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Abstract
This paper describes a variant of the extended Gaussian image based registration algorithm for point clouds with surface color information. The method correlates the distributions of surface normals for rotational alignment and grid occupancy for translational alignment with hue filters applied during the construction of surface normal histograms and occupancy grids. In this method, the size of the point cloud is reduced with a hue-based down sampling that is independent of the point sample density or local geometry. Experimental results show that use of the hue filters increases the registration speed and improves the registration accuracy. Coarse rigid transformations determined in this step enable fine alignment with dense, unfiltered point clouds or using Iterative Common Point (ICP) alignment techniques.
Key Words
Computational geometry; Mesh processing; Reverse engineering; Building information modeling (BIM); Computer graphics
Address
Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ, 07030, USA
Abstract
A magnetically levitated vehicle (Maglev) system is under commercialization as a new transportation system in Korea. The Maglev is operated by an unmanned automatic control system. Therefore, the plan of train operation should be carefully established and validated in advance. In general, when making a train operation plan, statistically predicted traffic data is used. However, a traffic wave often occurs in real train service, and demand-driven simulation technology is required to review a train operation plan and service quality considering traffic waves. We propose a method and model to simulate Maglev operation considering continuous demand changes. For this purpose, we employed a discrete event model that is suitable for modeling the behavior of railway passenger transportation. We modeled the system hierarchically using discrete event system specification (DEVS) formalism. In addition, through implementation and an experiment using the DEVSim++ simulation environment, we tested the feasibility of the proposed model. Our experimental results also verified that our demand-driven simulation technology can be used for a priori review of train operation plans and strategies.
Key Words
Discrete event simulation; Train operation simulation; Traffic wave; Discrete event system specification
Address
(1) Moo Hyun Cha:
Mechanical Systems Safety Research Division, Korea Institute of Machinery and Materials, 104 Sinseong-ro, Yuseong-gu, Daejeon 305-343, Republic of Korea;
(2) Duhwan Mun:
Department of Precision Mechanical Engineering,Kyungpook National University, 2559, Gyeongsang-daero, Sangju, Gyeongsangbuk-do, 742-711, Republic of Korea.
Abstract
The present study describes the development of control hardware and software for a mobile welding robot. This robot is able to move and perform welding tasks in a double hull structure. The control hardware consists of a main controller and a welding machine controller. Control software consists of four layers. Each layer consists of modules. Suitable combinations of modules enable the control software to perform the required tasks. Control software is developed using C programming under QNX operating system. For the modularizing architecture of control software, we designed control software with four layers: Task Manager, Task Planner, Actions for Task, and Task Executer. The embedded controller and control software was applied to the mobile welding robot for successful execution of the required tasks. For evaluate this imbedded controller and control software, the field tests are conducted, it is confirmed that the developed imbedded controller of mobile welding robot for shipyard is well designed and implemented.
Key Words
Mobile welding robot; Modularized control architecture; Embedded controller; Industrial automation
Address
(1) Namkug Ku:
Department of Naval Architecture and Ocean Engineering, Dong-eui University, 176, Eomgwang-ro, Busanjin-gu, Busan 614-714, Republic of Korea;
(2) Sol Ha:
Engineering Research Institute, Seoul National University, 1, Gwanak-ro, Gwanak-gu, Seoul 151-744, Republic of Korea;
(3) Myung-Il Roh:
Department of Naval Architecture and Ocean Engineering & Research Institute of Marine Systems Engineering, Seoul National University, 1, Gwanak-ro, Gwanak-gu, Seoul 151-744, Republic of Korea.
Abstract
Energy efficiency is an essential consideration in sustainable manufacturing. This study presents the car fender-based injection molding process optimization that aims to resolve the trade-off between energy consumption and product quality at the same time in which process parameters are optimized variables. The process is specially optimized by applying response surface methodology and using nondominated sorting genetic algorithm II (NSGA II) in order to resolve multi-object optimization problems. To reduce computational cost and time in the problem-solving procedure, the combination of CAE-integration tools is employed. Based on the Pareto diagram, an appropriate solution is derived out to obtain optimal parameters. The optimization results show that the proposed approach can help effectively engineers in identifying optimal process parameters and achieving competitive advantages of energy consumption and product quality. In addition, the engineering analysis that can be employed to conduct holistic optimization of the injection molding process in order to increase energy efficiency and product quality was also mentioned in this paper.
