• Journal of Institute of Control, Robotics and Systems
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• v.19 no.5
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• pp.457-461
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• 2013

This paper proposes an image feature-based real-time RGB-D (Red-Green-Blue Depth) 3D SLAM (Simultaneous Localization and Mapping) system. RGB-D data from Kinect style sensors contain a 2D image and per-pixel depth information. 6-DOF (Degree-of-Freedom) visual odometry is obtained through the 3D-RANSAC (RANdom SAmple Consensus) algorithm with 2D image features and depth data. For speed up extraction of features, parallel computation is performed with GPU acceleration. After a feature manager detects a loop closure, a graph-based SLAM algorithm optimizes trajectory of the sensor and builds a 3D point cloud based map.

• Transactions of the Korean Society of Automotive Engineers
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• v.14 no.6
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• pp.57-65
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• 2006

An approximate function approach has been developed using the subsystem synthesis method for real-time multibody vehicle dynamics models. In this approach, instead of solving loop closure constraint equations of the suspension linkage, approximate functions are used. The approximate function represents the functional relationship between dependent coordinates and independent coordinates of the suspension subsystem. This kinematic relationship is also included in the suspension subsystem equations of motion. Different order of polynomial functions are tried to find out the best candidate functions. The proposed method is also compared with the conventional subsystem synthesis method to verify its efficiency and accuracy.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2017.06a
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• pp.250-253
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• 2017

본 논문에서는 동시적 위치 추정 및 지도 작성 (simultaneous localization and mapping)에서 루프 폐쇄 검출을 딥러닝 방법의 일종인 variational autoencoder 를 이용하여 수행하는 방법에 대해 살펴본다. Autoencoder 는 비감독 학습 방법의 일종으로 입력 영상이 신경망을 통과하여 얻은 출력 영상과 동일하도록 신경망을 학습시키는 모델이다. 이 때 autoencoder 중간의 병목 지역을 통과함에도 불구하고 입력과 동일한 영상을 계산해야 하는 제약조건이 있기 때문에 이는 차원 축소나 데이터 추상화의 목적으로 많이 사용된다. 여기서 한 단계 더 발전된 variational autoencoder 는 기존의 autoencoder 가 가진 단점인 입력 변수의 분포와 잠재 변수의 분포 사이에 상관관계가 없다는 단점을 해결하기 위해 Kullback-Leibler divergence 를 활용한 손실 함수를 정의하여 사용했다. 실험결과에서는 루프 폐쇄 검출에서 많이 사용되는 City-Centre 와 New College 데이터 집합을 사용하여 평가하였으며 루프 폐쇄 검출의 결과는 정밀도와 재현율을 계산하여 나타냈다.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.1 s.178
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• pp.121-128
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• 2006

This paper deals with the application of enhanced perturbation estimation (SMCEPE) to sliding mode control of a dynamic system in the presence of perturbations including external disturbances, unpredictable parameter variations, and unstructured dynamics. Compared to conventional sliding mode control (SMC) and sliding mode control with perturbation estimation (SMCPE), the proposed one can offer robust control performances under serious control conditions, such as fast dynamic perturbations and slow loop-closure speeds, without a priori knowledge on upper bounds of perturbations. The perturbation estimator in SHCEPE also has more adaptability owing to the fractional-order hold technique. The effectiveness and superiority of the proposed control strategy are demonstrated by a series of simulations on the position tracking control of a two-link robot manipulator.

• Proceedings of the KSME Conference
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• 2004.04a
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• pp.1286-1291
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• 2004

In order for studying pressure-coupled dynamic responses of droplet vaporization, open-loop experiment of an isolated droplet vaporization exposed to pressure perturbations in stagnant gaseous environment is numerically conducted. Governing equations are solved for flow parameters at gas and liquid phases separately and thermodynamic parameters at the interfacial boundary are matched for problem closure. For high-pressure effects, vapor-liquid interfacial thermodynamics is rigorously treated. A series of parametric calculations in terms of mean pressure level and wave frequencies are carried out employing a n-pentane droplet in stagnant gaseous nitrogen. Results show that wave instability in view of pressure-coupled vaporization response seems more susceptible at higher pressures and higher wave frequencies. Mass evaporation rate responding to pressure waves is amplified with increase in pressure due to substantial reduction in latent heat of vaporization. Augmentation of perturbation frequency also enhances amplification due to the reduction of phase differences between pressure perturbation and surface temperature fluctuation.

