• 제어로봇시스템학회논문지
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• 제22권10호
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• pp.839-846
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• 2016

Bin picking is a task of picking a small object from a bin. For accurate bin picking, the 3D pose information, position, and orientation of a small object is required because the object is mixed with other objects of the same type in the bin. Using this 3D pose information, a robotic gripper can pick an object using exact distance and orientation measurements. In this paper, we propose a 3D vision technique for accurate measurement of 3D position and orientation of small objects, on which a paper label is stuck to the surface. We use a maximally stable extremal regions (MSERs) algorithm to detect the label areas in a left bin image acquired from a stereo camera. In each label area, image features are detected and their correlation with a right image is determined by a stereo vision technique. Then, the 3D position and orientation of the objects are measured accurately using a transformation from the camera coordinate system to the new label coordinate system. For stable measurement during a bin picking task, the pose information is filtered by averaging at fixed time intervals. Our experimental results indicate that the proposed technique yields pose accuracy between 0.4~0.5mm in positional measurements and $0.2-0.6^{\circ}$ in angle measurements.

• Journal of the Optical Society of Korea
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• 제18권6호
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• pp.732-738
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• 2014

Combined optical simulation of the ray-tracing technique and the finite difference time domain method was used to investigate the effect of the emitter orientation and the photonic crystal layer on the outcoupling efficiency (OCE) of bottom-emission type organic light emitting diodes (OLEDs). The OLED with a horizontal emitter exhibited an opposite interference effect to that of one with a vertical emitter, which suggested that the OCE would be very sensitive to the emitter orientation at a fixed emitter-cathode distance. The OLED with a horizontal emitter exhibited much larger OCE than that with a vertical emitter did, which was due to the substantial difference in the radiation pattern along with the different coupling with the surface plasmon excitation. The OCE with a horizontal emitter was increased by approximately 1.3 times by inserting a photonic crystal layer between the indium tin oxide layer and the glass substrate. The present study suggested that appropriate control of the emitter orientation and its combination to other outcoupling structures could be used to enhance the OCE of OLEDs substantially.

• 한국측량학회:학술대회논문집
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• 한국측량학회 2010년 춘계학술발표회 논문집
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• pp.129-131
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• 2010

본 연구에서는 고해상도의 비측정용 디지털 카메라를 이용하여 강구조 철도교량의 3차원 변형량을 측정하고자 하였다. 변형량 측정은 현장관측 시간을 단축하고, 작업의 효율을 높이기 위해 공면조건에 의한 상호표정 방법(기준 타겟점의 3차원 측량이 필요 없다)을 적용하고자 한다. 이 방법으로 측정한 변형량을 토털스테이션을 이용하여 기준점의 3차원 측량으로 구한 외부표정요소로부터 획득한 변형량과 비교하여, 적용방법의 정확도를 확인하고자 한다.

• Structural Engineering and Mechanics
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• 제55권1호
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• pp.191-204
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• 2015

Control of the mechanical behavior of composite materials and structures under monotonic and dynamic loads for cracks and damage is a vast and complex area of research. The modeling of the different physical phenomena and behavior characteristics of a composite material during deformation play an important role in the structural design. Our study aims to analyze numerically the energy release rate parameter G of a composite laminated plate (glass or boron / epoxy) cross-ply [$+{\alpha}$, $-{\alpha}$] in the presence of a crack between two circular notches under the effect of several parameters such as fiber orientation ${\alpha}$, the crack orientation ${\beta}$, the orientation ${\gamma}$ of the two considered circular notches and the effect of mechanical properties. Our results show clearly that both notches orientation has more effect on G than the cracks and fibers orientations.

• 센서학회지
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• 제19권3호
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• pp.202-208
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• 2010

This study examined the dependency of crystalline orientation and electric properties of sol-gel PZT film on hydrolysis, a $PbTiO_3$ seed layer and a concentration of sol-gel solution. The PZT thin films were prepared by using 2-Methoxyethanol-based sol-gel method and spin-coating on Pt/Ti/$SiO_2$/Si substrates. The 1-${\mu}m$-thick PZT films were coated and then fired in a furnace by direct insert method. The highly (111) oriented PZT film of pure perovskite structure could be obtained. We could control the degree of orientation by various parameters such as hydrolysis, a $PbTiO_3$ seed layer and a concentration of sol-gel solution. The highest measured remanent polarization, dielectric constant and piezoelectric coefficient are $24.16\;{\mu}C/cm^2$, 2808, and 159 pC/N, respectively.

• 한국측량학회지
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• 제37권2호
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• pp.55-62
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• 2019

The stereo geometry establishment based on the precise sensor modeling is prerequisite for accurate stereo data processing. Ground control points are generally required for the accurate sensor modeling though it is not possible over the area where the accessibility is limited or reference data is not available. For the areas, the relative orientation should be carried out to improve the geometric consistency between the stereo data though it does not improve the absolute positional accuracy. The relative orientation requires conjugate points that are well distributed over the entire image region. Therefore the automatic conjugate point extraction is required because the manual operation is labor-intensive. In this study, we applied the method consisting of the key point extraction, the search space minimization based on the epipolar line, and the rigorous outlier detection based on the RPCs (Rational Polynomial Coefficients) bias compensation modeling. We tested different parameters of window sizes for Kompsat-2 across track stereo data and analyzed the RPCs precision after the bias compensation for the cases whether the epipolar line information is used or not. The experimental results showed that matching outliers were inevitable for the different matching parameterization but they were successfully detected and removed with the rigorous method for sub-pixel level of stereo RPCs precision.

