• Journal of information and communication convergence engineering
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• v.10 no.4
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• pp.390-395
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• 2012

This paper describes an implementation of automatic mutual localization of swarm robots using a particle filter. Each robot determines the location of the other robots using wireless sensors. The measured data will be used for determination of the movement method of the robot itself. It also affects the other robots' self-arrangement into formations such as circles and lines. We discuss the problem of a circle formation enclosing a target that moves. This method is the solution for enclosing an invader in a circle formation based on mutual localization of the multi-robot without infrastructure. We use trilateration, which does require knowing the value of the coordinates of the reference points. Therefore, specifying the enclosure point based on the number of robots and their relative positions in the coordinate system. A particle filter is used to improve the accuracy of the robot's location. The particle filter is operates better for mutual location of robots than any other estimation algorithms. Through the experiments, we show that the proposed scheme is stable and works well in real environments.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.9
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• pp.947-953
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• 2011

Radome aberration error causes degradation of miss distance as well as stability of high maneuver missile system with RF seeker. A study about radome compensation method is important in this kind of missile system design. Several kinds of methods showed good compensation performance in their paper. Proposed adaptive Particle filter estimates line of sight rate excluding the radome induced error. This paper shows effectiveness of adaptive Particle filter as compensation method of radome aberration error. Robust performance of this filter depends on external aiding measurement, target acceleration. Tuning of system error covariance can make this filter unsensitive against the error of target acceleration information. This paper demonstrates practical usage of adaptive Particle filter for reducing miss distance and increasing stability against disturbance of radome aberration error through performance analysis.

• Journal of Mechanical Science and Technology
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• v.16 no.2
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• pp.192-202
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• 2002

In particle or short-fiber reinforced composites, cracking of the reinforcements is a significant damage mode because the cracked reinforcements lose load carrying capacity. This paper deals with an incremental damage theory of particle or short-fiber reinforced composites. The composite undergoing damage process contains intact and broken reinforcements in a matrix. To describe the load carrying capacity of cracked reinforcement, the average stress of cracked ellipsoidal inhomogeneity in an infinite body as proposed in the previous paper is introduced. An incremental constitutive relation on particle or short-fiber reinforced composites including progressive cracking of the reinforcements is developed based on Eshelby's (1957) equivalent inclusion method and Mori and Tanaka\`s (1973) mean field concept. Influence of the cracking damage on the stress-strain response of composites is demonstrated.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1998.10a
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• pp.287-292
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• 1998

In particle or short-fiber reinforced composites. cracking of the reinforcements is a significant damage mode because the broken reinforcements lose load carrying capacity. This paper deals with the load carrying capacity of intact and broken ellipsoidal inhomogeneities embedded in an infinite body and a damage theory of particle or short-fiber reinforce composites. The average stress in the inhomogeneity represents its load carrying capacity. and the difference between the average stresses of the intact t and broken inhomogeneities indicates the loss of load carrying capacity due to cracking damage. The composite in damage process contains intact and broken reinforcements in a matrix. An incremental constitutive relation of particle or short-fiber reinforced composites including the progressive cracking damage of the reinforcements have been developed based on the Eshelby's equivalent inclusion method and Mori and Tanaka's mean field concept. Influence of the cracking damage on the stress-strain response of the composites is demonstrated.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2001.11a
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• pp.53-58
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• 2001

Fractal dimension is the method to measure the roughness and the irregularity of something that cannot be defined obviously by Euclidean dimension. And the analysis method of this dimension don't need perfect, accurate boundary and color like analysis lot diameter, perimeter, aspect or reflectivity of wear particles or surface. If we arranged the morphological characteristic of various wear particle by using the characteristic of fractal dimension, it might be very efficient to the diagnosis of driving condition. In order to describe morphology of various wear particle, the wear test was carried out under friction experimental conditions. And fractal descriptors was applied to boundary and surface of wear particle with image processing system. These descriptors to analyze shape and surface wear particle are boundary fractal dimension and surface fractal dimension.

