• Journal of the Institute of Electronics Engineers of Korea SP
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• v.39 no.1
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• pp.70-76
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• 2002

In this paper, we proposed a personal identification algorithm using the iris region which has discriminant features. First, we acquired the eye image with the black and white CCD camera and extracted the iris region by using a circular edge detector which minimizes the search space for real center and radius of the iris. And then, we localized the iris region into several circles and extracted the features by filtering signals on the perimeters of circles with one dimensional Gabor filter We identified a person by comparing ,correlation values of input signals with the registered signals. We also decided threshold value minimizing average error rate for FRR(Type I)error rate and FAR(Type II)error rate. Experimental results show that proposed algorithm has average error rate less than 5.2%.

• The Journal of Korea Robotics Society
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• v.16 no.3
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• pp.250-259
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• 2021

Path planning is one of the important technologies for automated parking. It requires to plan a collision-free path considering the vehicle's kinematic constraints such as minimum turning radius or steering velocity. In a complex parking lot, Rapidly-exploring Random Tree^* (RRT^*) can be used for planning a parking path, and Reeds-Shepp or Hybrid Curvature can be applied as a tree-extension method to consider the vehicle's constraints. In this case, each of these methods may affect the computation time of planning the parking path, path-tracking error, and parking success rate. Therefore, in this study, we conduct comparative analysis of two tree-extension functions: Reeds-Shepp (RS) and Hybrid Curvature (HC), and show that HC is a more appropriate tree-extension function for parking path planning. The differences between the two functions are introduced, and their performances are compared by applying them with RRT^*. They are tested at various parking scenarios in simulation, and their advantages and disadvantages are discussed by computation time, cross-track error while tracking the path, parking success rate, and alignment error at the target parking spot. These results show that HC generates the parking path that an autonomous vehicle can track without collisions and HC allows the vehicle to park with lower alignment error than those of RS.

• Journal of Korean Ophthalmic Optics Society
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• v.16 no.2
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• pp.187-193
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• 2011

Purpose: This study was to compare differences between both eyes in corneal powers, axial lengths, anterior chamber depths in anisometropia and isometropia, and to investigate the relationship between anisometropia and refractive components. Methods: The subject was a total of 83 patients, anisometropia 45 patients (90 eyes) and isometropia 38 patients (76 eyes) from 2.7 to 15.3 years old, prescribed eyeglasses and contact lenses by refraction from July 2010 to August 2010 in Gwangju City B eye clinic. Axial length, anterior chamber depth, corneal curvature, and corneal refractive power were measured using IOL Master. Refractive error was measured using an Auto-refractometer. Results: Anisometropia was a statistically significant difference in axial length, binocular refractive components, refractive error, and axial length, Axial length/corneal radius (AL/CR) ratio showed a statistically significant difference in anisometropia and isometropia. The major cause of anisometropia all 45 subjects was the axial length. Among the refractive components axial length, AL/CR had a strong correlation, but corneal refractive power had no correlation. Anterior chamber depth had a weak correlation. Conclusions: This study found that refractive error was the most axial ametropia caused by the axial length. The main cause of anisometropia was the axial length, but refractive components had a weak correlation.

• Korean Journal of Applied Biomechanics
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• v.19 no.4
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• pp.779-791
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• 2009

The purpose of this study is to develop a program that computes the position of the instantaneous center of rotation while an object moves in a circular motion. For this study, a mathematical algorithm was developed and implemented on the experimental data. Data for pitching (40m carry) and putting (4m) strokes were obtained from a skilled female golfer. A computer program (Centering 1.0) calculated the experimental data and found the radius of the instantaneous center of rotation. When the data were taken broadly, the program produced an error distance of radius. When the data were divided gradually, the program produced a very close instantaneous center of rotation. On comparing pitching and putting strokes, putting was found to have a greater radius than pitching. The instantaneous centers of rotation of putting were not in the golfer's body rather, they were 3m away from the club head. The Centering 1.0 program can calculate the instantaneous center of rotation with at least three sets of experimental data.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.10
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• pp.415-424
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• 2019

In this paper, a minimum rotation radius was designed and fabricated to overcome the threshold so that elderly or disabled people who have difficulty moving can move and transfer safely and conveniently in a narrow room. In the indoor environment, where the sedentary culture develops, this study aimed to provide convenience for passengers with fracture diseases, geriatric diseases, and other knee and waist diseases. First, links, seats, armrests, covers, motors, batteries, chargers, controllers, etc. were attached to the frame so that they could be moved and lifted indoors. The product design and structure were designed considering the user's environment and physical characteristics, and IoT functions were added. A driving experiment was performed to confirm the operating performance of the manufactured indoor moving and lifting wheelchair. The performance tests, such as continuous running time, turning radius, maximum actuator load, maximum lift height, sound pressure level, minimum sensing distance of the driving aid sensor, interworking of server and app programs, device compatibility, and duty cycle error rate, were performed. As a result of the test, the built-in wheelchair could achieve the performance test target of each item and operate successfully.

