• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.4
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• pp.575-582
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• 2013

This paper proposes a map building using the ICP algorithm based robot localization prediction. Proposed method predicts a robot location to dead reckoning, makes a map in the ICP algorithm. Existing method makes a map building and robot position using a sensor value of reference data and current data. In this case, a large interval of the difference of the reference data and the current data is difficult to compensate. The proposed method can map correction through practical experiments.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.1
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• pp.104-111
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• 1992

In this study, the heat transfer characteristics of the evaporative transpiration cooled system is analytically investigated considering the occurrence of the two-phase evaporation zone. Under the condition of the external heat input, analytical solutions of the three regions (i.e., vapor, liquid and two-phase evaporation zone) are respectively obtained using the matching conditions for the steady-state problem where properties are constant. As results, the length of the evaporation zone increases with increasing heat input and with decreasing mass flow rate. It also increases with increasing particle size, system porosity, thermal conductivity of material, inlet temperature and latent heat of coolant. The position of the lower interface of the evaporation zone have a lot of efforts on the evaporation zone length, the position of the upper interface penetrates deeper into the porous layer with lower thermal conductivity of porous material, higher system porosity and larger particle size.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.9
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• pp.1671-1678
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• 2006

A real time system realization for binocular eyeball tracking mouse on the computer monitor being far from 30-40cm is presented in the paper. The processing for searching eyeball and tracking the cursor are that a facial image is acquired by the small CCD camera, convert it into binary image, search for the eye two using the five region mask method in the eye surroundings and the side four points diagonal positioning method is searched the each iris. The tracking cursor is matched by measuring the iris central moving position. The cursor controlling is achieved by comparing two related distances between the iris maximum moving and the cursor moving to calculate the moving distance from gazing position and screen. The experimental results show that the binocular eyeball mouse system is simple and fast to be real time.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2000.05a
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• pp.356-359
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• 2000

In this paper, we propose a model based moving object tracking algorithm in dynamic scene. To adapt the shape change of the moving object, the Hausdorff distance is applied as the measurement of similarity between model and image. To reduce the processing time, 2-D logarithmic search method is applied for locate the position of moving object. Experiments on a running motorcycle, the result showed that the mean square error of real position and tracking result is 1.845 and consequently, matching process is relatively simple and reduced.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.10
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• pp.1551-1560
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• 1997

This study is devoted to the detection of the 3-dimensional point obstacles on the plane by using accumulated scan line images. The proposed accumulating only one scan line allow to process image at real time. And the change of motion of the feature in image is small because of the short time between image frames, so it does not take much time to track features. To obtain recursive optimal obstacles position and robot motion along to the motion of camera, Kalman filter algorithm is used. After using Kalman filter in case of the fixed environment, 3-dimensional obstacles point map is obtained. The position and motion of moving obstacles can also be obtained by pre-segmentation. Finally, to solve the stereo ambiguity problem from multiple matches, the camera motion is actively used to discard mis-matched features. To get relative distance of obstacles from camera, parallel stereo camera setup is used. In order to evaluate the proposed algorithm, experiments are carried out by a small test vehicle.

• The Bulletin of The Korean Astronomical Society
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• v.43 no.1
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• pp.54.4-55
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• 2018

Propagating speeds of coronal mass ejections (CMEs) have been calculated by several geometrical models based on multi-view observations (STEREO/SECCHI and SOHO/LASCO). But in 2015, we were unable to obtain radial velocity of a CME because the STEREO satellites were located near the backside of the sun. As an alternative to resolve this problem, we propose a method to combine a coronal shock front, which appears on the outermost of the CME, and an EUV-wave that occurs on the solar disk. According to recent studies, EUV-wave occurs as a footprint of the coronal shockwave on the lower solar atmosphere. In this study, the shock, observed as a bubble shape, is assumed as a perfect sphere. This assumption makes it possible to determine the height of a coronal shock, by matching the position of an EUV-wave on the solar disk and a coronal shock front in coronagraph. The radial velocity of Halo-CME is calculated from the rate of coronal shock position shift. For an event happened on 2011 February 15, the calculated speed in this method is a little slower than the real velocity but faster than the apparent one. And these results and the efficiency of this approach are discussed.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.8
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• pp.603-609
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• 2016

This paper presents an optimally designed master device mechanism for teleoperated interventional robotic system. The interventional procedures using the teleoperated robotic system and the physicians' requirements are summarized. The master device should implement 5-DOF motion including 2-DOF translational motion for the entry position control, 2-DOF rotational motion for the orientation control, and 1- DOF translational motion for needle insertion. The handle assembly includes a 1-DOF translational mechanism for needle insertion and buttons for operation mode selection. The mechanisms for the 2-DOF translational motion and the 2-DOF rotational motion are designed using motors and brakes based on the various mechanisms to satisfy all the above requirements, respectively. Absolute position sensors are adopted to implement automatic initial positioning and orientation matching at the first step of needle insertion.

• Journal of Power System Engineering
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• v.17 no.5
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• pp.121-127
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• 2013

In this paper, we propose a distance measurement system for automatic berthing control using a stereo camera mounted on a rotation control device, and a radial pattern target. Automatically controlling the position and attitude of a ship aims to prevent maritime accidents due to human error. Our goal is to measure the relative distance between a ship and an onshore or offshore target for berthing. Therefore, the distance should be continuously measured while tracking a fixed point on a target. To this end, we developed a stereo camerabased distance measurement system that satisfied these requirements. This paper describes the structure and principle of the measurement system. We validate the distance error for target incline due to the relative position and attitude between a camera and a target in miniature scale. In addition, the findings of an experiment in an outdoor environment demonstrate that the proposed measurement system has accuracy within 1 m at a range of 20-100 m which is the acceptable accuracy for automatic berthing.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.37 no.3
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• pp.79-87
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• 2000

In this paper, we propose a model based moving object tracking algorithm In dynamic scenes To adapt shape change of the moving object, the Hausdorff distance is applied as the measurement of similarity between model and image To reduce processing time, 2D logarithmic search method is applied for locate the position of moving object Experiments on a running vehicle and motorcycle, the result showed that the mean square error of real position and tracking result is 1150 and 1845; matching times are reduced average 1125times and 523 times than existing algorithm for vehicle image and motorcycle image, respectively It showed that the proposed algorithm could track the moving object accurately.

• Korean Journal of Optics and Photonics
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• v.16 no.4
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• pp.319-325
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• 2005

A signal processing method for white light interferometry (WLI), which performs a series of analog signal processing steps to locate the central interference fringe position at high speed: is developed and applied to a WLI temperature sensor system. We found that the new method has random walk of $0.019^{\circ}C/\sqrt{Hz}$ with good linearity. However, the temperature change in the path-matching interferometer results in drift of the measured sensor output. The temperature dependence of drift in the WLI temperature sensor system, was calculated to be $1.42{\mu}m/^{\circ}C$. It is also found that the relationship between the peak spacing in the interferogram and the spacing measured by the method can be nonlinear when the fringe spacing is comparable to the coherence length of the source.