• 제어로봇시스템학회논문지
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• 제16권4호
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• pp.368-373
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• 2010

A new indoor mobile robot localization method is presented. Robot recognizes well designed single color landmarks on the ceiling by vision system, as reference to compute its precise position. The proposed likelihood prediction based method enables the robot to estimate its position based only on the orientation of landmark.The use of single color landmarks helps to reduce the complexity of the landmark structure and makes it easily detectable. Edge based optical flow is further used to compensate for some landmark recognition error. This technique is applicable for navigation in an unlimited sized indoor space. Prediction scheme and localization algorithm are proposed, and edge based optical flow and data fusing are presented. Experimental results show that the proposed method provides accurate estimation of the robot position with a localization error within a range of 5 cm and directional error less than 4 degrees.

• 정보과학회 컴퓨팅의 실제 논문지
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• 제22권3호
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• pp.145-150
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• 2016

프로그램 내에서 오류의 정확한 위치를 찾아내는 것은 많은 시간과 노력을 필요로 하는 작업이다. 이러한 문제를 해결하기 위하여 프로그램의 제어 흐름을 이용한 자동화된 오류 위치 추정 기법이 오랫동안 연구되어 왔으나, 데이터 흐름 기반 언어로 작성된 프로그램에 대해서는 적용될 수 없다는 한계가 있다. 최근 개발된 뮤테이션(mutation) 기반 오류 위치 추정 기법의 경우 프로그램의 제어 흐름 대신 뮤턴트(mutant)라 불리는 인공 오류를 활용하기 때문에 데이터 흐름 기반 언어로 구현된 프로그램에 대해서도 활용될 수 있을 것으로 기대되나, 오류 위치 추정 효과성에 대한 연구는 이루어지지 않았다. 본 연구는 데이터 흐름 기반 언어인 Function Block Diagram (FBD)로 구현된 프로그램을 대상으로 뮤테이션 기반 오류 위치 추정 기법이 실제 오류의 위치를 얼마나 정확하게 추정할 수 있는지에 대한 사례 연구를 수행한다. 실제 원자로 보호 시스템 대상 초기 버전에 사용되었던 FBD 프로그램에서 발견된 오류들을 수집하고, 각 오류별 위치 추정의 효과성을 분석한다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2008년도 추계학술대회 논문집
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• pp.511-512
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• 2008

• 한국기계가공학회지
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• 제21권8호
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• pp.19-24
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• 2022

We developed a prototype from the design of a trim, which is the most important in the localization development of a 1500 Ib high-differential pressure-control valve used for boiler feedwater, and measured the flow coefficient, the most basic design data for valves. The following conclusions were drawn. The comparison of the design values of the flow coefficients for the existing X-trim and the multicore trim designed for localization development showed that they were almost identical, and the X-trim value was slightly lower. The comparison of the X-trim and multicore trim based on the valve flow coefficient test showed that they were generally similar, indicating no problem with the design. In the future, we plan to compare and analyze the flow paths for the X-trim and multicore trim via flow analysis.

• 전기학회논문지
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• 제65권7호
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• pp.1283-1289
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• 2016

In this paper, we propose a new localization system using ceiling outlines. We acquire the entire ceiling image by using fisheye lens camera, and extract the lines by binarization and segmentation. The optical flow algorithm is then applied to identify the ceiling region from the segmented regions. Finally we obtain the position and orientation of the robot by the center position and momentum of ceiling region. Since we use the fully detected outlines, the accuracy and reliability of the localization system is improved. The experimental result are finally presented to show the effectiveness of the proposed method.

