• Journal of the Korean Society for Precision Engineering
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• v.15 no.1
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• pp.26-34
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• 1998

In this paper, a force control algorithm for edge following task is suggested. Through the contact state modeling between rigid part and end-effector of robot, contact force and contact angle that are essencial parameters to build the control strategies for following movement of end-effector are derived. From these two parameters, we discriminate the every contact state into 8 cases and calculate the new moving position and direction simply. For the experiment. RX90 robot from Staubli with robot language V$^{+}$ is applied and F/T sensor is attached to the wrist of robot with RCC. Finally, 3 edge following experiments including the following of corner point are executed with successful results.s.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.13 no.2
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• pp.133-139
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• 2013

This paper proposes a vision-based indoor localization method for autonomous vehicles. A single upward-facing digital camera was mounted on an autonomous vehicle and used as a vision sensor to identify artificial landmarks and any natural corner features. An interest point detector was used to find the natural features. Using an optical flow detection algorithm, information related to the direction and vehicle translation was defined. This information was used to track the vehicle movements. Random noise related to uneven light disrupted the calculation of the vehicle translation. Thus, to estimate the vehicle translation, a Kalman filter was used to calculate the vehicle position. These algorithms were tested on a vehicle in a real environment. The image processing method could recognize the landmarks precisely, while the Kalman filter algorithm could estimate the vehicle's position accurately. The experimental results confirmed that the proposed approaches can be implemented in practical situations.

• Proceedings of the KIEE Conference
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• 1998.07e
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• pp.1578-1582
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• 1998

The ground potential rise generated by the switching surge or lightning stroke may be dangerous to personnel and cause damage to electronic control parts. For a first step to the transient performance analysis. high frequency impedances of grounding grids have been calculated and discussed. Grounding grids include 7 square grids from $10m{\times}10m$ to $80m{\times}80m$. The high frequency current was injected into the center and a corner of the grounding grid. The calculation results indicate that the impedance of the grounding grid is significantly influenced by frequency and the point of injection of the current. and the effective radius of a large grounding grid may be represented in $15{\sim}20m$.

• Journal of KIISE:Software and Applications
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• v.26 no.1
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• pp.150-150
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• 1999

In this paper, a content-based image retrieval scheme based on scale-space theory is proposed. The existing methods using scale-space theory consider all scales for image retrieval,thereby requiring a lot of computation. To overcome this problem, the proposed algorithm utilizes amodified histogram intersection method to select candidate images from database. The relative scalebetween a query image and a candidate image is calculated by the ratio of histograms. Feature pointsare extracted from the candidates using a corner detection algorithm. The feature vector for eachfeature point is composed of RGB color components and differential invariants. For computing thesimilarity between a query image and a candidate image, the euclidean distance measure is used. Theproposed image retrieval method has been applied to various images and the performance improvementover the existing methods has been verified.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2016.11a
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• pp.165-168
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• 2016

카메라 캘리브레이션은 실제 세상인 3차원의 좌표와 카메라가 만든 영상의 2차원 좌표 사이에서 수학적 관계를 알기 위해서 필요하다. 보통 체커보드의 교점을 이용하여 2차원의 좌표를 정확하게 찾는데 사용하며, 이는 카메라 캘리브레이션 계산으로 응용된다. 따라서 체커보드의 교점을 정확하게 찾아야만 카메라 캘리브레이션이 정상적인 성능을 낼 수 있다. 현존하는 체커보드 검출 방법은 입력 인수를 많이 필요로 하거나 정확도가 낮아 체커보드의 교점을 정확히 입력하지 못하면 좋지 않은 결과가 나타난다. 따라서 체커보드를 자동으로 검출하여 카메라 캘리브레이션 하는 방법은 아직 신뢰도가 낮은 편이다. 본 논문에서는 보다 안정적인 카메라 캘리브레이션을 위해서 체커 보드의 검출 성능을 높이고자 한다. 주위 픽셀들간의 미분 값을 기준삼아 검출된 교점들을 이용하여 체크 모양의 직선을 추측한다. 이 직선을 이용하면 장애물이 있거나 노이즈가 있어서 검출하기 어려운 교점들이 있는 경우에도 교점 보간 (point interpolation) 방법을 사용하여 나머지 교점들을 찾을 수 있다. 보간 과정을 통해서 검출에 방해가 되는 요소들이 있는 상황에서 체커 보드 교점 검출의 성능을 높이도록 하였다.

