• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09b
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• pp.105-119
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• 2003

일반적인 로봇시스템은 자신이 이동해야 할 목표 지점을 자율적으로 생성할 수 없으므로 어떤 다른 시스템의 정보를 이용하여 주변을 탐색하거나 장애물을 인식하고 식별하여 자신의 제어전략을 수립한다. 그러므로 본 논문에서 제시한 시스템은 초소형 비행체를 이용하여 주위 환경과 자율 이동로봇의 위치 정보를 탐색할 수 있도록 시스템을 구성하였다 이러한 시스템의 성능은 로봇이 위치하고 있는 주위의 불완전한 정보로부터 적절한 결론을 유도해 낼 수 있어야 한다. 그러한 비선형적인 문제는 현재까지도 문제 해결을 위해 많은 연구가 진행되고 있다. 본 연구에서는 자율이동로봇의 행동 환경을 공간상의 제약을 받지 않는 비선형 시스템인 초소형 비행체에 극초단파(UHF16채널) 영상장치를 이용하여 호스트 PC로 전송하고 호스트 PC는 로봇의 현재 위치, 이동해야 할 목표위치, 장애물의 위치와 형태 등을 분석한다. 분석된 결과 파라메타는 RF-Module을 이용해서 로봇에 전송하고, 로봇은 그 데이터를 분석하여 동작하게 된다. 로봇이 오동작 또는 장애물로 인해 정확한 목적지까지 도달하지 못할 때 호스트 PC는 새로운 최단경로를 생성하거나 장애물을 회피 할 새로운 전략을 로봇에게 보내준다. 본 연구에 적용한 알고리즘은 초소형 비행체에서 탐지한 불완전한 영상정보에서도 비교적 신뢰도 놀은 결과를 보이는 A* 알고리즘을 사용하였다 적용한 알고리즘은 실험을 통하여 실시간으로 정보를 처리할 수 있었으며, 자율 이동로봇의 충돌회피나 최단 경로 생성과 같은 문제를 실험을 통하여 그 성능과 타당성을 검토하였다.delta}textitH]$를 도출하였다.rc}C$에서 30 ㎫의 압력으로 1시간동안 행하였다 소결한 시편들은 직사각형 형태로 가공하였으며 표면은 0.5$\mu\textrm{m}$의 다이아몬드 입자로 연마하였다. XRD, SEM 및 TEM을 이용하여 상분석 및 미세조직관찰을 행하였다. 파괴강도는 3중점 굽힘 법으로 (3-point bending test) 측정하였다. 이때 시편 하부의 지지 점간의 거리는 30mm, cross-head 속도는 0.5 mm/min으로 하였고 5개의 시편을 측정하여 평균값을 구하였다.ell/\textrm{cm}^3$, 혼합재료 3은 0.123$\ell/\textrm{cm}^3$, 0.017$\ell/\textrm{cm}^3$, 혼합재료 4는 0.055$\ell/\textrm{cm}^3$, 0.016$\ell/\textrm{cm}^3$, 혼합재료 5는 0.031$\ell/\textrm{cm}^3$, 0.015$\ell/\textrm{cm}^3$, 혼합재료 6은 0.111$\ell/\textrm{cm}^3$, 0.020$\ell/\textrm{cm}^3$로 나타났다. 3. 단일재료의 악취흡착성능 실험결과 암모니아는 코코넛, 소나무수피, 왕겨에서 흡착능력이 우수하게 나타났으며, 황화수소는 펄라이트, 왕겨, 소나무수피에서 다른 재료에 비하여 상대적으로

• Science of Emotion and Sensibility
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• v.13 no.3
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• pp.533-540
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• 2010

This study was designed to examine the difference in visual attention between the evaluations of facial attractiveness and facial trustworthiness, both of which may be the two most fundamental social evaluation for forming first impressions under various types of social interactions. In study 1, participants were asked to evaluate the attractiveness and trustworthiness of 40 new faces while their gaze directions being recorded using an eye-tracker. The analysis revealed that participants spent significantly longer gaze fixation time while examining certain facial features such as eyes and nose during the evaluation of facial trustworthiness, as compared to facial attractiveness. In study 2, participants performed the same face evaluation tasks, except that a word was briefly displayed on a certain facial feature in each face trial, which were then followed by unexpected recall tests of the previously viewed words. The analysis demonstrated that the recognition rate of the words that had been presented on the nose was significantly higher for the task of facial trustworthiness vs. facial attractiveness evaluation. These findings suggest that the evaluation of facial trustworthiness may be distinguished by that of facial attractiveness in terms of the allocation of attentional resources.

