• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 1999.06a
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• pp.125-131
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• 1999

In this paper, we address practical methods for calculating camera lens distortion for real time applications. Although the lens distortion problem can be easily ignored for constant-parameter lenses, in the field of real-time camera calibrations, for zoom lenses a large number of calculations are needed to calculate the distortion. However, if the distortion can be calculated independently of the other camera parameter, we can easily calibrate a camera without the need for a large number of calculations. Based on Tsai's camera model, we propose two different methods for calculating lens distortion. These methods are so simple and require so few calculations that the lens distortion can be rapidly calculated even in real-time applications. The first method is to refer to the focal length - lens distortion Look Up Table(LUT), which is constructed in the initialization process. The second method is to use the relationship between the feature points found in the image. Experiments were carried out for both methods, results of which show that the proposed methods are favorably comparable in performance with non-real full optimization method.

• Journal of Korea Multimedia Society
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• v.24 no.12
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• pp.1682-1692
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• 2021

Digital Twin, one of the core technologies of the Fourth Industrial Revolution, is attracting attention as a very suitable technology for disaster monitoring such as fires and earthquakes. In this paper, we implement a system equipped with UWB RTLS(Ultra-Wideband Real Time Location System), real-time remote control, and video streaming, which are element technologies for disaster monitoring digital twin. Since the proposed system structure is based on a cloud server, the actual location of the UWB indoor positioning-based client is transmitted to the user device in real time and stored on the cloud server for statistical and data analysis. In addition, we demonstrate through experiments that outliers occurs when the value of RSSI(Received Signal Strength Indicator) decreases due to communication collisions between UWB Tags, and propose an RSSI outlier correction algorithm to solve this problem.

• Journal of Korea Multimedia Society
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• v.25 no.2
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• pp.325-334
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• 2022

Digital twin has the advantages of quality improvement and cost reduction, so it is widely applied to various industries. In this paper, a method to implement the major technologies of digital twin easily and quickly is presented. These include data management and relay servers, real-time monitoring applications including remote control interfaces, and direct connection protocols for video streaming. In addition, an algorithm for controlling a two-wheeled vehicle with a 2D interface is also proposed. The implemented system performs near real-time synchronization between the real environment and the virtual space. The delay time that occurs in remote control of the vehicle in the real environment was compared with the results of applying the proposed delay time reduction method. In addition, in the case of 2D interface-based control, an algorithm that can guarantee the user experience was implemented and applied to the actual environment and verified through experiments.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.10
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• pp.50-56
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• 1995

Chatter Vibration is an unwanted phenomenon in metal cutting and it always affects surface finish, tool life, machine life and the productivity of machining process. The real-time detection of the chatter vibration is is necessarily required to automation system. In this study, we constructed the multi-sensing system using Tool Dynamometer, Accelermeter and AE sensor. Especially, Acoustic Emission(AE) generated during turning was investigated the possibility for real-time detection of chatter vibration. Turning experiments were performed using carbide insert tip under realistic cutting conditions and tapered workpiece of SM45C. Consquently, the real-time detection using multi-sensing system can be used for Inprocess monitoring of chatter vibration.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.32 no.6
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• pp.401-408
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• 2019

The objective of this study is to develop a new type of buried sensor module that can directly assess pre-stressed concrete by measuring strain using a hetero-core optical fiber sensor. In this regard, experiments were conducted to evaluate the performance of the sensor using an exposure sensor module. Based on the experimental results, when the values of the displacement control velocity were 0.12 mm/min and 1.80 mm/min, the corresponding delays in the measurement were 52.1 s and 2.6 s respectively, which indicated that the maximum delay between the two measurements was a factor of 19. Due to the measurement delay phenomena, the sensor module used in the experiments cannot be employed to check the real-time state of the structure. Thus, additional experiments were needed to develop a new sensor module that can measure the real-time state of the structure. To investigate the cause of the measurement delay phenomena, three experiments were conducted. It was confirmed that measurement delay is mainly attributed to frictional resistance. The measurement delay phenomena were not observed in the experiments using the friction-removed device.