• ETRI Journal
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• v.36 no.4
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• pp.625-634
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• 2014

This paper studies a dual-hop multiple-access relay network where two independent source nodes transmit information to a common destination node with the aid of multiple single-antenna amplify-and-forward relays. Each relay node is subject to an individual power constraint. We focus on the design of distributed beamforming schemes for the relays to support the transmission rate requirements of the two sources. To this end, we first characterize the achievable rate region for this network via solving a sequence of corner point optimization problems proposed in this paper. We also develop several low-complexity suboptimal schemes in closed form. Two inner bounds of the achievable rate region are theoretically shown to be approximately optimal in two special scenarios. Finally, numerical results demonstrate the effectiveness of our proposed approaches.

• Journal of the Korea Institute of Military Science and Technology
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• v.17 no.4
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• pp.521-530
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• 2014

In this paper, the glint effect of maritime target to a radar system was analyzed by simulation and field test with a barge and corner reflectors. From the experiment, we proposed a glint measurement method of a real maritime target and it was indicated that the glint effect between the simulation results and real measurement is similar. Also it was founded that the glint effect is related to the relative amount of RCS(Radar Cross Section) difference among major scattering point and minor scattering points. Finally, the experiment showed the glint effects of the rotating barge with some different combinations of scattering points.

• Journal of the Korean Geosynthetics Society
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• v.22 no.2
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• pp.23-33
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• 2023

Currently, there are cases in Korea where economic damage has occurred due to the ambiguity instrument installation and operation standards in the construction of temporary earth retaining wall, failing to prevent collapse of temporary earth retaining wall at the construction site in advance. Therefore, in this study, a numerical analysis was conducted to find the appropriate installation location of the inclinometer and strain gauge among the installed instruments shown in the design drawing of the temporary earth retaining wall. As a results, It was found that the installation position of the underground inclinometer is the corner of the retaining wall in the case of plane-deformation analysis, and the most displacement occurs in the center of the excavation surface in the case of 3D analysis. When the stress and moment are comprehensively analyzed, the corner is judged to be a vulnerable point. In the case of the strain gauge, In plane-deformation analysis and 3D analysis, the maximum bending stress occurred at the wale connection where the end of the strut and the counter strut are in contact. At this point, it is analyzed that it is necessary to focus on installing and managing the connection to prevent accidents from being vulnerable.

• Journal of KIISE
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• v.44 no.11
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• pp.1194-1208
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• 2017

A traditional average smoothing method is designed for smoothing out noise, which, however, unintentionally results in smooth corner points on the curvature accompanied with a shrinkage of curves. In this paper, we propose a novel curve smoothing method via polygonal approximation of the input curve. The proposed method determines the smoothing weight for each point of the input curve based on the angle and approximation error between the approximated polygon and the input curve. The weight constrains a displacement of the point after smoothing not to significantly exceed the average noise error of the region. In the experiment, we observed that the resulting smoothed curve is close to the original curve since the point moves toward the average position of the noise after smoothing. As an application to digital cartography, for the same amount of smoothing, the proposed method yields a less area reduction even on small curve segments than the existing smoothing methods.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.34 no.5
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• pp.479-493
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• 2016

LiDAR(Light Detection and Ranging) data acquired from ALS(Airborne Laser Scanner) has been intensively utilized to reconstruct object models. Especially, researches for 3D modeling from LiDAR data have been performed to establish high quality spatial information such as precise 3D city models and true orthoimages efficiently. To reconstruct object models from irregularly distributed LiDAR point clouds, sensor calibration, noise removal, filtering to separate objects from ground surfaces are required as pre-processing. Classification and segmentation based on geometric homogeneity of the features, grouping and representation of the segmented surfaces, topological analysis of the surface patches for modeling, and accuracy assessment are accompanied by modeling procedure. While many modeling methods are based on the segmentation process, this paper proposed to extract key points directly for building modeling without segmentation. The method was applied to simulated and real data sets with various roof shapes. The results demonstrate feasibility of the proposed method through the accuracy analysis.