• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.357-364
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• 2020

Indoor localization using an artificial marker plays a key role for a robot to be used in a service environment. A number of researchers have predefined the positions of markers and attached them to the positions in order to reduce the error of the localization method. However, it is practically impossible to attach a marker to the predetermined position accurately. In order to visualize the position of an object in the environment based on the marker attached to them, it is necessary to consider a change of marker's position or the addition of a marker because of moving the existed object or adding a new object. In this paper, we studied the method to estimate the artificial marker's global position for the visualization of environment. The system calculates the relative distance from a reference marker to others repeatedly to estimate the marker's position. When the marker's position is changed or new markers are added, our system can recognize the changed situation of the markers. To verify the proposed system, we attached 12 markers at regular intervals on the ceiling and compared the estimation result of the proposed method and the actual distance. In addition, we compared the estimation result when changing the position of an existing marker or adding a new marker.

• Transactions of the Korean Society of Automotive Engineers
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• v.6 no.1
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• pp.196-204
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• 1998

For the experimental measurement of instantaneous surface temperature of the piston of the DI mono cylinder diesel engine, the instantaneous temperature proves, data acquisition system, and grass-hopper type linkage system were developed. The instantaneous temperatures on the piston bowl, crown, lands and skirt were measured and analyzed, and the following conclusions were derived ; (i) The crank angle for the maximum instantaneous temperature during one cycle varies and moves back and forth by the measuring positions and engine speeds. (ii) The engine speeds, the positions of the measuring points and the cooling water temperature had an effect on the instantaneous temperature amplitude. (iii) The instantaneous temperature suing phenomena appeared on the temperature profiles of the piston crown, top and second land of ring, but on the temperature profiles of the parts of the third land of the fing and skirt, they didn't appear, (iv) The isothermal lines in the piston were acquired through the operation of the finite elements method using the measured temperatures as the boundary conditions.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.5
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• pp.1017-1022
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• 2011

This paper describes the improvement of the calculation by using $6{\sigma}$ method on steam turbine simulator in a nuclear power plant. The simulator is essential to not only verification and validation of control logic but also making sure of control constants in upgrading the long time used control system into the new one. And the dynamic model is a key point in that simulator. The model used during the retrofit period of the turbine controller in Kori Nuclear Power Plant makes difference in calculating generator output and control valve positions. That is because such operating data as the main steam pressure, the main steam temperature and control valve positions of Yongkwang #3 are different from those of Kori #4. Therefore, the model parameters must be tuned by using actual operating data for the high fidelity of simulator in calculating the dynamic characteristic of the model. This paper describes that the $6{\sigma}$ method is used in improvement of precision of generator output calculation in the steam turbine model of the simulator.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.32 no.1
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• pp.1-8
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• 2014

The positions, attitudes, and internal orientation parameters of three line scanners are critical factors in order to acquire the accurate location of objects on the ground. Based on the assumption that positions and attitudes of the sensors are derived either from direct geo-referencing which of using Global Positioning Systems (GPS) and Inertial Navigation Systems (INS), or from indirect geo-referencing which of using Ground Control Points (GCPs), this paper describes on biased effects of Internal Orientation Parameter (IOP) on the ground. The research concentrated on geometrical explanations of effects from different focal length biases on the ground. The Synthetic data was collected by reasonable flight trajectories and attitudes of three line scanners. The result of experiments demonstrated that the focal length bias in case of indirect geo-referencing does not have critical influences on the quality of reconstructed ground space. Also, the relationships between IO parameters and EO parameters were found by the correlation analysis. In fact, the focal length bias in case of the direct geo-referencing caused significant errors on coordinates of reconstructed objects. The RMSE values along the vertical direction and the amount of focal length bias turned out to be almost perfect linear relationship.

• Journal of Korea Multimedia Society
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• v.16 no.11
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• pp.1261-1271
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• 2013

Zoom tracking involves the automatic adjustment of the focus motor in response to the zoom motor movements for the purpose of keeping an object of interest in focus, and is typically achieved by moving the zoom and focus motors in a zoom lens module so as to follow the so-called "trace curve", which shows the in-focus motor positions versus the zoom motor positions for a specific object distance. Thus, one can simply implement zoom tracking by following the most closest trace curve after all the trace curve data are stored in memory. However, this approach is often prohibitive in practical implementation because of its large memory requirement. Many other zoom tracking methods such as GZT, AZT and etc. have been proposed to avoid large memory requirement but with a deteriorated performance. In this paper, we propose a new zoom tracking method called 'Approximate Feedback Zoom Tracking method (AFZT)' on DM36x-based IP network camera, which does not need large memory by approximating nearby trace curves, but generates better zoom tracking accuracy than GZT or AZT by utilizing focus value as feedback information. Experiments through real implementation shows the proposed zoom tracking method improves the tracking performance and works in real-time.

