• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.837-838
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• 2006

This paper proposes a method of assembling parts using visual servoing in dynamic environment. We use SSD(Sum of Square Difference) based on adaptive template in order to detect a moving object in the case where the robot and the object both move. And the control input of the robot is obtained from the feed-back signal of the feature movement and the feed-forward signal of the camera movement in image plane.

• Proceedings of the KIEE Conference
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• 2003.07a
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• pp.436-438
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• 2003

Wind-induced oscillations are known to cause damage to the conductors and related hardware through fatigue, clashing of the bundled conductors and bolt loosening. Wake-induced oscillations have been known since the advent of bundled conductors, they are caused by aerodynamically unstable forces acting on the leeward conductors in the wake of the windward conductors, They take the form of horizontal galloping, snaking or rolling, in which case all subconductors move together in unison. They can also take the form of the subspan oscillation, which appear as elliptical motions of the subconductors moving out of phase, mainly in the horizontal plane within a subspan. In order to decrease amplitudes of the oscillation, this paper examines the application status of the spacer dampers and suggests proper installation methods.

• Journal of the Korean Society of Industry Convergence
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• v.27 no.2_2
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• pp.319-324
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• 2024

In this paper, the Artificial Intelligence Space(AI-Space) for human-robot interface is presented, which can enable human-computer interfacing, networked camera conferencing, industrial monitoring, service and training applications. We present a method for representing, tracking, and objects(human, robot, chair) following by fusing distributed multiple vision systems in AI-Space. The article presents the integration of color distributions into particle filtering. Particle filters provide a robust tracking framework under ambiguous conditions. We propose to track the moving objects(human, robot, chair) by generating hypotheses not in the image plane but on the top-view reconstruction of the scene.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.12
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• pp.3115-3123
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• 1993

This paper presents a real-time correction method of the movemont errors of a translatory precision machine axis. This method is a null-balances technique in which two plane mirrors are used to generate an interferometric fringe pattern utilizing the optical principles of TwymanGreen interferometry. One mirror is fixed on a reference frame, while the other is placed on the machine axis being supported by three piezoelectric actuators. From the fringe pattern, one translatory and two rotational error components of the machine axis are simultaneously detected by using CCD camera vision and image processing techniques. These errors are then independently suppressed by activating the peizoelectric actuators by real-time feedback control while the machine axis is moving. Experimental results demonstrate that a machine axis can be controlled with movement errors less than 10 nm in vertical straightness, 0.1 arcsec in pitch, and 0.06 arcsec in roll for 50mm travel by adopting the real-time correction method.

• Nuclear Engineering and Technology
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• v.51 no.1
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• pp.155-162
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• 2019

To reduce the secondary damage caused by leakage accidents in plant piping systems, a constant surveillance system is necessary. To ensure leaks are promptly addressed, the surveillance system should be able to detect not only the leak itself, but also the location of the leak. Recently, research to develop new methods has been conducted using cameras to detect leakage and to estimate the location of leakage. However, existing methods solely estimate whether a leak exists or not, or only provide two-dimensional coordinates of the leakage location. In this paper, a method using multiple cameras to detect leakage and estimate the three-dimensional coordinates of the leakage location is presented. Leakage is detected by each camera using MADI(Moving Average Differential Image) and histogram analysis. The two-dimensional leakage location is estimated using the detected leakage area. The three-dimensional leakage location is subsequently estimated based on the two-dimensional leakage location. To achieve this, the coordinates (x, z) for the leakage are calculated for a horizontal section (XZ plane) in the monitoring area. Then, the y-coordinate of leakage is calculated using a vertical section from each camera. The method proposed in this paper could accurately estimate the three-dimensional location of a leak using multiple cameras.

