• Journal of Broadcast Engineering
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• v.1 no.2
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• pp.176-187
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• 1996

This paper deals with the accurate estimation of 3- D pose (position and orientation) of a moving object with reference to the world frame (or robot base frame), based on a sequence of stereo images taken by cameras mounted on the end - effector of a robot manipulator. This work is an extension of the previous work[1]. Emphasis is given to the 3-D pose estimation relative to the world (or robot base) frame under the presence of not only the measurement noise in 2 - D images[ 1] but also the camera position errors due to the random noise involved in joint angles of a robot manipulator. To this end, a new set of discrete linear Kalman filter equations is derived, based on the following: 1) the orientation error of the object frame due to measurement noise in 2 - D images is modeled with reference to the camera frame by analyzing the noise propagation through 3- D reconstruction; 2) an extended Jacobian matrix is formulated by combining the result of 1) and the orientation error of the end-effector frame due to joint angle errors through robot differential kinematics; and 3) the rotational motion of an object, which is nonlinear in nature, is linearized based on quaternions. Motion parameters are computed from the estimated quaternions based on the iterated least-squares method. Simulation results show the significant reduction of estimation errors and also demonstrate an accurate convergence of the actual motion parameters to the true values.

• Korean small business review
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• v.42 no.4
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• pp.173-212
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• 2020

Interest in sustainable management based on the stakeholder perspective is expanding not only within an organization but also across the supply chain. For large companies that have established networks, sustainability management of the supply chain is now a factor that not only determines the social performance of the company as a whole, but also determines its long-term competitive position. Despite these changes in the business world, especially the proliferation of the sustainable supply chain management (SSCM) system, systematic research on SSCM has been lacking. In particular, there was a lack of empirical analysis on which factors promoted the establishment of the SSCM system for large companies and what's the effects of SSCM. In this regard, this study analyzes i) the impact of the social responsibility pressure of customers as external stakeholders and the CSR orientation of purchasing managers as internal stakeholders on supply chain transparency and partnership cooperation respectively, and ii) whether supply chain transparency and partnership cooperation can enhance corporate reputation. The samples used in this study were 69 large companies representing Korea. The results showed that the social responsibility pressure of customers and the purchasing manager's CSR orientation were positively related to the transparency of the supply chain. However, for partnership cooperation, only the purchasing manager's CSR orientation was found to have a positive and significant effect. Meanwhile, both supply chain transparency and partnership cooperation were positively related to the corporate reputation. At the end of the study, discussions on the implications of the results and future research directions will be presented.

• Bulletin of the Korean Chemical Society
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• v.34 no.2
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• pp.600-608
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• 2013

Amide analogs of tridecapeptide ${\alpha}$-factor (WHWLQLKPGQPMYCONH$_2$) of Saccharomyces cerevisiae, in which Trp at position 1 and 3 were replaced with other residues, were synthesized to ascertain whether cooperative interactions between two Trp residues occurred upon binding with its receptor. Analogs containing Ala or Aib at position 3 of the peptide $[Ala_3]{\alpha}$-factor amide (2) and $[Aib_3]{\alpha}$-factor amide (5) exhibited greater decreases in bioactivity than analogs with same residue at position one $[Ala^1]{\alpha}$-factor amide (1) and $[Aib^1]{\alpha}$-factor amide (4), reflecting that $Trp^3$ may plays more important role than $Trp^1$ for agonist activity. Analogs containing Ala or Aib in both position one and three 3, 6 exhibited complete loss of bioactivity, emphasizing both the essential role and the combined role of two indole rings for triggering cell signaling. In contrast, double substituted analog with D-Trp in both positions 9 exhibited greater activity than single substituted analog with D-Trp 8 or deleted analog 7, reflecting the combined contribution of two tryptophane residues of ${\alpha}$-factor ligand to activation of Ste2p through interaction with residue $Tyr^{266}$ and importance of the proper parallel orientation of two indole rings for efficient triggering of signal G protein coupled activation. Among ten amide analogs, $[Ala^{1,3}]{\alpha}$-factor amide (3), $[Aib^{1,3}]{\alpha}$-factor amide (6), [D-$Trp^3]{\alpha}$-factor amide (8) and [des-$Trp^1,Phe^3]{\alpha}$-factor amide (10) were found to have antagonistic activity. Analogs 3 and 6 showed greater antagonistic activity than analogs 8 and 10.

