• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.4
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• pp.173-180
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• 2006

A key component of autonomous navigation of intelligent home robot is localization and map building with recognized features from the environment. To validate this, accurate measurement of relative location between robot and features is essential. In this paper, we proposed relative localization algorithm based on 3D reconstruction of scale invariant features of two images which are captured from two parallel cameras. We captured two images from parallel cameras which are attached in front of robot and detect scale invariant features in each image using SIFT(scale invariant feature transform). Then, we performed matching for the two image's feature points and got the relative location using 3D reconstruction for the matched points. Stereo camera needs high precision of two camera's extrinsic and matching pixels in two camera image. Because we used two cameras which are different from stereo camera and scale invariant feature point and it's easy to setup the extrinsic parameter. Furthermore, 3D reconstruction does not need any other sensor. And the results can be simultaneously used by obstacle avoidance, map building and localization. We set 20cm the distance between two camera and capture the 3frames per second. The experimental results show :t6cm maximum error in the range of less than 2m and ${\pm}15cm$ maximum error in the range of between 2m and 4m.

• The Bulletin of The Korean Astronomical Society
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• v.38 no.2
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• pp.36-36
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• 2013

Globular clusters (GCs) are among the oldest stellar objects in the universe and provide valuable constraints on many aspects of galaxy evolution. GC systems typically exhibit bimodal color distributions the phenomenon of which has been a major topic in the area of GC research. GC color bimodality established a paradigm where scenarios to explain its origin require two GC groups with different formation origins. The GC division, asserted mainly by photometric color bimodality so far, has been viewed as the presence of two distinct metallicity subgroups within individual galaxies. In this study, we make use of spectroscopy of GC systems associated with two giant galaxies, M31 (the Andromeda) and M87 (NGC 4486), to investigate the GC bimodality and the underlying metallicity distributions. Recent spectroscopy on the globular cluster (GC) system of M31 with unprecedented precision witnessed a clear bimodality in absorption-line index distributions of old GCs. Given that spectroscopy is a more detailed probe into stellar population than photometry; the discovery of index bimodality may point to the very existence of dual GC populations. However, here we show that the observed spectroscopic dichotomy of M31 GCs emerges due to the nonlinear nature of metallicity-to-index conversion and thus one does not necessarily have to invoke two separate GC subsystems. We present spectra of 130 old globular clusters (GCs) associated with the Virgo giant elliptical galaxy M87, obtained using the Multi-Object Spectrography (MOS) mode of Faint Object Camera and Spectrograph (FOCAS) on the Subaru telescope. M87 GCs with reliable metallicity measurements exhibit significant inflection along the color-metallicity relations, through which observed color bimodality is reproduced from a broad, unimodal metallicity distribution. Our findings lend further support to this new interpretation of the GC color bimodality, which could change much of the current thought on the formation of GC systems and their host galaxies.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.1546-1551
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• 2004

The laser Doppler technique is well-established as a velocity measurement technique of high precision for flow velocity. Recently, the laser Doppler technique has also been used to measure acceleration of fluid particles. Acceleration is interesting from a fluid mechanics point of view, since the Navier Stokes equations, specifically the left-hand-side, are formulated in terms of fluid acceleration. Further, there are several avenues to estimating the dissipation rate using the acceleration. However such measurements place additional demands on the design of the optical system; in particular fringe non-uniformity must be held below about 0.0001 to avoid systematic errors. Relations expressing fringe divergence as a function of the optical parameters of the system have been given in the literature; however, direct use of these formulae to minimize fringe divergence lead either to very large measurement volumes or to extremely high intersection angles. This dilemma can be resolved by using an off-axis receiving arrangement, in which the measurement volume is truncated by a pinhole in front of the detection plane. In the present study an optical design study is performed for optimizing laser Doppler systems for fluid acceleration measurements. This is followed by laboratory validation using a round free jet and a stagnation flow, two flows in which either fluid acceleration has been previously measured or in which the acceleration is known analytically. A 90 degree off-axis receiving angle is used with a pinhole or a slit.

• Journal of Korea Society of Industrial Information Systems
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• v.4 no.4
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• pp.7-14
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• 1999

The measuring systems of auto-parts are most of greater part very expensive. This paper tries to study to make a low-cost measuring equipment there's several kinds of parts in automobile. In this study, we take aircon-switch called magnet coil-housing as the object of measurements. The measurements of this product is currently in difficult situations at factory. In the case of the mesuring objects being big sizes and camera sensor having under 410000 pixels, the key point is the number of pixels not to be changed whenever the same object is measured under the same position. We modified and used fuzzy c-means algorithm to get mostly without the change of the numbers of pixels exactly. Also, the standardized ruler is necessary to measure the length of the object but it is not easy to get the precised ruler. Therefore, the standard length has been taken as the mean value of the pixels in the previous passed objects manually obtained at factory. The results are displayed on monitor and transferred these signals to the microprocessor through RSC-232 port to determine a good or bad of products.

