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

• 한국전산유체공학회:학술대회논문집
• /
• 2005.04a
• /
• pp.159-168
• /
• 2005

Noise generated by the blunt trailing edge of lifting surfaces is investigated in this study using fluid structure interaction theory. First, through the eddy modeling, noise generation doe to the flow instability on the rigid trailing edge is surveyed. Then the behavior of elastic cantileverd beam is investigated. Parametric study based on various material properties is employed to analyze the motion of the beam. Moreover, each eigenmode approach of cantilevered beam is used to find when flow induced vibration is resonant. To analyze elastic behavior of cantilever beam efficiently, moving grid generation technique based on non-conservative form of Navier-Stokes equation is used. Equation of the motion associated with the cantilever beam is discretized by the Galerkin procedure with forced vibration. As a consequence, behavior of the elastic cantilevered beam is stable when the first mode natural frequency of the material is relatively higher than that of flow induced pressure fluctuation.

• Journal of the Korean Operations Research and Management Science Society
• /
• v.14 no.1
• /
• pp.88-96
• /
• 1989

General measure in the reliability is the k-terminal reliability, which is the probability that the specified vertices are connected by the working edges. To compute the k-terminal reliability components are usually assumed to be statistically independent. In this study the modeling and analysis of the k-terminal reliability are investigated when dependency among components is considered. As the size of the network increases, the number of the joint probability parameter to represent the dependency among components is increasing exponentially. To avoid such a difficulty the structured-event-based-reliability model (SERM) is presented. This model uses the combination of the network topology (physical representation) and reliability block diagram (logical representation). This enables us to represent the dependency among components in a network form. Computational algorithms for the k-terminal reliability in SERM are based on the factoring algorithm Two features of the ractoring algorithm are the reliability preserving reduction and the privoting edge selection strategy. The pivoting edge selction strategy is modified by two different ways to tackle the replicated edges occuring in SERM. Two algorithms are presented according to each modified pivoting strategy and illustrated by numerical example.

• Journal of Korean Society of Industrial and Systems Engineering
• /
• v.23 no.60
• /
• pp.23-36
• /
• 2000

A probabilistic model of burr formation in face milling of gray cast iron is proposed. During a face milling operation, an irregular pattern of the edge profile consisting of burrs and edge breakouts is observed at the end of cut. Based on the metal cutting theory, we derive a probabilistic model. The operational bayesian modeling approach is adopted to include the relevant theory in the model.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.9 no.3
• /
• pp.143-154
• /
• 2001

An algorithm for estimating the lane departure of a vehicle is derived and implemented based on an EDF(edge distribution function) obtained from gray-level images taken by a CCD camera mounted on a vehicle. As the function of edge direction, the EDF is aimed to show the distribution of edge direction and to estimate the possibility of lane departure with respect to its symmetric axis and local mamma. The EDF plays important roles: 1) It reduces noisy effects caused by dynamic road scene. 2) It makes possible lane identification without camera modeling. 3) It also leads LDW(lane departure warning) problem to a mathematical approach. When the situations of lane departure such that the vehicle approaches to lane marks or runs in the vicinity of the lane marks are occurred, the orientation of lane marks in images is changed, and then the situations are immediately reflected to the EDF. Accordingly, the lane departure is estimated by studying the shape of the EDF. The proposed EDF-based algorithm enhanced the adaptability to cope with the random and dynamic road environments, and eventually led to the reliable LDW system.

• Journal of Sensor Science and Technology
• /
• v.13 no.3
• /
• pp.188-194
• /
• 2004

With a remarkable advance in CMOS (complimentary metal-oxide-semiconductor) process technology, a variety of vision sensors with signal processing circuits for complicated functions are actively being developed. Especially, as the principles of signal processing in human retina have been revealed, a series of vision chips imitating human retina have been reported. Human retina is able to detect the edge and motion of an object effectively. The edge detection among the several functions of the retina is accomplished by the cells called photoreceptor, horizontal cell and bipolar cell. We designed a CMOS vision chip by modeling cells of the retina as hardwares involved in edge and motion detection. The designed vision chip was fabricated using $0.6{\mu}m$ CMOS process and the characteristics were measured. Having reliable output characteristics, this chip can be used at the input stage for many applications, like targe tracking system, fingerprint recognition system, human-friendly robot system and etc.

• Journal of KIISE:Computing Practices and Letters
• /
• v.15 no.4
• /
• pp.294-298
• /
• 2009

In this study, we proposes the method to improve the quality of the image through the edge extraction more delicately. Our method is named ESII(Edge Sensitive Image Interpolation) and doesn't use the fixed parameter of the interpolation kernel. However, it changes the parameter of pixel which is interpolated to the high definition image using the proper information from the surrounding pixels. It reconstructs the image by using the LSE(Least Square Error) and determining the pixel values to make the CME(Camera Modelling Error) minimized. Compared to the conventional methods, suggested method shows the higher quality of subjective and objective image definition and lessons the computational complexity by separating the image into 1-D data.

• Journal of Power System Engineering
• /
• v.14 no.3
• /
• pp.52-57
• /
• 2010

Interlaminar stresses near the free edges of composite laminates have been analyzed considering wall effects. Interface modeling of bonding layer was introduced to explain the wall effect. Using Lekhnitskii stress functions and the principle of complementary virtual work, the interlaminar stresses were obtained, which satisfied the traction free boundary conditions not only at the free edges, but also at the top and bottom surfaces of laminates. The interface modeling provides not singular stresses but concentrated finite interlaminar stresses. The significant amount of reductions of stresses at the free edge are observed compared to the results without interface modeling. The real stress state can be predicted accurately and the results demonstrate the usefulness of the proposed interface modeling for the strength design of composite laminates.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.11 no.2
• /
• pp.80-87
• /
• 2008

The LVC(Live, Virtual, Constructive) system of CTC(Combat Training Center) is at the very cutting edge of modeling and simulation technology, which has become widely accepted an enabler for a new military training transformation. In this paper, the architecture of LVC system is proposed for the Korean brigade-level CTC, and high level operational architecture, system architecture, and technical standard architecture are suggested.

• Proceedings of the IEEK Conference
• /
• 2007.07a
• /
• pp.267-268
• /
• 2007

A dynamic range compression algorithm using Markov random field (MRF) modeling to display high dynamic range (HDR) images on low dynamic range (LDR) devices is proposed in this work. The proposed algorithm separates foreground objects from the background using the edge information, and then compresses the color differences across the edges based on the MRF modeling. By minimizing a cost function using belief propagation, the proposed algorithm can provide an effective LDR image. Simulation results show that the proposed algorithm provides good results.