• Transactions of the Korean Society of Mechanical Engineers
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• v.11 no.1
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• pp.19-25
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• 1987

An optimal control procedure is presented for steering of an unmanned cart which has two motored wheels on its left and right side. Steering, running and stopping are enabled by controlling the motor speed independently. An optimal proportional-plus-integral control is employed to eliminate steady state error which is sustained by a simple proportional control for tracking a circular arc path. A simple and readily-implemented suboptimal control is also examined. The suboptimal control gives comparable performance and therefore provides an effective approach for industrial application of the unmanned cart. Effects of design parameters of unmanned cart such as forward velocity, wheel radius and position of sensor are investigated. It is shown that within the practicable values of the parameters the controlled performance improves rapidly with increase of those parameters then the improvement becomes negligible, which suggests base values over which the parameters should be taken.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.11
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• pp.221-227
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• 2002

Tapping is a machining process that makes a female screw on parts to be assembly together. Recently, as the number of small and compact products increases the radius of tap as small as 1 mm is not unusual and more accurate tapping is needed. In complying with those needs, some high-speed tapping machines with synchronizing function have been developed. This paper describes the development of an ultra high-speed tapping machine up to 10,000rpm. The key factors in the tapping speed are the acceleration/deceleration and the synchronizing errors between spindle motor and fred motor. To minimize the acceleration/deceleration time, a low inertia spindle with a synchronous built-in servo motor was developed. To minimize the synchronizing errors, the tapping cycle algorithm was optimized on an open architecture CNC. The developed tapping machine has the acceleration/deceleration time of 0.13sec/10,000rpm for rigid tapping and the synchronizing error below 4.4%. The cycle time for tapping a female screw of M3 and depth 2 times diameter was 0.55sec.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.1
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• pp.131-136
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• 2018

Reliable velocity estimation technology for trains is one of technologies used to operate trains safely and effectively. Various sensors such as tachometers, doppler radars, and global positioning systems are used to estimate velocity of a train. Tachometer is widely used to estimate velocity of a trains due to its simplicity, small volume, cost-effectiveness, continuously measurement at high speed, and robustness against noise. Accuracy in the velocity calculation using a tachometer depends on quantization error, measurement error of wheel radius or diameter, and tachometer's imperfection from manufacturing or installation process. In this paper, we present an accurate velocity estimation method using a low-resolution tachometer, which is commonly installed on a high-speed train. Baseline estimation method is proposed to accurately calculate the velocity of the high-speed train from tachometer's pulses. HEMU-430x test train is used for the experiment and verification of the proposed method. Experimental results with several routes show that the proposed method is more accurate than a conventional method.

• Aerospace Engineering and Technology
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• v.11 no.1
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• pp.158-168
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• 2012

This paper deals with TVC nozzle stroke verification test and corresponding analysis techniques related to kick motor TVC system of KSLV-I second stage. It is shown that the relationship between TVC stroke and potentiometer voltage is revealed via the open-loop stroke verification test, and other major operational parameters including nozzle alignment error, actuation error, neutral position, radius of nozzle rotation, location of nozzle rotation center, angle conversion coefficients, etc. are analyzed via the closed-loop stroke verification test. The TVC stroke verification test results for the first and second flight model of KSLV-I show that all TVC operational parameters of KSLV-I second stage were normally setup for the first and second flight tests.

• Transactions of the Society of Information Storage Systems
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• v.3 no.2
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• pp.94-112
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• 2007

Nano-sized inverted domain dots in ferroelectric materials have potential application in ultrahigh-density rewritable data storage systems. Herein, a data storage system is presented based on scanning non-linear dielectric microscopy and a thin film of ferroelectric single-crystal lithium tantalite. Through domain engineering, we succeeded to form an smallest artificial nano-domain single dot of 5.1 nm in diameter and artificial nano-domain dot-array with a memory density of 10.1 Tbit/$inch^2$ and a bit spacing of 8.0 nm, representing the highest memory density for rewritable data storage reported to date. Sub-nanosecond (500psec) domain switching speed also has been achieved. Next, long term retention characteristic of data with inverted domain dots is investigated by conducting heat treatment test. Obtained life time of inverted dot with the radius of 50nm was 16.9 years at $80^{\circ}C$. Finally, actual information storage with low bit error and high memory density was performed. A bit error ratio of less than $1\times10^{-4}$ was achieved at an areal density of 258 Gbit/inch2. Moreover, actual information storage is demonstrated at a density of 1 Tbit/$inch^2$.