• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.6
• /
• pp.562-570
• /
• 2012

This paper proposes a robust object tracking algorithm using object features and on-line learning based particle filter for mobile robots. Mobile robots with a side-view camera have problems as camera jitter, illumination change, object shape variation and occlusion in variety environments. In order to overcome these problems, color histogram and HOG descriptor are fused for efficient representation of an object. Particle filter is used for robust object tracking with on-line learning method IPCA in non-linear environment. The validity of the proposed algorithm is revealed via experiments with DBs acquired in variety environment. The experiments show that the accuracy performance of particle filter using combined color and shape information associated with online learning (92.4 %) is more robust than that of particle filter using only color information (71.1 %) or particle filter using shape and color information without on-line learning (90.3 %).

• Journal of Theoretical and Applied Mechanics
• /
• v.2 no.1
• /
• pp.51-70
• /
• 1996

This study is generalization of the study of Miles[Physica 11D, 1984, pp.309-323]on the resonant motion of a spherical pendulum, which is equivalent to a particle on a spherical container subject to a linear, horizontal excitation. This study covers an arbitrary shape of container and a more general excitation (horizontal but elliptic motion). The averaging method is applied to reduce the governing equations to an autonomous system with cubic nonlinear terms, under the assumption of small amplitude of the container motion. It is shown that both the container shape and the excitation pattern affect the particle dynamics. Under the linear excitation, the anharmonic motion of the particle is possible only for a certain finite range of the parameter a controling the container shape. Stability of the particle's harmonic motion is also influenced by the excitation pattern; as the excitation trajectory becomes closer to a circle, the particle's motion has a stronger tendency to become stable and to follow the rotational direction of the excitation. Under a circular excitation, the motion is always stable and circular with the same rotational direction as the excitation. Analogy between the present model and that of the surface wave inside a circular is studied quantitatively.

• Journal of Powder Materials
• /
• v.12 no.1
• /
• pp.56-63
• /
• 2005

Ag powder was prepared from $AgNO_3$ by wet chemical reduction method using various reduction agent system involving $AgNO_3$, $AgNO_2$(AgCl) and Ag complex ion aqueous solution. The pure Ag powder could be prepared regardless of reaction system but the particle shape and distribution were affected very much according to the kind of reduction agents and reaction systems. The optimum reaction system for the preparation of the silver powder having the uniform particle shape and size distribution was Ag complex ion aqueous solution-reduction agent system and in particular, $H_2O_2$ and $C_6H_8O_6$as a reduction agent leaded the more uniform particle shape and size distribution.

• Land and Housing Review
• /
• v.2 no.1
• /
• pp.69-78
• /
• 2011

The purpose of this research is particle shape evaluation of aggregate using Digital Image Process(DIP). DIP is very useful to measure the roughness and particle shape of aggregates. Couple of aggregates, like standard sand, two different crushed stones, and two different marine aggregates, have been employed. Shape factors of two different marine aggregates are ranged 0.35 to 0.54. Crushed stone I is 0.74 which is highly flat, but standard sand is elongated shape. Especially, two marine aggregate showed a big difference of width and length which meaned a long shape. There is any significant difference of elongation ratio and flatness for each aggregate with different measuring system, like direct measurement of vernier calipers and DIP method. Shape conversion coefficient and equivalent diameter for changing 2D image to 3D image by the Digital Image Process(DIP) have been suggested and modified particle size distribution curve has been showed. The measured flatness ratios of each aggregate were 0.30, 0.36, 0.47 and 0.83, respectively. Also, the conversion shape coefficients of each aggregate were determinded as 0.77, 0.78, 0.84 and 0.92. The size of aggregate has been modified by multiplying the shape conversion coefficient and the aggregate size from DIP. The modified gradation curve with modified volume and weight of aggregate has been suggested. Within the limited test results, DIP is one of useful to get the particle shape of aggregate with limitation of measuring errors and to apply the particle distribution curve.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.26 no.2
• /
• pp.380-386
• /
• 2002