Key Words
Multi-objective optimization; Injection molding process; Energy efficiency; Plastic car fender
Address
Lab for Production Engineering, School of Mechanical and Automotive Engineering, University of Ulsan, San29, Mugeo 2-dong, Namgu, Ulsan, 680-749, Korea
Abstract
The survivability of the naval ship is the capability of a warship to avoid or withstand a hostile environment. The survivability of the naval ship assessed by three categories (susceptibility, vulnerability and recoverability). The magnitude of susceptibility of a warship encountering with threat is dependent upon the attributes of detection equipment and weapon system. In this paper, as a part of a naval ship's survivability analysis, an assessment process model for the ship's susceptibility analysis technique is developed. Naval ship's survivability emphasizing the susceptibility is assessed by the probability of detection, and the probability of hit. Considering the radar cross section (RCS), the assessment procedure for the susceptibility is described. It's emphasizing the simplified calculation model based on the probability density function for probability of hit. Assuming the probability of hit given a both single-hit and multiple-hit, the susceptibility is accessed for a RCS and the hit probability for a rectangular target is applied for a given threat.
Key Words
Survivability; Vulnerability; RCS (Radar Cross Section); Probability of hit; Probability of detection
Address
Department of Naval Architecture and Ocean Engineering, INHA University, 100 Inharo, Nam-gu, Incheon 402-751, Republic of Korea
Abstract
This paper presents a two-step, semi-automated method for reconstructing a three-dimensional (3D) shape of the prostate from a 3D transrectal ultrasound (TRUS) image. While the method has been developed for prostate ultrasound imaging, it can potentially be applicable to any other organ of the body and other imaging modalities. The proposed method takes as input a 3D TRUS image and generates a watertight 3D surface model of the prostate. In the first step, the system lets the user visualize and navigate through the input volumetric image by displaying cross sectional views oriented in arbitrary directions. The user then draws partial/full contours on selected cross sectional views. In the second step, the method automatically generates a watertight 3D surface of the prostate by fitting a deformable spherical template to the set of user-specified contours. Since the method allows the user to select the best cross-sectional directions and draw only clearly recognizable partial or full contours, the user can avoid time-consuming and inaccurate guesswork on where prostate contours are located. By avoiding the usage of noisy, incomprehensible portions of the TRUS image, the proposed method yields more accurate prostate shapes than conventional methods that demand complete cross-sectional contours selected manually, or automatically using an image processing tool. Our experiments confirmed that a 3D watertight surface of the prostate can be generated within five minutes even from a volumetric image with a high level of speckles and shadow noises.
Key Words
Shape reconstruction; Prostate; TRUS; Ultrasound; Image processing
Address
Department of Mechanical Engineering, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, PA 15213, USA
Abstract
Although big-sized markers are good for accurate marker recognition and tracking, they are easily occluded by other objects and deteriorate natural visualization and level of immersion during user interaction in AR environments. In this paper, we propose an approach to exploiting the use of rectangular markers to support tangible AR interaction based on fingertip touch using small-sized markers. It basically adjusts the length, width, and interior area of rectangular markers to make them more suitably fit to longish objects like fingers. It also utilizes convex polygons to resolve the partial occlusion of a marker and properly enlarges the pattern area of a marker while adjusting its size without deteriorating the quality of marker detection. We obtained encouraging results from users that the approach can provide better natural visualization and higher level of immersion, and be accurate and tangible enough to support a pseudo feeling of touching virtual products with human hands or fingertips during design evaluation of digital handheld products.
Key Words
Augmented reality; Tangible interaction; Fingertip touch; Small-sized markers; Rectangular markers
Address
Department of Industrial Engineering, Chosun University, Gwangju 501-759, South Korea
