• The Journal of Advanced Prosthodontics
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• v.12 no.3
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• pp.107-113
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• 2020

PURPOSE. The aim of this study was to examine the importance of the defect-free scanning of a scan body by assessing the accuracy of virtual implant positioning in computer-aided design (CAD) software when the scan body image is improperly scanned. MATERIALS AND METHODS. A scan body was digitized in a dentiform model using an intraoral scanner, and scanned images with differing levels of image deficiency were generated: 5%, 10%, and 15% deficiency in the flat or rounded area. Using a best-fit image matching algorithm on each of the deficient scan body images, corresponding virtual implants were created. The accuracy of the implant position was evaluated by comparing the linear and angular discrepancies between the actual and virtual positions of the implant. Kruskal-Wallis tests and Mann-Whitney U tests with Bonferroni correction were used to determine the statistical differences among the seven scanned image deficiency groups (α=.05). RESULTS. In general, the linear and angular discrepancies of the implant position in the software increased as the deficiency of the scan body images increased. A 15% scan body image deficiency generated larger discrepancies than deficiency of 5% and 10%. The difference of scan defect position, flat or rounded area, did not affect the accuracy of virtual implant orientation at 5% and 10% deficiency level, but did affect the accuracy at 15% deficiency level. CONCLUSION. Deficiencies in the scanned images of a scan body can decrease the accuracy of the implant positioning in CAD software when the defect is large, thus leading to the incorrect fabrication of implant prostheses.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.48 no.3
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• pp.6-12
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• 2011

Electric vehicles and robots are real-time distributed control systems composed of multiple drive subsystems using micro controller units. Each control subsystem should be modular, compact, power saving, interoperable and fault tolerable in order to be incorporated into the networked real-time distributed control system. Under the networked real-time distributed control the synchronization problem can be occurred to the position and orientation tracking control due to the load variance, mismatch and time delay between the multiple drive subsystems. This paper suggests two types of position synchronization control of the single link manipulators. One of them is composed of cross controller, Kalman filter and disturbance observer, and the other uses the generation of target trajectories to minimize the gradient vector of the scalar function which is composed of the sum of square errors between the reference input vector and the output vectors. The availability of the proposed control schemes is shown through the control experiments.

• Journal of KIISE
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• v.45 no.3
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• pp.211-223
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• 2018

In this paper, we propose a robot-centered direction relation representation and the relevant reasoning methods for indoor service robots. Many conventional works on qualitative spatial reasoning, when deciding the relative direction relation of the target object, are based on the use of position information only. These reasoning methods may infer an incorrect direction relation of the target object relative to the robot, since they do not take into consideration the heading direction of the robot itself as the base object. In this paper, we present a robot-centered direction relation representation and the reasoning methods. When deciding the relative directional relationship of target objects based on the robot in an indoor environment, the proposed methods make use of the orientation information as well as the position information of the robot. The robot-centered reasoning methods are implemented by extending the existing cone-based, matrix-based, and hybrid methods which utilized only the position information of two objects. In various experiments with both the physical Turtlebot and the simulated one, the proposed representation and reasoning methods displayed their high performance and applicability.

• Design & Manufacturing
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• v.17 no.3
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• pp.55-60
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• 2023

The fiber-reinforced plastics and cellular injection molding process can be used to efficiently reduce the weight of battery housing components of mild hybrid electronic vehicles(MHEV) made of metal. However, the fiber orientation of fiber-reinforced plastics and the growth of foaming cells are intertwined during the injection molding process, so it is difficult to predict the mechanical properties of products in the design process. Therefore, it is necessary to evaluate the mechanical properties of the materials prior to the efficient stiffness design of the target product. In this study, a study was conducted to evaluated the mechanical properties of fiber reinforced cellular injection-molded specimens. Two types of fiber-reinforced plastics that can be used in the target product were evaluated for changes in tensile properties of cellular injection-molded specimens depending on the foaming ratio and position from the injection gate. The PP and PA66 specimens showed a decrease of tensile modulus and strength of approximately 30% and 17% depending on the foaming ratio, respectively. Also, the tensile strength decreased approximately 26% and 17% depending on the position from the injection gate, respectively. As a result, it was confirmed that the PP specimens have a significantly mechanical property degradation compared to the PA66 specimens depending on the foaming ratio and position.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.28 no.5
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• pp.531-537
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• 2010

