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Obstacle Avoidance of A Mobile Robot Using A Calibrated Computer Vision System
트란안킴(Anh Kim Tran),김광주(Kwang Ju Kim),김학경(Hak Kyeong Kim),충탄람(Tan Lam Chung),김상봉(Sang Bong Kim) 한국동력기계공학회 2004 한국동력기계공학회 학술대회 논문집 Vol.- No.-
The obstacle avoidance task that is assigned to a mobile robot is addressed in this paper. A path planning method, namely polynomial path planning approach, is employed to generate a collision-free trajectory. It is clear that the path varies according to environment structure. Then, by applying a nonlinear feedback control law, the MR is able to track the smooth polynomial path in order to reach a target point. The information needed for the designed controller can be obtained via a computer visioning system with a ceiling-mounted USB camera. Because the computer vision system is capable to determine the position of any interesting points or objects in the work-space, the system can serve for MR's navigation and localization tasks as well. The practical realization is done through the hardware and software design using PICI6F877 chip. That is, the vision and navigation controls are parts of high level while the device control with PIC chips are considered as low level controllers. The low level control is known as a PIC-based servo controller communicating with its high level counterpart using wireless protocol. Also, the experimental results show quite good performance with acceptable tracking errors.
Design of a High Accuracy 3-Axis Coordinate Measuring Machine Working on the Shop Floor
Vo, Tran Anh,Dung, T.H.,Kim, Hyun Chul Trans Tech Publications, Ltd. 2015 Advanced materials research Vol.1125 No.-
<P>One of the key features of advanced manufacturing technologies is the metrology of geometric quantities. Coordinate measuring machines (CMMs) now are widely used to perform relevant measurements. Normally, the use of CMMs in traditional quality control rooms, isolated from the production floor, often proves unsuitable for effective and timely feedback on the manufacturing process. However, CMMs are sensitive to environmental factors such as humidity, suspended dust and oil, vibrations, and especially temperature. For this reason, measuring machines must to be designed with features that make them more resistant to the environmental influences on shop floor operations. The main goal of this work is to enhance accuracy of a CMM working on the shop floor conditions by design improvements and error compensation. A 3-axis CMM will be built with some improved designed features and a software compensation technique will be applied to enhance the machine accuracy.</P>
Design and Performance Evaluation of Mini-Lightweight Piezo-Composite Actuators
Tran, Anh Kim,Yoon, Kwang-Joon The Korean Society for Composite Materials 2009 Advanced composite materials Vol.18 No.4
In this paper, through an evaluation process conducted on several designs of mini-LIPCA (Lightweight Piezo-Composite curved Actuator), an optimal design of a mini-LIPCA has been proposed. Comparing with the LIPCA-C2, the design of the mini-LIPCA comes with reduced overall size and a thinner active layer. Since a variation in the number and lay-up of fiber composite layers may strongly affect the performance of the device, one is able to configure several designs of mini-LIPCA. The evaluation process is then followed in order to determine a configuration which characterizes the possibly optimal performance. That is, a design of a mini-LIPCA is said to be optimal if it is capable of producing a maximum out-of-plane displacement. The size of the LIPCA to be investigated was selected to be $10\;mm\;{\times}\;20\;mm$ in which the thickness of PZT plate is about 0.1 mm. The thickness of glass/epoxy and carbon/epoxy are about 0.09 mm and 0.1 mm, respectively. The evaluation process has been conducted thoroughly, i.e., analytical estimation, numerical approximation and the experimental measurement are all involved. Firstly, the design equation was used to calculate essential parameters of proposed lay-up configurations. Secondly, ANSYS, a commercial FEA package, was utilized to estimate displacement outputs of the actuators upon being excited. Finally, experimental measurements were able to verify the predicted results.
( Anh Tuan Tran ),( Jin Young Kim ),( Asmatullah Chaudhry ),( The Bao Pham ),( Hyoung-gook Kim ) 한국인터넷정보학회 2016 KSII Transactions on Internet and Information Syst Vol.10 No.4
The GMM is a conventional approach which has been recently applied in many face recognition studies. However, the question about how to deal with illumination changes while ensuring high performance is still a challenge, especially with real-world databases. In this paper, we propose a Visual Observation Confidence (VOC) measure for robust face recognition for illumination changes. Our VOC value is a combined confidence value of three measurements: Flatness Measure (FM), Centrality Measure (CM), and Illumination Normality Measure (IM). While FM measures the discrimination ability of one face, IM represents the degree of illumination impact on that face. In addition, we introduce CM as a centrality measure to help FM to reduce some of the errors from unnecessary areas such as the hair, neck or background. The VOC then accompanies the feature vectors in the EM process to estimate the optimal models by modified-GMM training. In the experiments, we introduce a real-world database, called KoFace, besides applying some public databases such as the Yale and the ORL database. The KoFace database is composed of 106 face subjects under diverse illumination effects including shadows and highlights. The results show that our proposed approach gives a higher Face Recognition Rate (FRR) than the GMM baseline for indoor and outdoor datasets in the real-world KoFace database (94% and 85%, respectively) and in ORL, Yale databases (97% and 100% respectively).
Toxicity of Nano Molybdenum Trioxide toward Invasive Breast Cancer Cells
Anh Tran, Thao,Krishnamoorthy, Karthikeyan,Song, Yeon Woo,Cho, Somi Kim,Kim, Sang Jae American Chemical Society 2014 ACS APPLIED MATERIALS & INTERFACES Vol.6 No.4
<P>Current chemotherapy is limited by the nature of invasive cancer cells, which are similar to cancer stem cells. Nanomaterials provide a potential alternate mode of cancer therapy. This study investigated the cytotoxicity of molybdenum trioxide (MoO<SUB>3</SUB>) nanoplates toward invasive breast cancer iMCF-7 cells by analyzing morphological changes and performing Western blot and flow cytometry analyses. The findings suggested that MoO<SUB>3</SUB> exposure induces apoptosis and generates reactive oxygen species (ROS) in iMCF-7 cells. This study revealed the potential utility of MoO<SUB>3</SUB> for treating metastatic cancer cells, which might enable advancements in cancer therapy.</P><P><B>Graphic Abstract</B> <IMG SRC='http://pubs.acs.org/appl/literatum/publisher/achs/journals/content/aamick/2014/aamick.2014.6.issue-4/am405586d/production/images/medium/am-2013-05586d_0010.gif'></P><P><A href='http://pubs.acs.org/doi/suppl/10.1021/am405586d'>ACS Electronic Supporting Info</A></P>