• 한국군사과학기술학회지
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• 제16권2호
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• pp.95-100
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• 2013

Localization is very important for the autonomous navigation of Unmanned Ground Vehicles; however, it is difficult that they have a precise Inertial Navigation System(INS) sensor, especially Small Unmanned Ground Vehicle(SUGV). Moreover, there are some condition such as denial of global position system(GPS), GPS/INS integrated system is not robust. This paper proposes the estimation algorithm with optical flow sensor and INS. Being compared with previous researches, the proposed algorithm is suitable for skid steering vehicles. We revised the measurement model of previous research for the accuracy of side direction position. Experimental results were performed to verify the algorithm, and the result showed an excellent performance.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제13권2호
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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.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 춘계학술대회
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• pp.1951-1956
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• 2004

The transient nature and complex flow geometries of two-phase gas-liquid flows cause fundamental difficulties when measuring flow velocity using an electromagnetic flowmeter. Recently, a current-sensing flowmeter was introduced to obtain measurements with high temporal resolution (Ahn et $al.^{(1)}$). In this study, current-sensing flowmeter theory was applied to measure the fast velocity transients in slug flows. To do this, the velocity fields of axisymmetric gas-liquid slug flow in a vertical pipe were obtained using Volume-of-Fluid (VOF) method and the virtual potential distributions for the electrodes of finite size were also computed using the finite volume method for the simulated slug flow. The output signal prediction for slug flow was carried out from the velocity and virtual potential (or weight function) fields. The flowmeter was numerically calibrated to obtain the cross-sectional liquid mean velocity at an electrode plane from the predicted output signal. Two calibration parameters are required for this procedure: a flow pattern coefficient and a localization parameter. The flow pattern coefficient was defined by the ratio of the liquid resistance between the electrodes for two-phase flow with respect to that for single-phase flow, and the localization parameter was introduced to avoid errors in the flowmeter readings caused by liquid acceleration or deceleration around the electrodes. These parameters were also calculated from the computed velocity and virtual potential fields. The results can be used to obtain the liquid mean velocity from the slug flow signal measured by a current-sensing flowmeter.

• 대한기계학회논문집B
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• 제29권6호
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• pp.671-686
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• 2005

The transient nature and complex geometries of two-phase gas-liquid flows cause fundamental difficulties when measuring flow velocity using an electromagnetic flowmeter. Recently, a current-sensing flowmeter was introduced to obtain measurements with high temporal resolution (Ahn et al.). In this study, current-sensing flowmeter theory was applied to measure the fast velocity transients in slug flows. The velocity fields of axisymmetric gas-liquid slug flow in a vertical pipe were obtained using Volume-of-Fluid (VOF) method, and the virtual potential distributions for the electrodes of finite size were also computed using the finite volume method for simulating slug flow. The output signal prediction for slug flow was carried out from the velocity and virtual potential (or weight function) fields. The flowmeter was numerically calibrated to obtain the cross-sectional liquid mean velocity at an electrode plane from the predicted output signal. Two calibration parameters are proposed for this procedure: a flow pattern coefficient and a localization parameter. The flow pattern coefficient was defined by the ratio of the liquid resistance between the electrodes for two-phase flow with respect to that for single-phase flow, and the localization parameter was introduced to avoid errors in the flowmeter readings caused by liquid acceleration or deceleration around the electrodes. These parameters were also calculated from the computed velocity and virtual potential fields. The results can be used to obtain the liquid mean velocity from the slug flow signal measured by a current-sensing flowmeter.

• Korea-Australia Rheology Journal
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• 제20권1호
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• pp.35-42
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• 2008

An inverse ferrofluid composed of micron sized polymethylmethacrylate particles dispersed in ferrofluid was used to investigate the effects of test duration times on determining the flow curves of these materials under constant magnetic field. The results showed that flow curves determined using low duration times were most likely not measuring the steady state rheological response. However, at longer duration times, which are expected to correspond more to steady state behaviour, we noticed the occurrence of plateau and decreasing flow curves in the shear rate range of $0.004\;s^{-1}$ to ${\sim}20\;s^{-1}$, which suggest the presence of nonhomogeneities and shear localization in the material. This behaviour was also reflected in the steady state results from shear start up tests performed over the same range of shear rates. The results indicate that care is required when interpreting flow curves obtained for inverse ferrofluids.