면에 대해 많은 정보를 취득할 수 있는 장점으로 감시, 3차원 해석 등의 분야에 널리 응용되고 있다. 본 논문에서는 어안(fisheye) 렌즈를 이용한 전방향 카메라로 입력된 영상으로부터 카메라의 이동 및 회전 파라미터를 자동으로 추정하는 새로운 자동보정 알고리즘이 제안되었다. 먼저, 카메라 위치를 임의의 각 도로 변환하여 얻어진 영상을 이용해 일차 매개변수로 표현된 카메라의 사영(projection)모델을 추정한다. 그리고 이후 다양하게 변환되는 카메라의 위치에 따라 에센셜(essential) 행렬을 구하며, 이 과정에서 대상 영상으로부터 적합한 인라이어(inlier) 집합을 구하기 위해 특징점이 영역 내에 분포 정도를 반영하는 표준편차(standard deviation)를 정량적(quantitative) 기준으로 이용한다. 다양한 실험을 통해 제안된 알고리즘이 전방향 카메라의 사영 모델과 회전, 이동 등의 변환 파라미터를 정확하게 추정함을 확인하였다.

• 한국인터넷방송통신학회논문지
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• 제20권6호
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• pp.123-128
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• 2020

본 논문에서는 3차원 동영상을 구현하기 위하여 인체에 유해한 방사능 피폭량이 부챗살 형태의 Fan Beam 보다 상대적으로 적은 원추형 Cone Beam CT 시스템을 설계하였다. 설계된 시스템은 X-ray가 조사된 각도에서 획득한 데이터를 영상처리부로 전송하고 영상을 구성하는 계산 속도를 빠르게 하기 위하여 초월함수가 보다 적은 3단계 회전 행렬을 이용하여 3차원 영상을 구현하는 회전 기반법을 사용하였다. 본 연구에서는 3차원 영상을 구성하는 시간단축을 통해 초당 3~5장의 영상을 얻음으로써 3차원 동영상을 실시간으로 구현하였으며 기존의 데이터 적층 방법에 비해 본 논문에서 사용한 회전 기반법이 우수함을 증명하였으며 단점 및 해결방법 제시하였다.

• 대한기계학회논문집A
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• 제24권2호
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• pp.362-369
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• 2000

Via screw theory, a vibration mode can be geometrically interpreted as a pure rotation about the vibration center in a plane and as a twisting motion on a screw in a three dimensional space. In thi s paper, applying the conditions that can be used to diagonalize the stiffness matrix by a parallel axis congruence transformation, the vibration modes and frequency response of an elastically suspended optical disc drive have been analyzed. It is first shown that the system has one plane of symmetry, which enables one to decouple the complicated vibration modes into two sets of modes independent of each other. Having obtained the analytical solutions for the axes of vibrations, the frequency response for a given applied input force has been demonstrated. Most importantly, it has been explained that this research result could be used in the synthesis process of a linear vibration system in order to improve the frequency response.

• Nuclear Engineering and Technology
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• 제30권5호
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• pp.452-461
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• 1998

The pin power distribution is determined by analyzing the rotational gamma scanning data for 36 element fuel bundle of HANARO. A fission monitor of Nb$^{95}$ is chosen by considering the criteria of the half-life, fission yield, emitting ${\gamma}$-ray energy and probability. The ${\gamma}$-ray spectra were measured in Korea Atomic Energy Research Institute(KAERI) by using a HPGe detector and by rotating the fuel bundle at steps of 10$^{\circ}$. The counting rates of Nb$^{95}$ 766 keV ${\gamma}$-rays are determined by analyzing the full absorption peak in the spectra. A 36$\times$36 response matrix is obtained from calculating the contribution of each rod at every scanning angle by assuming 2-dimensional and parallel beam approximations for the measuring geometry. In terms of the measured counting rates and the calculated response matrix, an inverse problem is set up for the unknown distribution of activity concentrations of pins. To select a suitable solving method, the performances of three direct methods and the iterative least-square method are tested by solving simulation examples. The final solution is obtained by using the iterative least-square method that shows a good stability. The influences of detection error, step size of rotation and the collimator width are discussed on the accuracy of the numerical solution. Hence an improvement in the accuracy of the solution is proposed by reducing the collimator width of the scanning arrangement.