• Proceedings of the Korean Vacuum Society Conference
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• 2011.02a
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• pp.434-434
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• 2011

Electrochemical method have been employed in this work to modify the chemical vapour deposited nitrogen doped hydrogen amorphous diamond-like carbon (N-DLC) film to fabricate nickel and copper nano particle modified N-DLC electrodes. The electrochemical behaviour of the metal nano particle modified N-DLC electrodes have been characterized at the presence of glucose in electrolyte. Meanwhile, the N-DLC film structure and the morphology of metal nano particles on the N-DLC surface have been investigated using micro-Raman spectroscopy, X-ray photoelectron spectroscopy and atomic force microscopy. The nickel nano particle modified N-DLC electrode exhibits a high catalytic activity and low background current, while the advantage of copper modified N-DLC electrode is drawn back by copper oxidizations at anodic potentials. The results show that metal nano particle modification of N-DLC surface could be a promising method for controlling the electrochemical properties of N-DLC electrodes.

• Journal of Mechanical Science and Technology
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• v.18 no.7
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• pp.1236-1245
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• 2004

In this study, an optical imaging method was developed for the measurements of the sizes and velocities of droplets in sprays. Double-exposure single-frame spray images were captured by the imaging system. An image processing program was developed for the measurements of the sizes and positions of individual particles including separation of the overlapped particles and particle tracking and pairing at two time instants. To recognize and separate overlapping particles, the morphological method based on watershed segmentation as well as separation using the perimeter and convex hull of image was used consecutively. Better results in separation were obtained by utilization of both methods especially for the multiple or heavily-overlapped particles. The match probability method was adopted for particle tracking and pairing after identifying the positions of individual particles and it produced good matching results even for large particles like droplets in sprays. Therefore, the developed optical imaging method could provide a reliable way of analyzing the motion and size distribution of droplets produced by various sprays and atomization devices.

• Journal of the Korea Computer Graphics Society
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• v.14 no.4
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• pp.1-5
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• 2008

In this paper, we propose an efficient technique for improving the grid based fluid simulation by sub-grid visuals. The detailed turbulency generated efficiently by Vortex Particle Method are blended with the flow fields coming from the traditional incompressible Navier-Stokes solver. The algorithm enables large- and small- scale detail to be edited separately.

• The Journal of Korea Robotics Society
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• v.2 no.1
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• pp.21-28
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• 2007

The Intelligent Space(ISpace) provides challenging research fields for surveillance, human-computer interfacing, networked camera conferencing, industrial monitoring or service and training applications. ISpace is the space where many intelligent devices, such as computers and sensors, are distributed. According to the cooperation of many intelligent devices, the environment, it is very important that the system knows the location information to offer the useful services. In order to achieve these goals, we present a method for representing, tracking and human following by fusing distributed multiple vision systems in ISpace, with application to pedestrian tracking in a crowd. And the article presents the integration of color distributions into particle filtering. Particle filters provide a robust tracking framework under ambiguity conditions. We propose to track the moving objects by generating hypotheses not in the image plan but on the top-view reconstruction of the scene. Comparative results on real video sequences show the advantage of our method for multi-object tracking. Also, the method is applied to the intelligent environment and its performance is verified by the experiments.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.5 no.1
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• pp.46-51
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• 2005

Intelligent Space(ISpace) is the space where many intelligent devices, such as computers and sensors, are distributed. According to the cooperation of many intelligent devices, the environment, it is very important that the system knows the location information to offer the useful services. In order to achieve these goals, we present a method for representing, tracking and human following by fusing distributed multiple vision systems in ISpace, with application to pedestrian tracking in a crowd. And the article presents the integration of color distributions into particle filtering. Particle filters provide a robust tracking framework under ambiguity conditions. We propose to track the moving objects by generating hypotheses not in the image plan but on the top-view reconstruction of the scene. Comparative results on real video sequences show the advantage of our method for multi-object tracking. Simulations are carried out to evaluate the proposed performance. Also, the method is applied to the intelligent environment and its performance is verified by the experiments.