• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.6 no.2
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• pp.10-18
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• 1997

This paper presents the development of real-time estimation and control details for a computer vision-based robot control method. This is accomplished using a sequential estimation scheme that permits placement of these points in each of the two-dimensional image planes of monitoring cameras. Estimation model is developed based on a model that generalizes know 4-axis Scorbot manipulator kinematics to accommodate unknown relative camera position and orientation, etc. This model uses six uncertainty-of-view parameters estimated by the iteration method. The method is tested experimentally in two ways : First the validity of estimation model is tested by using the self-built test model. Second, the practicality of the presented control method is verified in performing 4-axis manipulator's assembly task. These results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as deburring and welding.

• Proceedings of the KIEE Conference
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• 1987.11a
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• pp.425-429
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• 1987

This paper describes a collision avoidance method for planning safe trajectories for multi-robot system in common work space. Usually objects have been approximated to convex polyhedra in most previous researches, but in case using such the approximation method it is difficult to represent objects analytically in terms of functions and also to describe tile relationship between the objects. In this paper, in order to solve such problems a modeling method which approximates objects to cylinder ended by hemispheres and or sphere is used and the maximum distance functions is defined which call be calculated simply. Using an objective function with inequality constraints which are related to minimum distance functions, work range and maximum allowable angular velocities of the robots, tile collision avoidance for two robots is formulated to a constrained function optimization problem. With a view to solve tile problem a penalty function having simple form is defined and used. A simple numerical example involving two PUMA-type robots is described.

• Communications for Statistical Applications and Methods
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• v.15 no.2
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• pp.273-282
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• 2008

An essential aspect of music is structure. Beran (2004) introduced a method of comparing piano plays via circular statistics based on the fact that there is circular structure in music. We expand the application of this method to a pair of two pop songs and discuss the possibility of applying it to detecting musical plagiarism. Circular statistics provides an objective view point comparing the musical works.

• Journal of applied mathematics & informatics
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• v.4 no.2
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• pp.433-446
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• 1997

In this paper we study an existence and the approxi-mation of the solution of the solution of the elliptic variational inequality from an abstract axiomatic point of view. We discuss convergence results and give an error estimate for the difference of the two solutions in an appropriate norm Also we present some computational results by using fixed point method.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.773-778
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• 1991

In this paper we describe a road following method for an autonomous vehicle. From a road image in gray level, a road boundary is detected using a gradient operator, and then the road boundary is converted to orthogonal view of the road showing the vehicle position and heading direction. In this research an efficient road boundary search technique is developed to support real time vehicle control. Also, an obstacle detection method, using images taken from two different positions, has been developed.

• Transactions of Materials Processing
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• v.11 no.7
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• pp.614-619
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• 2002

For an accurate measurement of the material behavior of small structures, a new optical experimental technique is proposed to measure the deformation. The test method uses the dual microscope that can measure the relative deformation of two adjacent regions. The magnified view is captured by CCD cameras and the relative deformation can be measured by the pattern matching and tracing method. Using this experimental technique, the deformation of solder joints in electronic packaging and the strain of the nickel thin film are measured.

• Journal of the Korean Geophysical Society
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• v.6 no.2
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• pp.57-69
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• 2003

In this paper the theoretical method to analyse the pore water pressures in the bed under the oscillating water pressure is developed. In the former researches the validity of the theoretical treatment for the one-dimensional problem has been verified. However, the one-dimensional treatment is not sufficient to obtain the precise information concerning the many practical problems. From this point of view, in this study, we derive the fundamental equations for the general three-dimensional sand layer under the oscillating water pressure. The validity of this theoretical method is verified by experiments for the two-dimensional problems.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.14 no.24
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• pp.163-168
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• 1991

In the FMS design, the important points are the selection of parts and the determination of configuration. The common approach method which solve the selection of parts are the determination of configuration has improved that the two points are simultaneously. This study finds the best method which parts combination and configuration are satisfied at the same time. And the optimal replace time of equipment under limited budget on the view Point of engineering. economy.

• Journal of the Korean Institute of Navigation
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• v.12 no.3
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• pp.23-37
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• 1988

This paper deals with the method of determining the drag of hull surface which has any quality of roughness. The method consists mainly of the theoretical point of view, then the theory enables the drag coefficient to be calculated at full scale. The hydrodynamical roughness function of hull surface ${\triangle}U_+$, affected by the hull roughness are considered as to two cases, smooth surface and rough surface case separately. The inadequacy of a single parameter to define hull roughness is discussed and thus an as additional texture parameter is proposed.

• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.2
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• pp.169-176
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• 2012

GPS(Global Positioning System) is widely used for the position estimation of an aerial vehicle. However, GPS may not be available due to hostile jamming or strategic reasons. A vision-based position estimation method can be effective if GPS does not work properly. In mountainous areas without any man-made landmark, a horizon is a good feature for estimating the position of an aerial vehicle. In this paper, we present a new method to estimate the position of the aerial vehicle equipped with a forward-looking infrared camera. It is assumed that INS(Inertial Navigation System) provides the attitudes of an aerial vehicle and a camera. The horizon extracted from an infrared image is compared with horizon models generated from DEM(Digital Elevation Map). Because of a narrow field of view of the camera, two images with a different camera view are utilized to estimate a position. The algorithm is tested using real infrared images acquired on the ground. The experimental results show that the method can be used for estimating the position of an aerial vehicle.