• The Journal of Korea Robotics Society
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• v.8 no.4
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• pp.266-272
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• 2013

Facial feature extraction and tracking are essential steps in human-robot-interaction (HRI) field such as face recognition, gaze estimation, and emotion recognition. Active shape model (ASM) is one of the successful generative models that extract the facial features. However, applying only ASM is not adequate for modeling a face in actual applications, because positions of facial features are unstably extracted due to limitation of the number of iterations in the ASM fitting algorithm. The unaccurate positions of facial features decrease the performance of the emotion recognition. In this paper, we propose real-time facial feature extraction and tracking framework using ASM and LK optical flow for emotion recognition. LK optical flow is desirable to estimate time-varying geometric parameters in sequential face images. In addition, we introduce a straightforward method to avoid tracking failure caused by partial occlusions that can be a serious problem for tracking based algorithm. Emotion recognition experiments with k-NN and SVM classifier shows over 95% classification accuracy for three emotions: "joy", "anger", and "disgust".

• Journal of Astronomy and Space Sciences
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• v.16 no.1
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• pp.69-78
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• 1999

We have developed an attitude sensing S/W system, one of modules of Mission Analysis System(MAS), which simulates attitude sensing data as almost the same as the real sensor of a satellite in orbit. When attitude elements($alpha,delta$) of a satellite and positions of Earth, Moon, and Sun are given, the S/W system calculates look angles and dihedral angles of each celestial bodies relative to the rotations axis of the satellite. It consists of two sub-modules : One is ephemeris service module which consider the perturbations of four planets(Venus, Mars, Jupiter, Saturn) for positions of Sun and Moon and 4 $\times$4 earth gravitational potential terms for a satellite's position. The other is attitude simulation module which generates attitude sensing data. Varying the rotational axis of a satellite and it's orbital elements, we simulated the generating attitude sensing data with this S/W system and discussed their results.

• The Journal of the Korea Contents Association
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• v.4 no.4
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• pp.141-152
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• 2004

In this paper, we propose the index structure supporting the future position retrievals with efficiently updating continuous positions of moving objects in location based services. For reducing update costs of moving objects, our index structure directly accesses to the leaf node with moving objects using secondary index structure and performs bottom up update when node information is changed. Positions of moving objects are stored in primary index structure. In primary index structure, the split information similar to kd-tree is stored to internal node for increasing node's fanout. And the proposed index structure supports the future position retrievals using velocity of moving objects in the child node.

• Journal of the Korean Mathematical Society
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• v.39 no.5
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• pp.745-764
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• 2002

In this paper we Study a time-optimal model of pursuit in which the players move on a plane with bounded velocities. This game is supposed to be a nonzero-sum group pursuit game. The main point of the work is to construct and compare cooperative and non-cooperative solutions in the game and make a conclusion about cooperation possibility in differential pursuit games. We consider all possible cooperations of the players in the game. For that purpose for every game $\Gamma(x_0,y_0,z_0)$ we construct the corresponding game in characteristic function form $\Gamma_v(x_0,y_0,z_0)$. We show that in this game there exists the nonempty core for any initial positions of the players. The core can take four various forms depending on initial positions of the players. We study how the core changes when the game is proceeding. For the original agreement (an imputation from the original core) to remain in force at each current instant t it is necessary for the core to be time-consistent. Nonemptiness of the core in any current subgame constructing along a cooperative trajectory and its time-consistency are shown. Finally, we discuss advantages and disadvantages of choosing this or that imputation from the core.

• Journal of Microbiology and Biotechnology
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• v.17 no.7
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• pp.1204-1207
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• 2007

Structural analyses have shown that nucleotides at the positions 770 and 771 of Escherichia coli 16S rRNA are implicated in forming one of highly conserved intersubunit bridges of the ribosome, B2c. To examine a functional role of these residues, base substitutions were introduced at these positions and mutant ribosomes were analyzed for their protein synthesis ability using a specialized ribosome system. The results showed requirement of a pyrimidine at the position 770 for ribosome function regardless of the nucleotide identity at the position 771. Sucrose gradient profiles of ribosomes revealed that the loss of protein-synthesis ability of mutant ribosome bearing a base substitution from C to G at the position 770 stems from its inability to form 70S ribosomes. These findings indicate involvement of nucleotide at the position 770, not 771, in ribosomal subunit association and provide a useful rRNA mutation that can be used as a target to investigate the physical interaction between 16S and 23S rRNA.