• Journal of Institute of Control, Robotics and Systems
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• v.4 no.2
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• pp.187-193
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• 1998

This paper proposes an advanced visual tracking algorithm for the stable grasping of a moving target(2D). This algorithm is programmed to find grasping points of an unknown polygonal object and execute visual tracking. The Kalman Filter(KF) algorithm based on the SVD(Singular Value Decomposition) is applied to the visual tracking system for the tracking of a moving object. The KF based on the SVD improves the accuracy of the tracking and the robustness in the estimation of state variables and noise statistics. In addition, it does not have the numerical unstability problem that can occur in the visual tracking system based on Kalman filter. In the grasping system, a parameterized family is constructcd, and through the family, the grasping system finds the stable grasping points of an unknown object through the geometric properties of the parameterized family. In the previous studies, many researchers have been studied on only 'How to track a moving target'. This paper concern not only on 'how to track' but also 'how to grasp' and apply the grasping theory to a visual tracking system.

• The Journal of Korea Robotics Society
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• v.14 no.2
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• pp.94-103
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• 2019

The optimal grasping point of the object varies depending on the shape of the object, such as the weight, the material, the grasping contact with the robot hand, and the grasping force. In order to derive the optimal grasping points for each object by a three fingered robot hand, optimal point and posture have been derived based on the geometry of the object and the hand using the artificial neural network. The optimal grasping cost function has been derived by constructing the cost function based on the probability density function of the normal distribution. Considering the characteristics of the object and the robot hand, the optimum height and width have been set to grasp the object by the robot hand. The resultant force between the contact area of the robot finger and the object has been estimated from the grasping force of the robot finger and the gravitational force of the object. In addition to these, the geometrical and gravitational center points of the object have been considered in obtaining the optimum grasping position of the robot finger and the object using the artificial neural network. To show the effectiveness of the proposed algorithm, the friction cone for the stable grasping operation has been modeled through the grasping experiments.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.2
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• pp.321-328
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• 2019

A military shelter for communication and information is necessary to optimize the integrated combat ability of weapon systems in the network centric warfare. Therefore, the military shelter is required for EMI shielding performance. This study examines the stable measurement points for EMI shielding effectiveness of a military shelter for communication and information. The measurement points were found by analyzing the EMI shielding effectiveness measurement data with data mining technique and process capability analysis. First, a support vector machine was used to separate the measurement point that has stable EMI shielding effectiveness according to set condition. Second, this process was conducted with process capability analysis. Finally, the results of data mining technique were compared with those of process capability analysis. As a result, 24 measurement points with stable EMI shielding effectiveness were found.

• Bulletin of the Korean Mathematical Society
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• v.39 no.3
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• pp.455-469
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• 2002

The Purpose Of this Paper is to introduce the concept of a class of strictly successively hemicontractive mappings and construct certain stable and almost stable iteration procedures for the iterative approximation of fixed points for asymptotically nonexpansive and strictly successively hemicontractive mappings in Banach spaces.

• Proceedings of the Polymer Society of Korea Conference
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• 2006.10a
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• pp.321-321
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• 2006

Aromatic diacetylenes form stable oligomeric diradicals when irradiated with UV light or heated at temperatures above their melting points. In this paper, the formation of stable diradicals is discussed, and the mechanism of polymerization in the presence of peroxide in solution, is discussed. The diphenyldiacetylene undergoes polymerization through coupling of diradicals, and not by the successive addition of radical species.

• Proceedings of the Korea Institute of Fire Science and Engineering Conference
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• 2008.11a
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• pp.35-40
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• 2008

As the environmental pollution by the drastic increase of vehicles becomes one of the social major concerns, the method of reducing the harmful exhaust emission is being the subject of interest. Utilization of used frying oil as a raw material for biodiesel production is helpful not only for the stable supply of raw materials but also costing down the biodiesel price. This study was conducted the measurement the combustion and thermal characteristics with mixing ratio of biodiesel/diesel fuel. In this study, flash points and fire points were measured by using Tag Closed cup apparatus and Cleveland open cup apparatus. As the result, flash points, fire points and AIT increased with percentage of more contained biodiesel.

