• Journal of the Korea Institute of Military Science and Technology
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• v.21 no.4
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• pp.447-455
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• 2018

If a hidden enemy is shooting, there is a threat against soldiers in recent conflicts. This paper aims to improve the localization of a muzzle using microphone array. Gunshot noise can provide information about the location of muzzle with two signals, the muzzle blast from the gun barrel and the projectile sound from the bullet. Two signals arrive to the microphone array with different arrival time and angle. If the arrival angles of the two signals are estimated, distance between sniper location and the microphone array can be calculated by using geometric principles. This method was established in 2003 by Pare. But this method has a limitation that it cannot calculate the distance when the arrival angles of the two signals are same. Also it has an error when the angle difference of arrival is small. In order to overcome this limitation, a new method is proposed that uses the change of characteristic of the projectile sound with respect to vertical distance from the trajectory. The proposed method estimates the distance correctly when the arrival angle of two signals are same, and when the angle difference between two signals is increased, the estimation error increases with respect to the angle. Therefore these two methods can be selected according to the angle difference between two signals to estimate the distance of the muzzle. Below the threshold of the angle difference, the proposed method can be used to estimate distance with smaller error than the existing method. This was demonstrated by shooting tests using actual sniper rifles.

• KIPS Transactions on Software and Data Engineering
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• v.8 no.12
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• pp.473-482
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• 2019

There have already been studies analyzing the trajectories of objects from data streams of moving objects. Among those studies, there are also studies to discover groups of objects that move together, called companion groups. Most studies to discover companion groups use existing clustering techniques to find groups of objects close to each other. However, these clustering-based methods are often difficult to find the right companion groups because the number of clusters is unpredictable in advance or the shape or size of clusters is hard to control. In this study, we propose a new method that discovers companion groups based on the distance specified by the user. The proposed method does not apply the existing clustering techniques but periodically determines the groups of objects close to each other, by using a technique that efficiently finds the groups of objects that exist within the user-specified distance. Furthermore, unlike the existing methods that return only companion groups and their trajectories, the proposed method also returns their appearance and disappearance time. Through various experiments, we show that the proposed method can detect companion groups correctly and very efficiently.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.7 no.4
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• pp.115-120
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• 2008

The fatalities of pedestrian accounted for about 40.0% of all fatalities in Korea (2005 year). In pedestrian involved accident, the most important data to inspect accident is throw distance of pedestrian. The throw distance of pedestrian can be influenced by many variables, such as vehicular frontal shape, vehicular impact speed, the offset of impact point, the height of pedestrian, and road condition. The trajectory of pedestrian after collision can be influenced by vehicular frontal shape classified into sedan type, box type, SUV type and van type. Many studies have been done about pedestrian accident with passenger car model and bus model for simple factors. But the study of pedestrian accident by van type vehicle was much insufficient, and even that the influence of multiple factors such as the offset of impact point was neglected. In this paper, a series of pedestrian kinetic simulation were conducted to inspect relationship between throw distance and multiple factors with using PC-CRASH s/w, a kinetic analysis program for a traffic accident for van type. By based on the simulation results, multi-variate regression was conducted, and regression equation was presented.

• Korean Journal of Applied Biomechanics
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• v.22 no.1
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• pp.75-82
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• 2012

The purpose of this study was to suggest the proper shaft and head fitting methods of the golf club to increase the flight distance of the golf ball. Rotations per minute of the golf ball(RPM), ratio of Ball speed to club head speed(T-Ratio) and launch angle right after impact(LA), which are directly related to ball flight distance, were measured using Spectra with shutter speed of 1/1000sec at the constant head speed of 95mph which was controlled by robot golf swing machine. In order to investigate the effect of club shaft to the 3 selected variables, 10 shafts were used to make ten test clubs with one controlled club head which is the most commonly used by golf players. To measure the effect of the club head to the 3 selected variables, 6 golf club heads which are most commonly used by golfers were selected to make 6 test clubs with a controlled shaft which is one of the best known by players. The shafts and the heads were identified by statistical analysis to increase or decrease the RPM, T-ratio and LA. A proper fitting method of the selected shafts and the club head was suggested to increase the ball flight distance in golf.

• Journal of the Korean Society of Safety
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• v.26 no.5
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• pp.17-22
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• 2011

This study proposes feature extraction method of pattern recognition by evaluation of weld defects in weld zone of titanium. For this purpose, analysis objectives in this study are features of attractor quadrant and fractal dimension. Trajectory changes in the attractor indicated a substantial difference in fractal characteristics resulting from distance shifts such as porosity of weld zone. These differences in characteristics of weld defects enables the evaluation of unique characteristics of defects in the weld zone. In quantitative fractal feature extraction, feature values of 0.87 and 1.00 in the case of part of 0.5 skip distance and 0.72 and 0.93 in the case of part of 1.0 skip distance were proposed on the basis of fractal dimensions. Attractor quadrant point, feature values of 1.322 and 1.172 in the case of ${\phi}1{\times}3mm$ porosity and 2.264 and 307 in the case of ${\phi}3{\times}3mm$ porosity were proposed on the basis of distribution value. The Proposed feature extraction of pattern recognition in this study can be used for safety evaluation of weld zone in titanium.