Damage behaviors induced in silicon carbide by an impact of particle having different material and size were investigated. Especially, the influence of the impact velocity of particle on the cone crack shape developed was mainly discussed. The damage induced by spherical impact was different depending on the material and size of particles. Ring cracks on the surface of specimen were multiplied by increasing the impact velocity of particle. The steel particle impact produced larger ring cracks than that of SiC particle. In the case of high velocity impact of SiC particle, radial cracks were produced due to the inelastic deformation at the impact site. In the case of the larger particle impact, the damage morphology developed was similar to the case of smaller particle one, but a percussion cone was farmed from the back surface of specimen when the impact velocity exceeded a critical value. The zenithal angle of cone cracks developed into SiC material decreased monotonically with increasing of the particle impact velocity. The size and material of particle influenced more or less on the extent of cone crack shape. An empirical equation, $\theta$= $\theta$$\sub$st/, v$\sub$p/(90-$\theta$$\sub$st/)/500 R$\^$0.3/($\rho$$_1$/$\rho$$_2$)$\^$$\frac{1}{2}$/, was obtained as a function of impact velocity of the particle, based on the quasi-static zenithal angle of cone crack. It is expected that the empirical equation will be helpful to the computational simulation of residual strength in ceramic components damaged by the particle impact.

• Tribology and Lubricants
• /
• v.23 no.6
• /
• pp.301-305
• /
• 2007

The wear particle analysis has been known as very effective method to foreknow and decide a moving situation and a damage of machine parts by using the digital computer image processing. But it was not laid down and trusted to calculate shape parameters of wear particle and wear volume. In order to apply image processing method in the foreknowledge and decision of lubricated condition, it needs to verify the reliability of the calculated data by the image processing and to lay down the number of images and the amount of wear particle in one image. In this study, the lubricated friction experiment was carried out in order to establish the optimum image capture with the SM45C specimen under experiment condition. The wear particle data were calculated differently according to the number of image and the amount of wear particle in one image.

• Proceedings of the KSME Conference
• /
• 2008.11b
• /
• pp.2106-2109
• /
• 2008

Nanofluids have been studied as possible alternatives for heat transfer fluids to improve the efficiency of heat exchangers. There are deviations of measured effective thermal conductivities between research-groups, and the mechanisms of the effective thermal conductivity enhancement of nanofluids are not confirmed yet. In this study, the effects of particle shape on the effective thermal conductivity enhancement are discussed and presented as a possible explanation of the deviations. The particle motion effect is found to be negligible for nanofluids of high aspect ratio cylindrical particles, which is believed to be important for nanofluids of spherical particles, while the percolation network formation and contact resistance play dominant roles in determining the effective thermal conductivity.

• Journal of Industrial Technology
• /
• v.21 no.B
• /
• pp.141-147
• /
• 2001

For the preparation of calcium carbonate particles from aqueous $Ca(OH)_2$ slurry, carbonation reaction of aqueous $Ca(OH)_2$ slurry was carried out by batch method the $CO_2$ into reactor filled with aqueous slurry of $Ca(OH)_2$. The concentration of $Ca(OH)_2$ varies from 1.00 to 7.00wt%, reactor temperature at 20 and $40^{\circ}C$, and reactor pressure from atmospheric pressure to $6.0kg_f/cm^2$. Crystal structure of calcium carbonate was of calcite, the particle size were about $0.05{\sim}2.0{\mu}m$, and the particle shape was cubic and spindle. When reactor temperature was higher, particle size of calcium carbonate was bigger and particle shape was varied, but reaction rate was increased. When reactor pressure was higher, particle size of calcium carbonate was smaller, particle shape was cubic, and reaction rate was increased.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.8 no.5
• /
• pp.42-46
• /
• 1999

The strengthening of a metal matrix composite(MMC) by the shape memory effect(SME) of dispersed TiNi particles was theoretically studied. An analytical model was constructed for the prediction of the average residual stress(<$\delta$>m) on the base of the Eshelby's equivalent inclusion method. The analysis was performed on the TiNi particle/Al metal matrix composites with varying volume fractions and prestrains of the particle. The residual stress caused by the shape memory of predeformed fillers has been predicted to contribute significantly to the strengthening of this composite.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 1999.05a
• /
• pp.147-152
• /
• 1999

The strengthening of a metal matrix composite(MMC) by the shape memory effect(SME) of dispersed TiNi particles was theoretically studied. An analytical model was constructed for the prediction of the average residual stress(<$\sigma$>/sub/m) on the base of the Eshelby's equivalent inclusion method. The analysis was performed on the TiNi particle/Al metal matrix composites with varying volume fractions and prestrains of the particle. The residual stress caused by the shape memory of predeformed fillers has been predicted to contribute significantly to the strengthening of this composite.