• Journal of Sensor Science and Technology
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• v.31 no.3
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• pp.156-162
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• 2022

This study estimates the relative position between body segments using segment orientation and segment-to-joint center (S2J) vectors. In many wearable motion tracking technologies, the S2J vector is treated as a constant based on the assumption that rigid body segments are connected by a mechanical ball joint. However, human body segments are deformable non-rigid bodies, and they are connected via ligaments and tendons; therefore, the S2J vector should be determined as a time-varying vector, instead of a constant. In this regard, our previous study (2021) proposed a method for determining the time-varying S2J vector from the learning dataset using a regression method. Because that method uses a deformation-related variable to consider the deformation of S2J vectors, the optimal variable must be determined in terms of estimation accuracy by motion and segment. In this study, we investigated the effects of deformation-related variables on the estimation accuracy of the relative position. The experimental results showed that the estimation accuracy was the highest when the flexion and adduction angles of the shoulder and the flexion angles of the shoulder and elbow were selected as deformation-related variables for the sternum-to-upper arm and upper arm-to-forearm, respectively. Furthermore, the case with multiple deformation-related variables was superior by an average of 2.19 mm compared to the case with a single variable.

• Journal of the Korea Furniture Society
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• v.22 no.3
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• pp.151-159
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• 2011

This study is to suggest versatile chair designs that are organically shaped to take individual orientation. This study intends to provide design method to ensure the face of the chair that contacts the body of its user is transformed flexibly to support the body. The movement of human body is not just a behavior but the ways and tools that reflexively express against external stimuli that are sensed and identified by the person. The versatile chair whose users' sitting position is fixed is made by covering the lump form with a piece of cloth ensuring that the content is firmly fixed and by placing the beads-woven wood fabric according to the shape. And then, it is covered with the external cover. The proposed versatile chair designs assume specific forms as follows: First, it is a versatile chair whose user's sitting position can fix. The organically-shaped form that can accept varying postures is made as a mass, which changes into different shapes when human body touches the form so that users can lie down or sit. Due to such transformation, body posture is determined and individual differences in shape changing are all acceptable. Second, it is a versatile chair that reflects the user's position in a fixed chair, where a cloth-wrapper feature is applied to the form a sifit wrapped postures so that a variety of body postures can be accepted. Finally, a versatile chair that reflects the user's position by changing the shape of is covered with forms so that it will be transformed and used in accordance with situations and chair shapes and reflect multiple shapes including round or square ones.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.50-50
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• 2000

In this paper, a new measuring system is :proposed which can measure the fine 6-DOF displacement of rigid bodies. Its measurement principle is based on detection of laser beam reflected from a specially fabricated mirror that looks like a triangular pyramid having an equilateral cross-sectional shape. The mirror has three lateral reflective surfaces inclined 45$^{\circ}$ to its bottom surface. We call this mirror 3-facet mirror. The 3-facet mirror is mounted on the object whose 6-DOF displacement is to be measured. The measurement is operated by a laser-based optical system composed of a 3-facet mirror, a laser source, three position-sensitive detectors(PSD). In the sensor system, three PSDs are located at three corner points of a triangular formation, which is an equilateral triangular formation tying parallel to the reference plane. The sensitive areas of three PSDs are oriented toward the center point of the triangular formation. The object whose 6-DOF displacement is to be measured is situated at the center with the 3-facet mirror on its top surface. A laser beam is emitted from the laser source located at the upright position and vertically incident on the top of the 3-fatcet mirror. Since each reflective facet faces toward each PSD, the laser beam is reflected at the 3-facet mirror and splits into three sub-beams, each of which is reflected from the three facets and finally arrives at three PSDs, respectively. Since each PSD is a 2-dimensional sensor, we can acquire the information on the 6-DOF displacement of the 3-facet mirror. From this principle, we can get 6-DOF displacement of any object simply by mounting the 3-facet mirror on the object. In this paper, we model the relationship between the 6-DOF displacement of the object and the outputs of three PSDs. And, a series of simulations are performed to demonstrate the effectiveness of the proposed method. The simulation results show that the proposed sensing system can be an effective means of obtaining 3-dimensional position and orientation of arbitrary objects.