• The KIPS Transactions:PartA
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• v.11A no.5
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• pp.383-390
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• 2004

This paper propose a method that controls facial expression of 3D avatar by having the user select a sequence of facial expressions in the space of facial expressions. And we setup its system. The space of expression is created from about 2400 frames consist of motion captured data of facial expressions. To represent the state of each expression, we use the distance matrix that represents the distances between pairs of feature points on the face. The set of distance matrices is used as the space of expressions. But this space is not such a space where one state can go to another state via the straight trajectory between them. We derive trajectories between two states from the captured set of expressions in an approximate manner. First, two states are regarded adjacent if the distance between their distance matrices is below a given threshold. Any two states are considered to have a trajectory between them If there is a sequence of adjacent states between them. It is assumed . that one states goes to another state via the shortest trajectory between them. The shortest trajectories are found by dynamic programming. The space of facial expressions, as the set of distance matrices, is multidimensional. Facial expression of 3D avatar Is controled in real time as the user navigates the space. To help this process, we visualized the space of expressions in 2D space by using the multidimensional scaling(MDS). To see how effective this system is, we had users control facial expressions of 3D avatar by using the system. As a result of that, users estimate that system is very useful to control facial expression of 3D avatar in real-time.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.5
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• pp.594-600
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• 2016

The present study numerically investigated the gas leakage characteristics in a simplified underground combined cycle power plant. The effect of obstacles near a crack location on the gas concentration in the confined space was analyzed by using the lower flammable limit (LFL) of methane gas. When the jet flow was close to the vertical walls, the longitudinal leakage distance increased by about 60% (when an obstacles was present) compared to the case without any obstacle, because these obstacles prevented transverse flows. In addition, when an air filter was installed near to the trajectory of the gas flow, the longitudinal leakage distance was similar to the distance between the crack and obstacle, whereas the transverse leakage distance increased up to 8 times compared to the case without any obstacle. As the jet flow impacts on the obstacle and changes its direction, the gas flows recirculate. Therefore, it is necessary to consider the effect of the structure and facility locations on the trajectory of the jet flow to propose an accident prevention system in confined spaces.

• The Journal of the Korea institute of electronic communication sciences
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• v.10 no.9
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• pp.1039-1048
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• 2015

In this paper, we propose an efficient stair locomotion method for a quadruped robot with mechanism of insectile legs using genetic algorithm(GA). In the proposed method, we first define the factors and the reachable region for the stair locomotion. In addition, we set the gene and the fitness function for GA and generate the gait trajectory by searching the landing position of a quadruped robot, which has the minimun distance of movement and the optimal energy stability margin(ESM). Finally, we verify the effectiveness and superiority of the proposed stair locomotion method through the computer simulations.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.9
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• pp.741-748
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• 2001

In this paper, we propose a method of tracking and capturing a moving object by a mobile robot. The position of the moving object is acquired from the relation through color-based image information from a 2-DOF active camera mounted on the mobile robot. The direction and rotational angular velocity of the moving object are estimated using a state estimator. A Kalman fiber is used as the state estimator for taking characteristics of robustness against noises and uncertainties included in the input data. After estimating the trajectory of the moving object, we decide on the optimal trajectory and plan the motion of the mobile robot to capture the target object within the shortest distance and time. The effectiveness of the proposed method is demonstrated by the simulations and experiments.

• Journal of Ocean Engineering and Technology
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• v.34 no.3
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• pp.180-193
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• 2020

In this study, the end-effector tracking performance of a manipulator installed on a remotely operated vehicle (ROV) for autonomous underwater intervention is verified. The underwater manipulator is an ARM 7E MINI model produced by the ECA group, which consists of six joints and one gripper. Of the six joints of the manipulator, two are revolute joints and the other four are prismatic joints. Velocity control is used to control the manipulator with forward and inverse kinematics. When the manipulator approaches a target object, it is difficult for the ROV to maintain its position and posture, owing to various disturbances, such as the variation in both the center of mass and the reaction force resulting from the manipulator motion. Therefore, it is necessary to compensate for the influences and ensure the relative distance to the object. Simulations and experiments are performed to track the trajectory of a virtual object, and the tracking performance is verified from the results.