• Archives of design research
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• v.17 no.4
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• pp.141-148
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• 2004

The purpose of this study is to define the emotion that expressed in step animation and to quantify the intuitional expression of emotion that related step for using extract, measure, analysis the stimulate element about step. The survey of relation with 27 word of emotional expressions and 36 moving pictures of step sample is used for method of this test. The emotional mental structure is transferred to 2 dimensional planes as applying the results of analysis of integrated data using Quantification Method 3, which the integrated data is composed two axial - confidential axial and stabling axial. Analysis of distribution of 2 dimensional diagram shows that the second of the plane and the third of the plane have much data. However, the first of the plane and the forth of the plane have a little data. Through this kind of analysis of graph, it is difficult to express a different emotion between unstable the timidity mind and stable feel the timidity mind using only step analysis. Six difference types about physical elements affecting to emotion are selected and analyzed such as the paces of step, the rate of step, the movement angle of pelvis, the swing range of arm, angle of backbone and the lean angle of body. The result is that the rate of stop and the lean angle of body are the major element that effects to emotional stimulate of stop. This thesis argues about methods transforming subjective expression to objective and quantitative expression with the state of delicate emotion of character apply to step animation naturally. Those data to apply to multi-contents in future are the main target in this study.

• The KIPS Transactions:PartB
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• v.10B no.6
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• pp.657-664
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• 2003

Reliable tracking of moving humans is essential to motion estimation, video surveillance and human-computer interface. This paper presents a new approach to human motion tracking that combines appearance-based and model-based techniques. Monocular color video is processed at both pixel level and object level. At the pixel level, a Gaussian mixture model is used to train and classily individual pixel colors. At the object level, a 3D human body model projected on a 2D image plane is used to fit the image data. Our method does not use inverse kinematics due to the singularity problem. While many others use stochastic sampling for model-based motion tracking, our method is purely dependent on nonlinear programming. We convert the human motion tracking problem into a nonlinear programming problem. A cost function for parameter optimization is used to estimate the degree of the overlapping between the foreground input image silhouette and a projected 3D model body silhouette. The overlapping is computed using computational geometry by converting a set of pixels from the image domain to a polygon in the real projection plane domain. Our method is used to recognize various human motions. Motion tracking results from video sequences are very encouraging.

• International Journal of Fluid Machinery and Systems
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• v.3 no.2
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• pp.122-128
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• 2010

The attachment of inducer in front of main impeller is a powerful method to improve cavitation performance; however, cavitation surge oscillation with low frequency occurs with blade cavity growing to each throat section of blade passage simultaneously. Then, one conceptual method of installing suction axi-asymmetrical plate has been proposed so as to keep every throat passage away from being unstable at once, and the effect on suppression of the oscillation were investigated. In the present study, cavitation behaviors in the inducer is observed with distributing multi-cameras circumferentially, recording simultaneously and reconstructing multi-photos on one plane field as moving a linear cascade. Observed results are utilized for discussion with other measuring results as casing wall pressure distribution. Then the suppression mechanism of oscillation by installing axi-asymmetrical inlet plate will be clarified in more details.

• Journal of Ocean Engineering and Technology
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• v.21 no.4
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• pp.55-60
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• 2007

In contrast to the method in Part I, which is considered to be the general approach, Part II pursues a closed-form solution. However, this closed-form solution is available only in the 2D situation under the assumption that the moving object is restricted to a 2D space, and also requires the use of only two laser-slit sensors. Since the motion of the container loaded on top of an AGV is restricted to a plane parallel to the ground, it can be considered a 2D motion. As a simple method, but with a high cost, the use of a laser scanner is also discussed. Since the approach in Part I already uses three laser-slit sensors, it is desirable to use the schemes presented in Part II for supplementary purposes.

• Journal of the Institute of Convergence Signal Processing
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• v.6 no.4
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• pp.182-190
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• 2005

In the paper, we propose an intelligent automatic parking assist system. To realize an automatic parking, first, the prospective parking position and the location of a vehicle should be recognized. Second, the system should compute a path which introduces the parking position precisely with avoiding any obstacles. Third, the handle should be controlled so that the vehicle moves through the path. To calculate the location of the vehicle and its surroundings, the system applies the camera image method to transforming input images to the plane map. It also uses the inertial navigation method which recognizes the position and the direction of a moving vehicle by using a kinematic model of the vehicle. To generate a path of the vehicle, the simple path method and the Bezier spline method are tested. The divided arc method which generates multiple paths is also tested. We apply a method which makes the system choose the best path with multiple objective functions. We introduce the virtual road method, as a solution for the problem of mechanical time delay, to have the vehicle followed the designated path.