• Conservation Science in Museum
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• v.21
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• pp.41-52
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• 2019

The findings of a 2017 safety inspection of the Three-story Pagoda from the Goseonsa Temple site in Gyeongju suggested the possibility that the stone for the second story of the pagoda may have been rotated after the pagoda was disassembled for removal from its original site in 1975. The materials from the pagoda were investigated using photographs and other relevant data from both the Japanese colonial period and from around 1975. The analysis found that the materials of the pagoda were not changed after analleged reconstruction in 1943, but that during the process of relocating the pagoda in 1975 the body of the second story was indeed rotated counter clockwise by 90 degrees and one of the four stone elements making up the first-story roof was exchanged with a part from the second-story roof. In order to discover whether the materials had been incorrectly placed, each part of the pagoda was precisely measured and the elements of the roofs were virtually reconstructed using 3D scanning data. The investigation did not find any singularities with in the components of each roof; the four part sof the first-story roof were 75 to 76 centimeters thick and those for the second-story roof were 78 to 79 centimeters thick. The connections between each part of the roofs also appeared natural. This seems to indicate that there was indeed an undocumented repair of the pagoda at some point between its creation and 1943 and an error that took place during this repair was corrected in 1975. In addition, the study suggested a possibility that the body of the second story was rotated counter clockwised to a change in the locations of parts of the two roofs.

• Polymer(Korea)
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• v.24 no.4
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• pp.437-444
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• 2000

Propylene polymerizations were carried out by using rac-Et(Ind)$_2$ZrCl$_2$ (Zirconocene catalyst) and a commercial third generation Ziegler-Natta catalyst in a semibatch reactor. From the polymerization reactions, the optimum reaction conditions and the physical properties of polymers produced from each catalyst system were investigated. The optimum reaction temperatures of rac-Et(Ind)$_2$ZrCl$_2$ and Ziegler-Natta catalyst were 5$0^{\circ}C$, 4$0^{\circ}C$, respectively. On the basis of the results for the produced polymer particle size distributions and the catalytic activities of polymerization reaction, the reaction temperature should be considered as an important factor for the successful polymerization reactions. Especially, the polymer was conglomerated in the higher reaction temperature. It was found that there was an upper limitation to co-catalyst concentration. Reaction rates and polymer yields rather decreased with increasing the concentration of to-catalyst, i.e., MAO and TEAl affected only polymerization activities, but the PEEB in Ziegler-Natta catalyst system affected isotactic indexes of produced polymer as well as activities. Based on these observations, the production yield seems to exhibit a first order lineal relationship to the partial pressure of monomer.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.10
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• pp.3873-3879
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• 2010

Home service robot are not working in the fixed task such as industrial robot, because they are together with human in the same indoor space, but have to do in much more flexible and various environments. Most of them are developed on the base of the wheel-base mobile robot in the same method as a vehicle robot for factory automation. In these days, for holonomic system characteristics, omni-directional wheels are used in the mobile robot. A holonomicrobot, using omni-directional wheels, is capable of driving in any direction. But trajectory control for omni-directional mobile robot is not easy. Especially, azimuth control which sensor uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A trajectory controller for an omni-directional mobile robot, which each motor is controlled by an individual PID law to follow the speed command from inverse kinematics, needs a precise sensing data of its azimuth and exact estimation of reference azimuth value. It has imprecision and uncertainty inherent to perception sensors for azimuth. In this paper, they are solved by using fuzzy logic inference which can be used straightforward to perform the control of the mobile robot by means of the fuzzy behavior-based scheme already existent in literature. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

• Journal of Broadcast Engineering
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• v.17 no.2
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• pp.374-387
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• 2012

In this paper, we implement a new hardware for finding the significant coefficients of a digital hologram and ciphering them using discrete wavelet packet transform (DWPT). Discrete wavelet transform (DWT) and packetization of subbands is used, and the adopted ciphering technique can encrypt the subbands with various robustness based on the level of the wavelet transform and the threshold of subband energy. The hologram encryption consists of two parts; the first is to process DWPT, and the second is to encrypt the coefficients. We propose a lifting based hardware architecture for fast DWPT and block ciphering system with multi-mode for the various types of encryption. The unit cell which calculates the repeated arithmetic with the same structure is proposed and then it is expanded to the lifting kernel hardware. The block ciphering system is configured with three block cipher, AES, SEED and 3DES and encrypt and decrypt data with minimal latency time(minimum 128 clocks, maximum 256 clock) in real time. The information of a digital hologram can be hided by encrypting 0.032% data of all. The implemented hardware used about 200K gates in $0.25{\mu}m$ CMOS library and was stably operated with 165MHz clock frequency in timing simulation.