• Structural Engineering and Mechanics
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• v.11 no.2
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• pp.199-210
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• 2001

Axially compressed circular cylinders repeat symmetry-breaking bifurcation in the postbuckling region. There exist stable equilibria with all symmetry broken in the buckled configuration, and the minimum postbuckling strength is attained at the deep bottom of closely spaced equilibrium branches. The load level corresponding to such postbuckling stable solutions is usually much lower than the initial buckling load and may serve as a strength limit in shell stability design. The primary concern in the present paper is to compute these possible postbuckling stable solutions at the deep bottom of the postbuckling region. Two computational approaches are used for this purpose. One is the application of individual procedures in computational bifurcation theory. Path-tracing, pinpointing bifurcation points and (local) branch-switching are all applied to follow carefully the postbuckling branches with the decreasing load in order to attain the target at the bottom of the postbuckling region. The buckled shell configuration loses its symmetry stepwise after each (local) branch-switching procedure. The other is to introduce the idea of path jumping (namely, generalized global branch-switching) with static imperfection. The static response of the cylinder under two-parameter loading is computed to enable a direct access to postbuckling equilibria from the prebuckling state. In the numerical example of an elastic perfect circular cylinder, stable postbuckling solutions are computed in these two approaches. It is demonstrated that a direct path jump from the undeformed state to postbuckling stable equilibria is possible for an appropriate choice of static perturbations.

• Journal of The Korean Society of Integrative Medicine
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• v.10 no.1
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• pp.73-79
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• 2022

Purpose : Kinesio taping applied to the ankle varies, and if the overall ankle is taped as much as possible, several effects, including balance, can be expected, but clinically the cost reduction for intervention is very important. Therefore, this study attempted to find out the optimal way to the effect and cost of kinesio taping on ankle dynamic balance. Methods : The subject of this study was 24 university students in their 20s (male: 13, female: 11), who received sufficient explanation of the purpose and method of the study. The Cumberland ankle instability tool (CAIT) questionnaire was used for the degree of ankle instability of the study subjects. If the subject's CAIT score was 28 points or more, it was classified as a stable ankle, and if the score was 24 points or less, it was classified as functional ankle instability (FAI). In this study, Biodex Balance System^® measurement equipment was used to calculate the dynamic balance of study participants. The application of kinesio taping was performed by one physical therapist to attach in the same way, and a method of wrapping the ankle joint was applied in the eight-shaped bandage. Results : The results are as follows in before and after taping of the stable ankle and FAI group. There was no significant difference in the overall, anterior-posterior, and medial-lateral stability index. The comparison is as follows between groups for the differences (post-pre value) in before and after the application of kinesio taping. There were no significant differences between groups in all the overall, anterior-posterior, and medial-lateral stability index. Conclusion : In this study, no significant difference in kinesio taping was found in the dynamic balance of stable ankle and FAI (overall, anterior-posterior, and medial-lateral). It is necessary to continue to study ways to find the maximum effect while minimally attaching them to the application method of ankle kinesio taping.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.23 no.3
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• pp.273-282
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• 2005

A rapidly developed satellite technology is used in comprehensive fields such as spatial data aquisition and applications. Especially a GPS positioning is expected to reinvigorate at the national reference system changes to ITRF (International Terrain Reference Frame). Currently the National Geographic Information Institute (NGII) issues a triangulation point coordinate by separating old and new coordinates and in the year of 2007 it will be scheduled to be changed ITRF. The triangulation point coordinate in Cheju area causes some problems due to the difference original observation and re-observation. Thus in this study a GPS observation is conducted after re-organizing geodetic network based on 1st and 2nd order triangulation in order to check the current triangulation points in Cheju area. After the GPS observation data analysis, stable points were extracted, proposed a geodetic network and its application.

• Economic and Environmental Geology
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• v.26 no.2
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• pp.207-215
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• 1993

In modem petroleum reservoir engineering, the characterization of reservoir heterogeneities is very important to accurately understand and predict reservoir production performance. Formation evaluation for the description of reservoir is generally conducted by performing the analysis of well logging, core testing, and well testing. However, the measured data points by well logging or core testing are in general very sparse and hence reservoir properties should be interpolated and extrapolated from measured points to uncharacterized areas. In assigning the data for the unknown points, simple averaging technique is not feasible as optimum estimation method since this method does not account the spatial relationship between the data points. The main goal of this work is to develop PC-version of multi-purpose geostatistical model in which several stages are systematically proceeded. In the development of model, the simulator employs a automatic selection of semivariogram function such as exponential or spherical model with the best values of $R^2$. The simulator also implements a special algorithm for the fitting of semivariogram function to experimental sernivariogram. The special algorithm such as trial and error scheme is devised since this method is much more reliable and stable than Gauss-Newton method. The simulator has been tested under stringent conditions and found to be stable. Finally, the validity and the applicability of the developed model have been studied against some existing actual field data.