• The Research Journal of the Costume Culture
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• v.26 no.4
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• pp.632-648
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• 2018

This study aims to contribute to the development of sports wearables. It was conducted by a convergence team of professionals in the fashion industry, kinesiology and sports studies, and computer science and engineering. The purpose of the current study was to design and develop a fabric-type fitness band for a sensor to measure acceleration during jump rope exercises. Computer science and engineering professionals developed the Arduino board and sensor, kinesiology and sports studies provided the necessary exercise protocol, and the fashion industry professionals developed the band. First, a fitness band preference survey was completed by men and women between the ages of 20 and 50. Typical uses of the band included tracking exercise amount as measured by the number of steps taken and calories burned. Strap watch closure, a single color and achromatic color, and soft and smooth touch materials were preferred as band design. Second, two fabric-type fitness bands were designed and developed. Design 1 had a 3-dimensional pocket for the sensor, bright blue color, and stretch binding around the edges and for a loop. Design 2 had a flat pocket for the sensor, achromatic color, mesh binding around the edges and two metal loops. Both designs had Velcro as a closure. Third, wear testing of both bands with the sensor were conducted of 15 women in their 20s. They wore the bands during jump rope exercises. Both bands generally satisfied the participants. The Design 2 band was slightly more satisfying than the Design 1 band.

• Archives of Plastic Surgery
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• v.37 no.4
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• pp.496-498
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• 2010

Purpose: Lacerations requiring formal wound closure compose a significant number of all childhood injuries presenting to the emergency department. The problem with conventional suture technique are that suture removal is quite cumbersome, especially in children. Unwanted soft tissue damage can result in the process of suture removal, which calls for sedation, stressful for both medical personnel and child. The purpose of this study is to introduce the convenient suture technique for pediatric facial lacerations. Methods: Children under the age of four, presenting to the emergency department with facial lacerations were enrolled in the study. From March 2008 to June 2009, 63 patients (41 males and 22 females) with an average age of 1.4 years were treated with our convenient suture technique using utilized a loop suspended above a double, flat tie. Clean, tension free wounds were treated with our technique, wounds with significant skin defect and concomitant fractures were excluded. Results: The Patients were followed-up in 1, 3 and 5 days postoperatively. On the third hospital visit, suture removal was done by simply cutting the loop suspended above the wound margin and gently pulling the thread with forceps. There were no significant differences in the rates of infection and dehiscence compared with conventional suture technique. Conclusion: The use of our technique was to be simple with similar operative time compared with conventional suture technique. Removal of suture materials were easy without unwanted injuries to the surrounding tissue which resulted in less discomfort for the patient and greater parental satisfaction, minimized the complications. It can be considered as a viable alternative in the repair of pediatric facial lacerations.

• Journal of Korea Technical Association of The Pulp and Paper Industry
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• v.38 no.2 s.115
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• pp.1-8
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• 2006

In this study a process simulation method was used to analyze the accumulation phenomena of anionic starch in the process white water as the closure level of a fine paper making process is increased. A pilot paper machine was used as a model process. Dynamic simulations of the influence of white water usage ratio and uncoated broke addition ratio on the variation of process variable was monitored as a function of time. Results from the dynamic simulations showed that the volume of reservoirs affected the dynamic behavior of the process. The dynamic behavior of flow rate and dissolved starch concentration in process units were different from each other. The speed of the change of dissolved starch concentration in process units was depend on the starting point of the change of dissolved starch concentration, the length of circulation loop, and the volume of reservoirs.

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.388-394
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• 2005

Recently, the authors have developed a method for real-time dynamics of multibody systems, which combines a semi-recursive formulation to derive the equations of motion in dependent relative coordinates, along with an augmented Lagrangian technique to impose the loop closure conditions. The following numerical integration procedures, which can be grouped into the so-called structural integrators, were tested : trapezoidal rule, Newmark dissipative schemes, HHT rule, and the Generalized-${\alpha}$ family. It was shown that, for large multi body systems, Newmark dissipative was the best election since, provided that the adequate parameters were chosen, excellent behavior was achieved in terms of efficiency and robustness with acceptable levels of accuracy. In the present paper, the performance of the described method in combination with another group of integrators, the Implicit Runge-Kutta family (IRK), is analyzed. The purpose is to clarify which kind of IRK algorithms can be more suitable for real-time applications, and to see whether they can be competitive with the already tested structural family of integrators. The final objective of the work is to provide some practical criteria for those interested in achieving real-time performance for large and complex multibody systems.

• The Journal of Korea Robotics Society
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• v.12 no.4
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• pp.385-394
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• 2017

Side scanning sonar (SSS) provides valuable information for robot navigation. However using the side scanning sonar images in the navigation was not fully studied. In this paper, we use range data, and side scanning sonar images from UnderWater Simulator (UWSim) and propose measurement models in a feature based simultaneous localization and mapping (SLAM) framework. The range data is obtained by echosounder and sidescanning sonar images from side scan sonar module for UWSim. For the feature, we used the A-KAZE feature for the SSS image matching and adjusting the relative robot pose by SSS bundle adjustment (BA) with Ceres solver. We use BA for the loop closure constraint of pose-graph SLAM. We used the Incremental Smoothing and Mapping (iSAM) to optimize the graph. The optimized trajectory was compared against the dead reckoning (DR).