• Journal of Platform Technology
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• v.12 no.1
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• pp.44-54
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• 2024

The existing indoor positioning methods using beacons or tags suffer from issues such as occasional undetection or increased errors due to noise. In this paper, we propose a method for determining the indoor position of a robot using the distance and, the angle between the direction of a target object whose position is known and the direction in which the robot views the target object from the front. The method proposed in this paper utilizes a depth camera to measure distance and calculate angles. Distance is measured using depth information captured by the camera, while angles are determined using images captured by the camera to determine the orientation of the target object. The proposed method calculates coordinate displacements using distance and angle. And then the method determines the position of the mobile robot using these displacements and the coordinates of the target object. To show the applicability of the proposed method for indoor positioning, we conducted experimental implementation and compared measured displacements. The results showed errors within 50mm, but considering the size of the mobile robot, it is judged that the method proposed in this paper can be sufficiently used for indoor positioning.

• Journal of the Korean Academy of Esthetic Dentistry
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• v.24 no.1
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• pp.39-48
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• 2015

The critical factors affecting the esthetics of anterior implants can be summarized as following: 1) Correct positioning of implant fixture, 2) Enough amount of alveolar bone, 3) Optimum volume of soft tissue. The position of implant is probably the most important factor in obtaining esthetic treatment outcome. The 3-dimensional orientation of implant is determined by the position on the alveolar ridge and its direction. Clinicians often try to mimic natural teeth when fabricating restorations. During the course of esthetic diagnosis and treatment, however, one should not forget to consider the correlation between facial pattern, lips, gingiva, alveolar ridge, as well as remaining dentition. Since anterior region is biologically unfavorable when compared with posterior region, one minor discrepancy in positioning of implant can cause esthetically undesirable treatment outcome. If one understands the biological and prosthetic meaning of implant' s 3-dimensional position, he or she can achieve superior esthetic outcome in anterior region.

• The KIPS Transactions:PartB
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• v.15B no.5
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• pp.421-434
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• 2008

As computer graphics, virtual reality and augmented reality technologies have been developed, in many application areas based on those techniques, interaction for 3D space is required such as selection and manipulation of an 3D object. In this paper, we propose a framework for a vision-based 3D interaction which enables to simulate functions of an expensive 3D mouse for a desktop environment. The proposed framework includes a specially manufactured interaction device using three-color LEDs. By recognizing position and color of the LED from video sequences, various events of the mouse and 6 DOF interactions are supported. Since the proposed device is more intuitive and easier than an existing 3D mouse which is expensive and requires skilled manipulation, it can be used without additional learning or training. In this paper, we explain methods for making a pointing device using three-color LEDs which is one of the components of the proposed framework, calculating 3D position and orientation of the pointer and analyzing color of the LED from video sequences. We verify accuracy and usefulness of the proposed device by showing a measurement result of an error of the 3D position and orientation.

• Journal of Biomedical Engineering Research
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• v.26 no.5
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• pp.265-270
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• 2005

A new Computer Integrated Surgical Robot system is composed of a surgical robot, a surgical planning system, and an optical tracking system. The system plays roles of an assisting surgeon and taking the place of surgeons for inserting a pedicle screw in spinal fusion. Compared to pure surgical navigation systems as well as conventional methods for spinal fusion, it is able to achieve better accuracy through compensating for the portending movement of the surgical target area. Furthermore, the robot can position and guide needles, drills, and other surgical instruments or conducts drilling/screwing directly. Preoperatively, the desired entry point, orientation, and depth of surgical tools for pedicle screw insertion are determined by the surgical planning system based on CT/MR images. Intra-operatively, position information on surgical instruments and targeted surgical areas is obtained from the navigation system. Two exemplary experiments employing the developed image-guided surgical robot system are conducted.