• The Journal of the Acoustical Society of Korea
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• v.22 no.7
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• pp.562-572
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• 2003

A matched-target model inversion method was developed for a passive sonar to estimate the position of moving targets. Based on the well known matched-field processing in underwater acoustics, the method finds target position by matching the measured target directions and frequencies with the corresponding values of the proposed target model. For the efficient and accurate estimations, the parameter searching was accomplished using a hybrid optimizing method, which first starts with a global optimization such as generic algorithm or simulated annealing then applies a local optimization of a simple down hill algorithm. The suggested method was testified using simulations for three different moving scenarios. The simulation results showed that the method is robust in convergence, even under the situation of over 5 times standard deviation of Gaussian distribution of measured error, and is practical in calculation time as well.

• Korean Journal of Agricultural Science
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• v.42 no.1
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• pp.63-71
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• 2015

Path planning is an essential part for traveling and mowing of autonomous lawn mower tractors. Objectives of the paper were to analyze operation patterns by a skilled farmer, to extract and optimize waypoints, and to demonstrate generation of formatted planned path for autonomous lawn mower tractors. A 27-HP mower tractor was operated by a skilled farmer on grass fields. To measure tractor travel and operation characteristics, an RTK-GPS antenna with a 6-cm RMS error, an inertia motion sensing unit, a gyro compass, a wheel angle sensor, and a mower on/off sensor were mounted on the mower tractor, and all the data were collected at a 10-Hz rate. All the sensor data were transferred through a software program to show the status immediately on the notebook. Planned path was generated using the program parameter settings, mileage and time calculations, and the travel path was plotted using developed software. Based on the human operation patterns, path planning algorithm was suggested for autonomous mower tractor. Finally path generation was demonstrated in a formatted file and graphic display. After optimizing the path planning, a decrease in distance about 13% and saving of the working time about 30% was achieved. Field test data showed some overlap, especially in the turning areas. Results of the study would be useful to implement an autonomous mower tractor, but further research needs to improve the performance.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.5
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• pp.819-827
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• 1997

In this paper, a new modeling of a fine actuator for an optical pick-up has been proposed and multiobjective optimization of the actuator has been performed. The fine actuator is constituted of the bobbin which is supported by wire suspension, the coils which wind around the bobbin, and the magnets which cause the magnetic flux. If current flows in the coils, magnetic force is so produced as to be balanced with spring force of wire, so the bobbin is pisitioned. In this model the transfer function from input voltage to output displacementof bobbin has been obtained so that we can describe this integrated system with electromagnetic and mechanical parts. Wire suspension is regarded as a continuous Euler beam, damper as distributed viscous damping, and bobbin as a rigid body which can move up- and down- ward motion only. According to the model, the high frequency dynamic characteristics of the fine actuator can be known and the effect of damping can be investigated while the conventional second order model cannot. In multiobjective optimization, two objective functions have been chosen to maximize the fundamental frequency and the sensitivity with respect to the input voltage of the actuator so that Pareto's optimal solutions have been obtained using .epsilon.-constraint method. These objective functions will satisfy the trends which will enhance the access speed and reduce the tracking error in the optical pick-up technology of next generation. In the result of optimization, we obtain the designs of the optical pick-up fine actuator which has high speed, high sensitivity and low resonant peak. Furthermore, we offer the relation between two object functions so that the designer can make easy choice.

• Composites Research
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• v.29 no.6
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• pp.401-407
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• 2016

IPMC is composed of thin ion conductive polymer film sandwiched between metallic electrodes plated on both surfaces. Ionic Polymer-Metal Composite (IPMC) generates voltages when bent by mechanical stimuli. IPMC has a potential for the variety of energy harvesting applications due to its soft and hydrophilic characteristics. However, the large-scale implementation is necessary to increase the output power. In this paper, the scale-up of surface area effect on voltage generation characteristics of IPMC was investigated using IPMC samples with different surface areas. Also, a circuit model simulating both the output voltage and its offset variations was designed for estimating the voltages from IPMC samples. The proposed model simulated the output voltages with offsets well corresponding to various frequencies of input bending motion. However, some samples showed that the increase of error between real and simulated voltages with time due to the nonlinear characteristic of offset variations.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.3
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• pp.324-330
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• 2013

This paper describes a novel method to surface large optics mirror with an extremely high hardness, which could replace the high cost of the repetitive off-line measurement steps and the large ultra-precision grinding machine with ultra-positioning control of 10 nm resolution. A lot of diamond pellet to be attached on the convex aluminum base consists of a grinding tool for the concave large mirror, and the tool was pressured down on the large mirror blank. The tool motion at an interval on the spiral path was controlled with each feed rate as the dwell time in the conventional computer-controlled polishing. The shape to be surfaced was measured directly by a touch probe on the machine without any separation of the mirror blank. Total 40 iterative steps of the surfacing and measurement could demonstrate the form error of RMS $7.8{\mu}m$, surface roughness of Ra $0.2{\mu}m$ for the mirror blank with diameter of 1 m and spherical radius of curvature of 5400 mm.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.16 no.5
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• pp.131-136
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• 2016