Real-time Aerial Monitoring System performs the rapid mapping in an emergency situation so that the geoinformation could be constructed in near real time. In this system, the position and attitude information from GPS/INS integration algorithm is used to perform the aerial triangulation(AT) without GCPs. Therefore, if we obtain Exterior Orientation(EO) estimates from AT sequentially, EO are used as the measurements in the Kalman filter. In this study, we simulate the GPS/IMS/Image data for an UAV-based aerial monitoring system and compare the GPS/INS/AT with and without from AT. Comparative analysis showed that result from the GPS/INS/AT with EO update is more accurate than without the update. However, when the vehicle turns, the position error significantly increases which need more analysis in the future.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.12
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• pp.19-29
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• 1997

This paper presents stable kinematic modeling and path planning and path tracking algorithms for the poisition control of 4-wheeled 2-d.o.f(degree of freedom) mobile robot. We drived the actuated inverse and sensed forward solution for the calculation of actuator velocity and robot velocities. the deal-reckoning algorithm is introduced to calculate the position of WMR in real time. The gaussian functions are applied to control and to design the smooth orientation angle of WMR and the path planning algorithm for obstacle avoidance is prosed. We composed feedback control system to compensate for error because of uncertainty kinematic modeling and measurement noise. The simulation resutls show that the proposed kinematkc modeling and path planning and feedback control algorithms are useful.

• Journal of Mechanical Science and Technology
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• v.18 no.3
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• pp.370-378
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• 2004

An autonomous pipeline inspection gauge system has been developed for determining position, orientation, curvature, and deformations such as dents and wrinkles of operating pipelines by Korea Gas Company and Seoul National University. The most important part of several subsystems is the Strapdown Inertial Measurement Unit (SIMU), which is integrated with velocity and distance sensors, weld detection system, and digital recording device. The Geometry Pipeline Inspection Gauge (GeoPIG) is designed to operate continuously and autonomously for a week or longer in operating gas pipelines. In this paper, the design concepts, system integration, and data processing/analysis method for the PIG will be presented. Results from the recent experiment for a 58 kilometer gas pipeline will be discussed.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.586-588
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• 2004

Although stable control algorithm has been implemented to the biped robot, the stability is not guaranteed because of encoder errors and/or rigid body elastics. Hence precise body pose estimation is required for more natural and long term walk. Specially pelvis sloping by gravity or uneven ground on landing place are most critical reason for undulated motion. In order to overcome these difficulties an estimation system for foot position and orientation using PSD sensors and Gyro sensors is proposed along with calibration algorithm and experimental verification.

• International Journal of Computer Science & Network Security
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• v.21 no.12
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• pp.117-122
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• 2021

The article considers the position of scientists on the concept of "pedagogical technology", identifies the signs of pedagogical technology and existing classifications, considers non-traditional (innovative) learning technologies, as well as their practical forms of application in the educational process, summarizes the results, makes recommendations for the practical application of the studied material. The article considered the basic concepts of pedagogical technology, as well as some types of non-traditional (innovative) teaching technologies. Also, examples of the use of some elements of innovative technologies in practical educational activities are given. The choice of specific non-traditional pedagogical technologies is determined by the target orientation, content specificity, individualization of training, technical equipment of the educational institution, etc.

• Current Optics and Photonics
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• v.8 no.1
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• pp.56-64
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• 2024

In response to the current situation where general methods cannot effectively compensate for the phase delay of ordinary optical mixers, a multi-layer spatial beam-splitting optical mixer is designed using total reflection triangular prisms and polarization beam splittings. The phase delay is generated by the wave plate, and the mixer can use the existing parallel plates in the structure to individually compensate for the phase of the four output beams. A mixer model is established based on the structure, and the influence of the position and orientation of the optical components on the phase delay is analyzed. The feasibility of the phase compensation method is simulated and analyzed. The results show that the mixer can effectively compensate for the four outputs of the optical mixer over a wide range. The mixer has a compact structure, good performance, and significant advantages in phase error control, production, and tuning, making it suitable for free-space coherent optical communication systems.