• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.1
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• pp.60-65
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• 2010

This paper describes the results of 2D mapping, feature detection and matching to create the surrounding environment in the mounted stereo camera on Mobile robot. Extract method of image's feature in real-time processing for quick operation uses the edge detection and Sum of Absolute Difference(SAD), stereo matching technique can be obtained through the correlation coefficient. To estimate the location of a mobile robot using ZigBee beacon and encoders mounted on the robot is estimated by Kalman filter. In addition, the merged gyro scope to measure compass is possible to generate map during mobile robot is moving. The Simultaneous Localization and Mapping (SLAM) of mobile robot technology with an intelligent robot can be applied efficiently in human life would be based.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.22 no.3
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• pp.217-223
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• 2004

In order to improve real-time positioning accuracy, a number of methods have been tested and one of those is the inverted RTK(Real-time kinematic) that gives a precise positioning by handling carrier phase measurements. For the inverted RTK positioning, it needs the L1 phase measurement at least for 1～2 minutes and the additional reference stations/communication system and a data processing server are required. The L1 code and carrier phase measurements for real-time application are used simultaneously and then Kalman filter is applied to estimate integer ambiguities. Double differenced integer ambiguities are resolved by utilizing the FARA(Fast Ambiguity Resolution Approach). In this paper, we propose the method to improve the positioning accuracy and performed the field tests for several baselines from DAEJ reference station in KAO(Korea Astronomy Observatory).

• The KIPS Transactions:PartA
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• v.12A no.1 s.91
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• pp.53-58
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• 2005

The use of computers for control and monitoring of industrial process has expanded greatly in recent years. The computer used in such applications is shared between a certain number of time-critical control and monitor function and non time-critical batch processing job stream. Embedded systems encompass a variety of hardware and software components which perform specific function in host computer. Many embedded system must respond to external events under certain timing constraints. Failure to respond to certain events on time may either seriously degrade system performance or even result in a catastrophe. In the design of real-time embedded system, decisions made at the architectural design phase greatly affect the final implementation and performance of the system. Flexibility indicates how well a particular system architecture can tolerate with respect to satisfying real-time requirements. The degree of flexibility of real-time system architecture indicates the capability of the system to tolerate perturbations in timing related specifications. Given degree of flexibility, one may compare and rank different implementations. A system with a higher degree of flexibility is more desirable. Flexibility is also an important factor in the trade-off studies between cost and performance. In this paper, it is identified the need for flexibility function and shows that the existing real-time analysis result can be effective. This paper motivated the need for a flexibility for the efficient analysis of potential design candidates in the architectural design exploration or real time embedded system.

• The KIPS Transactions:PartA
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• v.14A no.7
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• pp.421-434
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• 2007

Among many other CG generated natural scenes, the representation of ocean surfaces is one of the most complicated and time-consuming problem because of its large extent and complex surface movement. We present a hybrid method to represent and animate unbound deep-water ocean surfaces by utilizing graphics processor as both simulation and rendering core. Our technique is mainly based on spectral approaches that generate a high-detailed height field using Fourier transform on a 2D regular grid. Additionally, we incorporate Gerstner model and generate low-detailed height field on a 2D projected grid in order to represent large waves and main structure of ocean surface. There is no interruption between CPU and GPU, and no need to transfer simulation results from the system memory to graphics hardware because the entire simulation and rending processes are done on graphics processor. As a result we can synthesize and render realistic water surfaces in real-time. Proposed techniques are readily adoptable to real-time applications such as computer games that have heavy work load on CPU but still demand plausible natural scenes.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.17 no.2
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• pp.45-50
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• 2017

Micro-service Architecture is a service architecture optimized for large-scale distributed systems such as real-time realistic broadcasting systems, so that are fiercely adopted by Global leading service platform vendors such as Netflix and Twitter due to the merit of horizontal performance scalability enabling the scale-out technique. In addition, micro-service architecture makes it possible to execute image processing and real-time data analysis using an asynchronous-based processing that are difficult to handle in Web API such as REST. In this paper, an event stream processing framework applicable to asynchronous based micro services is proposed in the sense that the accountability of event processing order is not guaranteed in the events such as IoT sensor data analysis or cloud-based image editing because these are the situations where the real-time media editing generates multiple event streams and asynchronous processes in the platform.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.9
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• pp.807-813
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• 2016

