• Journal of the Korean Society for Nondestructive Testing
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• v.22 no.5
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• pp.523-531
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• 2002

This study is concentrated on the development of high speed multi-object image processing algorithm in real time. Recently, the use of vision system is rapidly increasing in inspection and robot's position control. To apply the vision system, it is necessary to transform the physical coordinate of object into the image information acquired by CCD camera. Thus, to use the application of the vision system to the inspection and robot's position control in real time, we have to know the position of object in the image plane. Particularly, in case of rigid body using multi-cue to identify its shape, the each position of multi-cue must be calculated in an image plane at the same time. To solve these problems, the image processing algorithm on the position of multi-cue is developed.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.31 no.3
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• pp.183-192
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• 2013

As a worldwide trend, the spatial information that is established by country, institution and purpose is integrated into the data with a single spatial reference to improve the data connectivity and usability. In this study, a new national single origin plane rectangular coordinate system was studied to efficiently respond to the changes in the spatial reference according to the introduction of a new national geodetic standard and to the demand of seamless data service in the spatial information sector. For this purpose, the Korean Peninsula was set as the projection region and the projection distortion in the projection region was analyzed. The projection parameters were defined to homogenize and minimize the projection distortion, and their standardization and registration on the international organizations were conducted. The study on the required optimal projection equation resulted in the Hooijberg projection equation and projection parameters (${\Phi}$, ${\lambda}$, K, N, E) resulted in $38^{\circ}N$ and $128^{\circ}E$ projection origin, and a scale factor of 0.99924. The proper false northing and easting were 700,000m N and 400,000m E, respectively, considering the introduction of country station index system.

• Journal of the Korean GEO-environmental Society
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• v.16 no.3
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• pp.41-48
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• 2015

Several sensor systems are used to estimate and predict the slope behaviors, however though slope sensing systems are much up-to-dated compared to before, they are mainly focused on the hardware developing. It means the analyzing software is deficient to apply the examining slope behavior for slope stability. In real case, slope behavior shows the 3-dimensional movement and failure; however the modeling methods for 3-D behavior are more difficult and need more variables. 1-D analysis shows only the length variation, however the real slope makes the 3-D behaviors. To fix the 3-D space coordinate, three values should be determined such as length, horizontal angle and vertical angle. Therefore if the 3-D coordinate system were composed by the points considered of two directions and length, the 3-D space could be separated into horizontal plane and vertical plane. The data from DY-slope in Chungbuk province was analyzed to the developed 3-D coordinate system. It is concluded from the results of 3-D analysis, the slope is generally moving to transverse direction, also the displacements are happening to road and vertical direction at the same time. Presently, the accumulated displacement between sensing points shows small value within 4.3 cm, and the displacements of all sensing points show the similar directions and magnitudes.

• Journal of Navigation and Port Research
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• v.27 no.1
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• pp.41-48
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• 2003

The most great GPS is working on CNS(Car navigation System) and Personal terminal, but ocean has not been. First studied GPS is sailing to ship but We have been connivance that The ship is not need detail navigation. Lately, harbor facilities and transportation service in harbors are complication. We have need accurate ship navigation system. In this paper, author developed algorithms of ellipsoid conversion between WGS84 and BESSEL and develope algorithms of map projection between ellipsoid coordinate system, and plane cartesian system. Author used 3-parameter in covering ellipsoids and used TM and UTM projection in converting between ellipsoid and plane cartesian coordinate. And author analyzed errors through static surveying and dynamic surveying of GPS for proving accuracy of GPS sensor, Furthermore author analyzed deflection error of received position. Finally author developed real time ship navigation system using cheep GPS sensor.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.7
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• pp.650-657
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• 2012

An effective dual-mode camera system(a passive wide-angle camera and a pan-tilt-zoom camera) is proposed in order to improve the performance of visual surveillance. The fixed wide-angle camera is used to monitor large open areas, but the moving objects on the images are too small to view in detail. And, the PTZ camera is capable of increasing the monitoring area and enhancing the image quality by tracking and zooming in on a specific moving target. However, its FOV (Field of View) is limited when zooming in on a specific target. Therefore, the cooperation of wide-angle and PTZ cameras is complementary. In this paper, we propose an automatic initial set-up algorithm and coordinate transform method from the wide-angle camera coordinate to the PTZ one, which are necessary to achieve the cooperation. The automatic initial set-up algorithm is able to synchronize the views of two cameras. When a moving object appears on the image plane of a wide-angle camera after the initial set-up positioning, the obtained values of the wide-angle camera should be transformed to the PTZ values based on the coordinate transform method. We also develope the PTZ control method. Various in-door and out-door experiments show that the proposed dual-camera system is feasible for the effective visual surveillance.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.9
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• pp.759-765
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• 2016

