• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.4
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• pp.11-21
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• 2000

This paper proposes a new algorithm for a mobile robot that detects and tracks a moving target, keeping it in the view range of the robot. The sensor system consists of a camera and a line light source. The camera system is placed so that the line light projected into the ground from the light source forms its image along the horizontal center line of the CCD array of the camera. The deformation of the line image from the horizontal center line contains the information on existence of a moving object, its velocity, and position. Since the proposed algorithm reduces the region of the image to be searched, it reduces the computational complexity significantly comparing to the conventional image processing algorithms. The performance of the proposed algorithm has been tested by implementing on a mobile robot.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.29 no.1
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• pp.399-404
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• 2005

In this paper, An immunized PID(I-PID) controller based on cell mediated immune response is proposed to improve the control performance of the controller with PID scheme. And it is applied to the vibration of the building structure in the port with active damper systems. The immune system of organism in the real body regulates the antibody and T-cells to protect the attack from the foreign materials which are virus, germ cell, and other antigens. It has similar characteristics that are the adaptation and robustness to overcome disturbances and to control the plant of engineering application. At firstly, we build a model of the T-cell regulated immune response mechanism. We have also designed an I-PID controller focusing on the T-cell regulated immune response of biological immune system. Finally, we show that some computer simulations of the vibraton control for the building structure system with wind force excitation. These results for the proposed method also show that is has performance than other conventional controller design method.

• Annual Conference of KIPS
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• 2005.11a
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• pp.1433-1436
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• 2005

임베디드 시스템의 발전으로 현재 진보된 로봇 시스템들은 운영 체제, 비젼 시스템 및 센서 시스템들을 별도의 호스트 PC의 도움 없이 독립적으로 탑재하여 가동 시킬 수 있다. 본 논문에서는 임베디드 시스템을 이용한 SBER (Small Biped Entertainment Robot)에 필요한 로봇의 제어기 구조와 로봇에 최적화된 임베디드 시스템을 구현한다. 또한 주 프로세서와 주 컨트롤러를 탑재한 최적화된 소형 엔터테인먼트 이족 로봇 개발을 목적으로 한다. SBER은 TI사의 DSP인 TMS320LF2407A를 로봇의 주 컨트롤러로 사용하여 로봇의 관절 제어를 통한 기본적인 보행 실험과 음원의 위치를 파악하기 위한 음원 위치 추적 문제를(Sound Localization) 수행한다. 또한 Intel사의 PXA255A를 주 프로세서로 사용하여 연산량이 높은 영상처리 알고리즘과 감정 표현, 장애물 인식 및 장애물 회피를 적용하여 보다 지능적인 로봇 시스템을 구현한다.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.43 no.4 s.310
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• pp.66-73
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• 2006

Safety is the most important for all traffic management and control technology. This paper focuses on developing a flexible, reliable and real-time processing algorithm which is able to generate signal for the entering vehicle at the joining road through a camera and image processing technique. The images obtained from the camera located beside and upon the road can be used for traffic surveillance, the vehicle's travel speed measurement, predicted arriving time in joining area between main road and joining road. And the proposed algorithm displays the confluence safety signal with red, blue and yellow color sign. The three methods are used to detect the vehicle which is driving in setted detecting area. The first method is the gray scale normalized correlation algorithm, and the second is the edge magnitude ratio changing algorithm, and the third is the average intensity changing algorithm The real-time prototype confluence safety signal generation algorithm is implemented on stored digital image sequences of real traffic state and a program with good experimental results.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.2
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• pp.359-366
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• 2016

The normal tissue in radiation therapy, to minimize radiation, it is most important to maximize local tumor control rates in intensive research the exact dose to the tumor sites. Therefore, the initial, therapist accuracy of detecting movement of the patient fatigue therapist has been a problem that is weighted down directly. Also, by using a web camera, a difference value between the image to be updated to the reference image is calculated, if the result exceeds the reference value, using the system for determining the motion has occurred. However, this system, it is not possible to quantitatively analyze the movement of the patient, the background is changed when moving the treatment bed in the co-therapeutic device was not able to sift the patient. In this paper, using a alpah(${\alpha}$) filter index is an attempt to solve these limitations points, quantifies the movement of the patient, by separating a background image of the patient and treatment environment, and movement of the patient during treatment It senses only, it was possible to reduce the problems due to patient movement.