• Journal of the Korean Society of Marine Environment & Safety
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• v.13 no.4
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• pp.55-63
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• 2007

The Group Digital Surveillance System for Fishery Safety and Security (GDSS-F2S) is to provide the target tracking information and the target identification information in order to secure an huge aquaculture farm-field from a thief. The two information, however, is not enough to indict the thief due to the lack of lawful evidences for the crime actions. To overcome this problem, we consider the target image information as one of solutions after discussion with the effective countermeasure tools for the crime actions with scenario-based analysis according to the geological feature of aquaculture farm-field. To capture the real-time image for the trespassing targets in the aquaculture farm-field area, we developed the image capture system which is consists of ultra sensitive CCD(Charge-Coupled Device) camera with 0.0001 Lux and supplementary devices. As results from the field tests for GDSS-F2S with image capture system, the high definite images of the vehicle number plate and shape, person's actions and features are obtainable not only day time but also very dark night without moon light. Thus it is cleary known that the improved GDSS-F2S with image capture system can provide much enough lawful evidences for the crime actions of targets.

• Journal of the Korean Society for Marine Environment & Energy
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• v.7 no.1
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• pp.22-29
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• 2004

An international project, known as Argo, for collecting data on temperature, salinity and velocity of currents in the world's oceans, has been started in the year 2000 and the full Argo array of approximately 3000 floats will be deployed by 2006. 18 countries deployed 1,023 floats, which are operating in the ocean of the world as of December 2003. In the present study, we tried to predict float distribution and a rate of drifting ashore of the floats after their termination based upon a product of the ocean general circulation model of JAMSTEC (Japan Marine Science and Technology Center). We first evaluated reliability of the model prodilct quantitatively by comparing trajectories of surface buoys of WOCE Surface Velocity Program (SVP) and those predicted by the model surface current field. It is found that the model is acceptable for practical application to deploy floats and to estimate those trajectories. 653 particles at 3-degree spacing are used to investigate the ratio of floats drifted ashore, given that during the first 4 years floats cycle between the surface and 2000m for 10 days and then floats are on just the surface for 100 years. The simulation indicates that about 29% of deployed floats will be drifted ashore within 100-year.

• Journal of the Korea Convergence Society
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• v.7 no.5
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• pp.29-34
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• 2016

Recently, with the development of high-tech industry, the use of the drones in various aspects of daily life is rapidly advancing. With technical and functional advancements, drones have an advantage of being easy to be utilized in the areas of use according to various lifestyles. In addition, through the diversification of the drone service converged with image processing medium such as camera and CCTV, an automated security system that can replace humans is expected to be introduced. By designing these unmanned security technology, a new convergence security drone service techniques that can strengthen the previous drone application technology will be proposed. In the proposed techniques, a biometric authentication technology will be designed as additional authentication methods that can determine the safety incorporated with security by selecting the search and areas of an object focusing on the objects in the initial windows and search windows through OpenCV technology and CAM-Shift algorithm which are an object tracking algorithm. Through such, a highly efficient security drone convergence service model will be proposed for performing unmanned security by using the drones that can continuously increase the analysis of technology on the mobility and real-time image processing.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.39 no.4
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• pp.429-441
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• 2002

This paper concerns extracting 3D motion information from a 3D input device in real time focused to enabling effective human-computer interaction. In particular, we develop a novel algorithm for extracting 6 degrees-of-freedom motion information from a 3D input device by employing an epipolar geometry of stereo camera, color, motion, and structure information, free from requiring the aid of camera calibration object. To extract 3D motion, we first determine the epipolar geometry of stereo camera by computing the perspective projection matrix and perspective distortion matrix. We then incorporate the proposed Motion Adaptive Weighted Unmatched Pixel Count algorithm performing color transformation, unmatched pixel counting, discrete Kalman filtering, and principal component analysis. The extracted 3D motion information can be applied to controlling virtual objects or aiding the navigation device that controls the viewpoint of a user in virtual reality setting. Since the stereo vision-based 3D input device is wireless, it provides users with a means for more natural and efficient interface, thus effectively realizing a feeling of immersion.