• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.58-62
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• 1987

In this paper, path planning, modelling, and control of manipulators are described. The path planning deals with specifying how to define the motion of hand along straight line paths in the minimum amount of time. A new model was developed for the manipulator, which is based on the classical equations of motion of a rigid body. A new control algorithm was developed which controls the manipulator in terms of the position and orientation of the hand.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1403-1406
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• 1997

Generally, G.P.S(Global Positioning System) is using for the car navigation system but it has some restrictions such as the discontinuity of earth satellites and SA (Selective Availability). Recently, the hybrid navigation system combining with G.P.S and Dead-reckoning are much attractuve for improving the accuracy of a vehicle positioning. G.P.S called satellite navigation system, can measure its position by using satellites. Dead-Reckoning is the self-contained navigatioin system using a wheel sensor for the vehicle velocity and a gyro sensor for the vehicle angular velocity. Some algorithm could be generated for finding the vehicle position and orientation. In this paper, we developed a hybrid algotithm wiht G.P.S DR and Map-Matching.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.5
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• pp.483-488
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• 2008

An active omni-directional raging system using an omni-directional vision with structured light has many advantages compared to the conventional ranging systems: robustness against external illumination noise because of the laser structured light and computational efficiency because of one shot image containing $360^{\circ}$ environment information from the omni-directional vision. The omni-directional range data represents a local distance map at a certain position in the workspace. In this paper, we propose a matching algorithm for the local distance map with the given global map database, thereby to localize a mobile robot in the global workspace. Since the global map database consists of line segments representing edges of environment object in general, the matching algorithm is based on relative position and orientation of line segments in the local map and the global map. The effectiveness of the proposed omni-directional ranging system and the matching are verified through experiments.

• Proceedings of the KOSOMBE Conference
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• v.1997 no.11
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• pp.44-47
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• 1997

This paper is a study on the hand gesture recognition using Instance-based teaming, Symbolic learning algorithms and Power Glove which supplies information on finger position, hand position and orientation. The data were carefully examined, and a few features of the data that would serve as good discriminants between signs when used with the learning algorithms were extracted. The hand gesture data collected from 5 people were applied to the teaming algorithms. In spite of the noise and accuracy constraints of the equipment used, some accuracy rates were achieved.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.733-737
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• 1996

This paper presents a method to measure tile position and orientation of a prismatic polyhedral object (of unknown width, length, height, and number of vertices) using machine vision. The width, length, and origin of workplace where an object is lying are defined as Preliminary operation. The edges of an object are detected from captured image using least sum of square error. The information of an object is determined from the geometric relationships between edges. As an user interface, a versatile image processing program is developed in several modules, and renders a very useful 3D measurement at a limited constraints when adopted in automation of production process. The flexibility of camera position from the algorithm developrf can be used for automated pick and place operations and feeding workpiece u: ;ing assembly robot.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.7
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• pp.1283-1289
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• 2016

In this paper, we propose a new localization system using ceiling outlines. We acquire the entire ceiling image by using fisheye lens camera, and extract the lines by binarization and segmentation. The optical flow algorithm is then applied to identify the ceiling region from the segmented regions. Finally we obtain the position and orientation of the robot by the center position and momentum of ceiling region. Since we use the fully detected outlines, the accuracy and reliability of the localization system is improved. The experimental result are finally presented to show the effectiveness of the proposed method.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2010.03b
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• pp.5-5
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• 2010

The depth of the object pointed by the laser beam is computed depending on the pixel position on the CCD There involved several number of internal and external parameters such as inter-pixel distance, focal length, position and orientation of the system components in the depth measurement error. In this paper, it is shown through the error sensitivity analysis of the parameters that the most important parameters in the sense of error sources are the angle of the laser beam and the inter pixel distance. Also, the calibration technique to minimize their effect for the depth computation is proposed.

• Proceedings of the KSRS Conference
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• 1998.09a
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• pp.342-348
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• 1998

The purpose of this paper is to extract fast DEM (Digital Elevation Model) using satellite images. DEM extraction consists of three parts. First part is the modeling of satellite position and attitude, second part is the matching of two images to find corresponding poults of them and third part is to calculate the elevation of each point by using the result of the first and second part. The position and attitude modeling of satellite is processed by using GCPs. A area based matching method is used to find corresponding points between the stereo satellite images. In the DEM generation system, this procedure holds most of a processing time, therefore a new fast matching algorithm is proposed to reduce the time for matching. The elevation of each point is calculated using the exterior orientation obtained from modeling and disparity from matching. In this paper, the SPOT satellite images, level IA 6000 $\times$6000 panchromatic images are used to extract DEM. The experiment result shows the possibility of fast DEM. extraction with the satellite images.

• Journal of Biomedical Engineering Research
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• v.12 no.3
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• pp.149-156
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• 1991

In this paper, fluttering behavior of mechanical bileaflet heart valve prosthesis was analyzed taking into consideration of the impact between valve plate and stopper Vibration system of the valve was modeled as a rotating system, and equations are induced by moment equilibrium equations. Lift force, drag force, gravity and buoyancy were considered as external forces acting on the valve plate/ The 4th order Runge-Kutta method was used to solve the equations. Valve plate does not come to the static equilibrium position at a stretch, but come to that position after under damping vibration. Damping ratio increases as the cardiac optput increases, and the mean damping ratio is in the range of 0.16~40.25. Fluttering frequency does not have any specific value, but varies as a function of time. It is in the range of 10~40Hz. Valve opening appears to be affected by the orientation of the of the valve relative to gravitational forces.

• International Journal of Control, Automation, and Systems
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• v.4 no.5
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• pp.615-623
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• 2006

The gyroscope free strap-down INS is composed only of accelerometers. Any gyroscope free INS navigation error is deeply affected by the accuracy of the sensor bias, scale factor, orientation and location error. However these parameters can be found by calibration. There is an important research issue about a multi-position calibration method in this paper. It provides a novel method to find the error parameters for the six-accelerometer INS. A superior simulation is shown that the multi-position calibration can find the specifications of a six-accelerometer INS in laboratory. From these parameters the six-accelerometer INS could apply in realistic navigation.