Recently, a spherical pendulum attached to an end-effector of a robot manipulator has been frequently used for a test bed of residual vibration suppression control in a multi-dimensional motion. However, there was no automatic tracking system to detect the current bob position on-line, and there was inconvenience to not be able to store the bob position in real time and plot the trajectory. In this study, we developed a two-dimensional, real-time bob-detecting system using a digital USB camera, of which the key is hardware component design and software C programming for fast image processing and interfacing. The developed system was applied to residual vibration suppression control of a two-dimensional spherical pendulum that is attached at the end-effector of a two degree-of-freedom SCARA robot, and the effectiveness of the developed system has been demonstrated.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2013.06a
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• pp.409-410
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• 2013

동영상 압축 기술 HEVC(High Efficiency Video Coding)는 ITU-T(VCEG)와 ISO-IEC(MPEG)에서 JCT-VC라는 팀을 이루어 공동으로 표준화를 완성 단계에 이르렀다. 기존 표준보다 약 50%의 성능 향상을 가져왔지만 다양한 최신 압축 기술을 사용함에 따라 부호화 및 보호화의 복잡도가 매우 복잡한 단점을 가진다. 제안하는 방법은 슬라이스 단위의 프로세싱을 OpenMP를 통한 병렬 구조를 적용하는 방법과 GPU 가속 모델을 적용한 방법을 통해 고화질 영상의 실시간 부호화 및 복호화에 대해 분석한다.

• Proceedings of the Korean Information Science Society Conference
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• 2010.06b
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• pp.283-288
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• 2010

본 논문은 VTK를 이용한 3차원 무릎 MRI 가시화에 대한 프로그램 기술을 제안한다. 기존의 많은 연구에서는 VTK를 사용하여 의료영상에 대한 3차원 가시화 프로그램을 제안하였으나 골관절염 진단을 목표로 한 무릎 3차원 가시화 방법은 아직 많이 제안되지 않고 있다. 본 논문에서는 볼륨렌더링(Volume redering) 기술과 다각형렌더링(Polygonal rendering)기술을 융합하여 무릎 및 연골을 효과적으로 가시화 할 수 있는 방법을 제안한다. 프로그램은 사용자 상호작용이 가능하고 VTK를 이용한 GPU기반의 프로세싱을 기반으로 하기 때문에 실시간 렌더링이 가능하다. 실험결과로부터 제안한 3차원 가시화 기술은 연골과 무릎의 관계를 직관적으로 표현할 수 있어 골관절염 조기진단에 유용하게 사용될 것으로 기대한다.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.5
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• pp.393-397
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• 2005

When a real-time image processing application is implemented with a general-purpose computer, CPU (Central Processing Unit) is usually heavily loaded and in many cases that CPU alone cannot meet the real-time requirement at all. Most modern computers are equipped with powerful Graphics Processing Units (GPUs) to accelerate graphics operations. There is a trend that the power of GPU outgrows that of CPU. If we take advantage of the powerful GPU for more general operations other than pure graphics operations, the processing time can be reduced. In this study, we will present techniques that apply GPU to general operations such as image processing procedures. Our experiment results show that significant speed-up can be achieved by using GPU.

• Proceedings of the Korea Information Processing Society Conference
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• 2002.11a
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• pp.221-224
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• 2002

인터넷의 규모가 커지고 서버들의 사용이 증가함에 따라 네트워크상의 서버들의 유휴 비용에 관한 많은 연구가 이루어지고 있다. 실시간 영상처리 시스템의 경우에는 처리하는 영상의 수에 비례하여 서버의 부담이 급격히 늘어나게 된다. 데이터 전송 속도에 있어서 많은 발진이 이루어지긴 하였지만 프로세싱의 중앙 집중화는 서버의 많은 부담을 줄뿐만 아니라, 서버로의 네트워크 병목 현상을 초래하고 있다. 본 논문에서는 서버의 부담을 줄임과 동시에 병목현상을 해결하기 위해 RMI 기술을 기반으로 분산처리 기술을 온라인 전처리 시스템에 적용한 분산 필터링 시스템을 제안한다.