• Proceedings of the Korea Society for Industrial Systems Conference
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• 1999.12a
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• pp.315-323
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• 1999

The measuring systems of auto-parts are most of greater part very expensive. This paper tries to study to make a low-cost measuring equipment. There's several kinds of parts in automobile. In this study, we take aircon-switch called magnet coil-housing as the object of measurements. The measurements of this product is currently in difficult situations at factory. In the case of the mesuring objects being big sizes and camera sensor having under 410000 pixels, the key point is the number of pixels not to be changed whenever the same object is measured under the same position. We modified and used fuzzy c-means algorithm to get mostly without the change of the numbers of pixels exactly. Also, the standardized ruler is necessary to measure the length of the object but it is not easy to get the precised ruler. Therefore, the standard length has been taken as the mean value of the pixels in the previous passed objects manually obtained at factory. The results are displayed on monitor and transferred these signals to the microprocessor through RSC-232 port to determine a good or bad of products.

• Journal of Society of Preventive Korean Medicine
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• v.6 no.1
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• pp.117-128
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• 2002

Metal problems in herbal medicine are not regulate properly by law and public management around world country until this time. General people belief as safety about herbal since natural material. And almost all persons can also purchase by their-self and use by self-prescription in reality. As this result herbal medicines can always occur acute and chronic toxicity by not proper use problems, side-effect and overdose. Heavy metal toxic diseases in historical view point was big accidents that didnot forget including minamata and itai-itai in Japan. These accident's teach to us must not use toxic metal level and not include or at least Pb Hg As Cd in all kind material use and intake by people, especially herbal. Herbal contamination research is beginner state that had not many papers until nowadays. Even if this pan had some papers, it had negative result and bigger and larger than problems level because of one way research trend of not many sample case-report and screening test of dried herbal form in chiefly. Many persons have afraid and risk thinking about herbal, animal and minerals since these cause. Further research related this subject will be needed at fact of epidemiology including case-control and cohort study for more precision research affecting in short and long term intake of oriental medicines

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.5
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• pp.2481-2486
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• 2013

It requires a lot of time and effort for general users who do not have enough understanding of GPS to properly processing GPS data. However, the GPS data processing field heavily relies on foreign-produced software and there is almost no development of user-oriented technology. Therefore, in this study, it was attempted to build an expert service that enables non-experts to use high-precision GPS data processing. As a result, an expert service that can maximize user convenience simply by entering the minimum required information for GPS data processing was developed, and the expert service was verified by relative positioning processing of the observation data of satellite control point provided by National Geographic Information Institute and observation data obtained by GPS survey. The expert service significantly reduces the effort and time for processing GPS data, which will contribute to precise positioning and other various studies.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.17 no.6
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• pp.130-137
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• 2003

Because of falling-off in power quality by harmonics, obstacles like lowering of capability, noise, vibration of power facilities and so on are occurred. Also generation of harmonics is inevitable and the point at harmonics is seriously gathering strength because energy saving installation using semiconductor circuit as countermeasures to enhance energy efficiency will be broadly spread and the use of energy conversion equipment like motor speed control contrivance, energy keeping installation and so on will increase, in the future. In order to eliminate harmonics obstacle, precision measurement and analysis on voltage, current, power factor, the each ingredient of harmonic order, the percentage of total harmonic distortion, and so forth are needed. In this paper, we developed low-cost measurement system to measure and analyze power quality connected with harmonics and verified it's performance by measuring and analyzing power quality in the three-phase and four-wire system.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.30 no.3C
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• pp.92-101
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• 2005

It is difficult to detect the accurate detection which leads the camera it moves follows in change of the noise or illumination and Also, it could be recognized with backgound if the object doesn't move during hours. In this paper, the proposed method is updating changed background image as much as N＊M pixel mask as time goes on after get a difference between imput image and first background image. And checking image pixel can efficiently detect moving by computing fixed distance pixel instead of operate all pixel. Also, set up minimum area of object to use boundary point of object abstracted through checking image pixel and motion detect of object. Therefore motion detection is available as is fast and correct without doing checking image pixel every Dame. From experiment, the designed and implemented system showed high precision ratio in performance assessment more than 90 percents.

• Journal of Electrical Engineering and Technology
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• v.10 no.4
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• pp.1540-1551
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• 2015

The detection of position and speed in BLDC motors without using position sensors has meant many efforts for the last decades. The aim of this paper is to develop a sensorless technique for detecting the position and speed of BLDC motors, and to overcome the drawbacks of position sensor-based methods by improving the performance of traditional approaches oriented to motor phase voltage sensing. The position and speed information is obtained by computing the derivative of the terminal phase voltages regarding to a virtual neutral point. For starting-up the motor and implementing the algorithms of the detection technique, a FPGA board with a real-time processor is used. Also, a versatile hardware has been developed for driving BLDC motors through pulse width modulation (PWM) signals. Delta and wye winding motors have been considered for evaluating the performance of the designed hardware and software, and tests with and without load are performed. Experimental results for validating the detection technique were attained in the range 5-1500 rpm and 5-150 rpm under no-load and full-load conditions, respectively. Specifically, speed and position square errors lower than 3 rpm and between 10º-30º were obtained without load. In addition, the speed and position errors after full-load tests were around 1 rpm and between 10º-15º, respectively. These results provide the evidence that the developed technique allows to detect the position and speed of BLDC motors with low accuracy errors at starting-up and over a wide speed range, and reduce the influence of noise in position sensing, which suggest that it can be satisfactorily used as a reliable alternative to position sensors in precision applications.