• The Journal of Korea Robotics Society
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• v.7 no.4
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• pp.284-291
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• 2012

Recently, development of underwater robot has actively been in progress in the world as ROV(Remotely Operator Vehicle) and AUV(Autonomous Unmmanded Vehicle) style. But KIOST(Korea Institute of Ocean Science and Technology), beginning in 2010, launched the R&D project to develop the robot, dubbed CRABSTER(Crab + (Lob)ster) in a bid to enhance the safety and efficiency of resource exploration. CRABSTER has been designed to be able to walk and swim with its own legs without screws. Among many research subjects regarding CRABSTER, optimal swimming patterns are handled in this paper. In previous studies, drag forces during one period with different values for angle of each joint were derived. However kinematics of real-robot and fluid-dynamics are not considered. We conducted simulations with an optimization algorithm for swimming by considering simplified fluid dynamics in this paper. Drag-coefficients applied to the simulation were approximated values calculated by CFD(Computational Fluid Dynamics : Tecplot 360, ANSYS). In addition, optimized swimming patterns were applied to a real robot. The experiments with the real robot were conducted in circumstances in the water. As a result, when the experiments were carried out in the water, a regular pattern of drag force output came out depending on the movement of the robot. We confirmed the fact that the drag forces from the simulation and the experiment has a high similarity.

• Journal of the Korean Institute of Intelligent Systems
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• v.11 no.5
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• pp.413-418
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• 2001

In this paper, we propose a new camera calibration method which is based on a fuzzy model instead of a physical camera model of the conventional method. The camera calibration is to determine the correlation between camera image coordinate and real world coordinate. The camera calibration method using a fuzzy model can not estimate camera physical parameters which can be obtained in the conventional methods. However, the proposed method is very simple and efficient because it can determine the correlation between camera image coordinate and real world coordinate without any restriction, which is the objective of camera calibration. With calibration points acquired out of experiments, 3-D real world coordinate and 2-D image coordinate are estimated using the fuzzy modeling method and the results of the experiments demonstrate the validity of the proposed method.

• Smart Structures and Systems
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• v.14 no.4
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• pp.617-641
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• 2014

The energy constraint is still a common issue for the practical application of wireless sensors, since they are usually powered by batteries which limit their lifetime. In this paper, a practical compound energy efficiency strategy is proposed and realized in the implementation of a real time wireless sensor platform. The platform is intended for wireless structural monitoring applications and consists of three parts, wireless sensing unit, base station and data acquisition and configuration software running in a computer within the Matlab environment. The high energy efficiency of the wireless sensor platform is achieved by a proposed adaptive radio transmission power control algorithm, and some straightforward methods, including adopting low power ICs and high efficient power management circuits, low duty cycle radio polling and switching off radio between two adjacent data packets' transmission. The adaptive transmission power control algorithm is based on the statistical average of the path loss estimations using a moving average filter. The algorithm is implemented in the wireless node and relies on the received signal strength feedback piggybacked in the ACK packet from the base station node to estimate the path loss. Therefore, it does not need any control packet overheads. Several experiments are carried out to investigate the link quality of radio channels, validate and evaluate the proposed adaptive transmission power control algorithm, including static and dynamic experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.1
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• pp.58-69
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• 2014

This paper proposes a method for predicting maximum friction coefficients and optimal slip ratios as optimal control parameters for traction control or slip control of autonomous mobile robots on rough terrain. This paper focuses on strength of ground surface which indicates different characteristics depending on material types on surface. Strength of various material types can be estimated by Willoughby sinkage model and by a developed testbed which can measure forces, velocities, and displacements generated by wheel-terrain interaction. Estimated strength is collaborated on building improved Brixius model with friction-slip data from experiments with the testbed over sand and grass material. Improved Brixius model covers widespread material types in outdoor environments on predicting friction-slip characteristics depending on strength of ground surface. Thus, a prediction model for obtaining optimal control parameters is derived by partial differentiation of the improved Brixius model with respect to slip. This prediction model can be applied to autonomous mobile robots and finally gives secure maneuverability on rough terrain. Proposed method is verified by various experiments under similar conditions with the ones for real outdoor robots.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.8
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• pp.4120-4132
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• 2017

In this research, we implement a deformable object simulation system using OpenGL's shader language, GLSL4.3. Deformable object simulation is implemented by using volumetric mass-spring system suitable for real-time simulation among the methods of deformable object simulation. The compute shader in GLSL 4.3 which helps to access the GPU resources, is used to parallelize the operations of existing deformable object simulation systems. The proposed system is implemented using a compute shader for parallel processing and it includes a bounding box-based collision detection solution. In general, the collision detection is one of severe computing bottlenecks in simulation of multiple deformable objects. In order to validate an efficiency of the system, we performed the experiments using the 3D volumetric objects. We compared the performance of multiple deformable object simulations between CPU and GPU to analyze the effectiveness of parallel processing using GLSL. Moreover, we measured the computation time of bounding box-based collision detection to show that collision detection can be processed in real-time. The experiments using 3D volumetric models with 10K faces showed the GPU-based parallel simulation improves performance by 98% over the CPU-based simulation, and the overall steps including collision detection and rendering could be processed in real-time frame rate of 218.11 FPS.