In this paper, we propose an Raspberry Pi2-based smart home security monitoring system. Proposed home security monitoring system was configured using a relatively tractable main processor raspberry pi2, ultrasonic sensors, and PIR sensors. In addition, The picamera is compatible with raspberry pi2 was connected to the servo motor. And by driving the attacker's location the video was recording. The Web server stores data of the recorded image and the sensor, and provides a web page to enable the monitoring at all remote locations. When examining efficiency of proposed home security monitoring system it was found that proposed system is easier to be made than existing home security system and is able to minimize the blind spot of the camera by using servo motor and is efficient and convenient and stable as it enables a user to handle an error in person and it uses reliable data.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.382-387
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• 1992

In order to obtain desired arc welding performance, we already developed an arc welding robot system that enabled coordinated motions of dual arm robots. In this system one robot arm holds a welding target as a positioning device, and the other robot moves the welding torch. Concerning to such a dual arm robot system, the positioning accuracy of robots is one important problem, since nowadays conventional industrial robots unfortunately don't have enough absolute accuracy in position. In order to cope with this problem, our robot system employed teaching playback method, where absolute error are compensated by the operator's visual feedback. Due to this system, an ideal arc welding considering the posture of the welding target and the directions of the gravity has become possible. Another problem still remains, while we developed an original teaching method of the dual arm robots with coordinated motions. The problem is that manual teaching tasks are still tedious since they need fine movements with intensive attentions. Therefore, we developed a 3-dimensional vision guided robot control method for our welding robot system with coordinated motions. In this paper we show our 3-dimensional vision sensor to guide our arc welding robot system with coordinated motions. A sensing device is compactly designed and is mounted on the tip of the arc welding robot. The sensor detects the 3-dimensional shape of groove on the target work which needs to be weld. And the welding robot is controlled to trace the grooves with accuracy. The principle of the 3-dimensional measurement is depend on the slit-ray projection method. In order to realize a slit-ray projection method, two laser slit-ray projectors and one CCD TV camera are compactly mounted. Tactful image processing enabled 3-dimensional data processing without suffering from disturbance lights. The 3-dimensional information of the target groove is combined with the rough teaching data they are given by the operator in advance. Therefore, the teaching tasks are simplified

• Journal of the Korean Institute of Telematics and Electronics S
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• v.36S no.11
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• pp.54-59
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• 1999

In this paper, a generalized auto-regressive(AR) model is proposed for linear prediction based on adaptive spatio-temporal support region(ASTSR). The conventional AR model suffers from the drawback that the prediction error increases in the edge region because the rectangular support region of the edge does not satisfy the stationary assumption. Thus, the proposed approach puts an emphasis on the formulation of a spatio-temporally adaptive support region for the AR model, called ASTSR. The ASTSR consists of two parts: the adaptive spatial support region(ASSR) connected with edges and the adaptive temporal support region(ATSR) related to temporal discontinuities. The AR model based on ASTSR not only produces more accurate model parameters but also reduces the computational complexity in the motion picture restoration.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.12
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• pp.1303-1312
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• 2013

We report an ultra-precision lathe designed to machine micron-scale features on a large-area roll mold. The lathe can machine rolls up to 600 mm in diameter and 2,500 mm in length. All axes use hydrostatic oil bearings to exploit the high-precision, stiffness, and damping characteristics. The headstock spindle and rotary tooling table are driven by frameless direct drive motors, while coreless linear motors are used for the two linear axes. Finite element method modeling reveals that the effects of structural deformation on the machining accuracy are less than $1{\mu}m$. The results of thermal testing show that the maximum temperature rise at the spindle outer surface is approximately $0.5^{\circ}C$. Finally, performance evaluations of the error motion, micro-positioning capability, and fine-pitch machining demonstrate that the lathe is capable of producing optical-quality surfaces with micron-scale patterns with feature sizes as small as $20{\mu}m$ on a large-area roll mold.

• The Journal of the Korea Contents Association
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• v.16 no.1
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• pp.515-520
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• 2016

Volumetric image system has many applications recently in education, 3D movie, medical images but these applications have several problems that need to be overcome. Volumetric display may process a amount of visual data and design the high efficient vision system for realtime display. In case of stereo system for volumetric display motion vectors, disparity vectors from the stereoscopic sequences and residual images with the reference images has been transmitted, and the stereoscopic sequences have been reconstructed at the receiver for volumetric display. So central issue for the design of efficient volumetric image system lies in selecting an appropriate stereo matching and robust vision system. In this paper, we proposed high efficient vision system, which design vision stage with rotating and moving horizontally, and match the successive stereo image efficiently. In experimental results with volumetric image system, the proposed method represents high efficiency with minimizing error and low computational load for volumetric display.