• 융합경영연구
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• 제7권3호
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• pp.13-28
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• 2019

Purpose - The purpose of this study is to analyze the start-up factors in start-up tourism companies and to analyze how these factors influence business performance. This study will be conducted for the further exploratory study with in-depth research with literature reviews, interviews and surveys. Research design, data, and Methodology - The activation of entrepreneurship is very important factor as for not only the development of entrepreneurship which is the characteristic of the innovative and risks-taking for the success of the enterprise, but also the sustainable growth and creation of performance of the entrepreneur. In other words, if it is the entrepreneurial spirit affects entrepreneurship, it is entrepreneurial orientation that continuously affects entrepreneurs. In order to achieve the above purposes, this study conducted literature research and empirical studies. Result & Conclusions - The sub-factors for independent entrepreneurial variables' orientation are classified as creativity, technological, enterprising, and innovation, and subordinate variables were set of management performance. The sub-factors of the control variable government support policy are classified as financial support, consulting support, and marketing support. For the purpose of empirical analysis, this paper collects data on companies selected for tourism venture business competition and CEOs of SMEs tourism for less than 7 years.

• 한국심리학회지:학교
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• 제16권3호
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• pp.231-263
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• 2019

본 연구의 목적은 사회인지동기모형을 기반하여 개발한 대학생의 성장지향성 증진 그룹코칭 프로그램을 실시하여 성장지향성, 삶의 만족도, 지각된 스트레스, 긍정심리자본, 대인관계 변인에 대한 효과성을 검증하는데 있다. 본 프로그램은 성장지향에 유용한 성장지향성, 마인드셋과 뇌의 가소성, 자기 주도적 목표설정, 재능은 지속적 노력의 산물, 실패태도와 관점 변화, 긍정적 정서·사고 및 행동, 타인 이해, 성장지향 가치와 셀프코칭의 8가지 주제이고, 1회 120분씩 총 8회기로 구성하였으며, 3명의 대학생을 대상으로 예비프로그램을 실시한 후, 전문가의 평가와 참여자의 피드백 등을 토대로 일부 프로그램을 수정하였다. 본 프로그램 효과를 검증하기 위해 자율적으로 신청한 대학생 48명을 16명 실험집단, 16명 비교집단, 16명 통제집단으로 배치한 후, 실험집단은 성장지향성 증진 그룹코칭 프로그램을 실시하였고, 비교집단은 암묵증진이론에 기반한 학습목표지향성 향상 프로그램을 실시하였으며, 통제집단은 어떤 프로그램도 실시하지 않았다. 세 집단을 대상으로 프로그램 실시 전·후, 프로그램 종료 후 1개월·3개월 후의 시점에서 성장지향성, 삶의 만족도, 지각된 스트레스, 긍정심리자본, 대인관계를 측정하였다. 자료 분석은 세 집단이 동질 집단인지를 조사한 후, 시점과 집단에 대한 변량분석으로 상호작용효과를 측정하였다. 분석 결과, 성장지향성 증진 그룹코칭이 성장지향성, 삶의 만족도, 지각된 스트레스, 긍정심리자본, 대인관계에서 통계적으로 유의미하여 효과가 있었고 효과크기가 커서 비교 프로그램보다 더 효과가 있음이 확인되었다. 또한 프로그램 종료 후에도 코칭의 효과는 통계적으로 유의미하게 지속되었고, 효과크기가 커서 비교 프로그램 보다 더 효과적으로 지속됨을 확인하였다. 이 연구 결과를 토대로 본 연구는 성장지향성 증진 그룹코칭을 통해 대학생의 성장지향성, 삶의 만족도, 긍정심리자본, 대인관계 능력을 높이고 스트레스를 감소시키는 효과를 과학적 방법으로 검증하였다는 점에서 의의가 있다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.734-739
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• 2003

A new method of estimating the pose of a mobile-task robot is developed based upon an active calibration scheme. The utility of a mobile-task robot is widely recognized, which is formed by the serial connection of a mobile robot and a task robot. For the control of the mobile robot, an absolute position sensor is necessary. This paper proposes an active calibration scheme to estimate the pose of a mobile robot that carries a task robot on the top. The active calibration scheme is to estimate a pose of the mobile robot using the relative position/orientation to a known object whose location, size, and shape are known a priori. Through the homogeneous transformation, the absolute position/orientation of the camera is calculated and that is propagated to getting the pose of a mobile robot. With the experiments in the corridor, the proposed active calibration scheme is verified experimentally.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2004년도 춘계학술대회 논문집
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• pp.381-386
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• 2004

A flexible disk grinding system process has been introduced that utilized varying disk orientation with respect to workpiece along with the applied feed speed. A known process model methodologies has been used to fomulate processed surface profiles. Various process conditions including cutting speed, maximum feed speed and orientation angles could applied to observe process outcomes. Even though continuous and constant feed speed has been applied to the process, the results from the trapezoidal input velocity profiles would be observed and compared. Based on the control strategies including neural network methodologies, several output results were compared to find the optimum process condition.