This paper presents the principle, dynamics modeling and control, hardware implementation, and flight test result of a hybrid-type unmanned aerial vehicle (UAV). The proposed UAV was designed to provide both hovering and fixed-wing type aerodynamic flight modes. The UAV's flight mode transition was achieved through the attitude transformation in pitch axis, which avoids a complex rotor tilt mechanism from a structural and control viewpoint. To achieve this, a different navigation coordinate was introduced that avoids the gimbal lock in pitch singularity point. Attitude and guidance control algorithms were developed for the flight control system. For flight test purposes, a quadrotor attached with a tailless fixed-wing structure was manufactured. An onboard flight control computer was designed to realize the navigation and control algorithms and the UAV's performance was verified through the outdoor flight tests.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.7
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• pp.144-153
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• 1997

The inverse kinematics problem of a reclaimer which excavates and transports raw materials in a raw yard is investigated. Because of the geometric feature of the equipment in which scooping buckets are attached around the rotating disk, kinematic redundancy occurs in determining joint variable. Link coordinates are introduced following the Denavit-Hartenbery representation. For a given excavation point the forward kinematics yields 3 equations, however the number of involved joint variables in the equations is four. It is shown that the rotating disk at the end of the boom provides an extra passive degree of freedom. Two approaches are investigated in obtaining inverse kinematics solutions. The first method pre-assigns the height of excavation point which can be determined through path planning. A closed form solution is obtained for the first approach. The second method exploits the orthogonality between the normal vector at the excavation point and the z axis of the end-effector coordinate system. The geometry near the reclaiming point has been approximated as a plane, and the plane equation has been obtained by the least square method considering 8 adjacent points near the point. A closed form solution is not found for the second approach, however a linear approximate solution is provided.

• Structural Engineering and Mechanics
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• v.75 no.1
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• pp.109-122
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• 2020

An asymptotic local plane strain elasticity theory is reformulated for the static analysis of a simply-supported, multiple graphene sheet system (MGSS) in cylindrical bending and resting on an elastic medium. The dimension of the MGSS in the y direction is considered to be much greater than those in the x and z directions, such that all the field variables are considered to be independent of the y coordinate. Eringen's nonlocal constitutive relations are used to account for the small length scale effects in the formulation examining the static behavior of the MGSS. The interaction between the MGSS and its surrounding foundation is modelled as a Winkler foundation with the parameter k_w, and the interaction between adjacent graphene sheets (GSs) is considered using another Winkler model with the parameter c_w. A parametric study with regard to some effects on the static behavior of the MGSS resting on an elastic medium is undertaken, such as the aspect ratio, the number of the GSs, the stiffness of the medium between the adjacent layers and that of the surrounding medium of the MGSS, and the nonlocal parameter.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.10
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• pp.2617-2629
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• 1995

The flow through a centrifugal compressor rotor was calculated using the quasi-3-dimensional and fully 3-dimensional Navier-Stokes solution methods. The calculated results, obtained during the development of the computer codes for both methods are discussed. In the inviscid quasi 3-dimensional analysis, stream function formulation was used for the blade to blade (B-B) plane calculations, and the streamline curvature method was used for the meridional (H-S) plane calculations. In the viscous 3-dimensional flow analysis, a control volume method based on a general rotating curvilinear coordinate system was used to solve the time-averaged Navier-Stokes equations, and a standard k-.epsilon. model was used to obtain eddy viscosity. The quasi-3-dimensional analysis reasonably predicts the pressure distributions and requires much less computation time in the region where viscous effects are not strong; however, it fails to predict velocity field and loss mechanism through the impeller passage. The viscous 3-dimensional flow analysis shows reasonable pressure distributions and typical jet-wake flow field through the impeller passage. Secondary flow and total pressure distributions on cross-sectional planes explain the loss mechanisms through the impeller.

• Journal of Electrical Engineering and Technology
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• v.13 no.1
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• pp.438-444
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• 2018

Structured light vision system has been widely used in 3D surface profiling. Usually, it is composed of a camera and a laser which projects a line on the target. Calibration is necessary to acquire 3D information using structured light stripe vision system. Conventional calibration algorithms have found the pose of the camera and the equation of the stripe plane of the laser under the same coordinate system of the camera. Therefore, the 3D reconstruction is only possible under the camera frame. In most cases, this is sufficient to fulfill given tasks. However, they require multiple images which are acquired under different poses for calibration. In this paper, we propose a calibration algorithm that could work by using just one shot. Also, proposed algorithm could give 3D reconstruction under both the camera and laser frame. This would be done by using newly designed calibration structure which has multiple vertical planes on the ground plane. The ability to have 3D reconstruction under both the camera and laser frame would give more flexibility for its applications. Also, proposed algorithm gives an improvement in the accuracy of 3D reconstruction.