• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.1
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• pp.9-16
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• 2016

A position control system composed of the PMLSM(Permanent Magnet Linear Synchronous Motor), unlike conventional linear permanent magnet synchronous motor is fixed to the permanent magnet moving coil rails (permanent magnet = stator, coil = mover), the coil is fixed, moving the permanent magnet, we propose a position control system (permanent magnet = mover, coil = stator) structure. Position is measured not using conventional encoder or resolver but by adopting vector control method using 2 hall sensors generating rectangular signal. This method estimate the velocity and position of mover by using the quadruple of two hall sensor signal instead of encoder signal. Vector control of PMLSM using 2 hall sensor generating rectangular wave is proved to control the system stable and efficiently through simulation. Also hardware experiment reveals that the position control performance is measured within the range of $30{\sim}50{\mu}m$ in the accuracy of $10{\sim}20{\mu}m$, which is improved twice to the conventional method. The proposed method exhibits its economical efficiency and practical usefulness. The vector control technique using two hall sensors can be installed in narrow place, accordingly it can be implemented on the system where the conventional encoder or resolver cannot operate.

• Journal of KIISE:Software and Applications
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• v.31 no.11
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• pp.1543-1550
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• 2004

Modeling from images is a cost-effective means of obtaining 3D geometric models. These models can be effectively constructed from classical Structure from Motion algorithm. However, it's too difficult to reconstruct whole scenes using SFM method since general sites contain a very complex shapes and brilliant colours. To overcome this difficulty, the current paper proposes a new reconstruction method based on a moving Planar mirror. We devise the mirror posture instead of scene itself as a cue for reconstructing the geometry That implies that the geometric cues are inserted into the scene by compulsion. With this method, we can obtain the geometric details regardless of the scene complexity. For this purpose, we first capture image sequences through the moving mirror containing the interested scene, and then calibrate the camera through the mirror's posture. Since the calibration results are still inaccurate due to the detection error, the camera pose is revised using frame-correspondence of the comer points that are easily obtained using the initial camera posture. Finally, 3D information is computed from a set of calibrated image sequences. We validate our approach with a set of experiments on some complex objects.

• Therapeutic Science for Rehabilitation
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• v.7 no.1
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• pp.79-88
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• 2018

Objective : Conventional therapy approaches for stroke survivors have required considerable demands on therapist's effort and patient's expense. Thus, new robotics rehabilitation therapy technologies have been proposed but they have suffered from less than optimal control algorithms. This article presents a novel technical healthcare solution for the real-time, simultaneous and propositional myoelectric control for stroke survivors' upper limb robotic rehabilitation therapy. Methods : To implement an appropriate computational algorithm for controlling a portable rehabilitative robot, a linear regression model was employed, and a simple game experiment was conducted to identify its potential of clinical utilization. Results : The results suggest that the proposed device and computational algorithm can be used for stroke robot rehabilitation. Conclusion : Moreover, we believe that these techniques will be used as a prominent tool in making a device or finding new therapy approaches in robot-assisted rehabilitation for stroke survivors.

• Korean Journal of Cognitive Science
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• v.20 no.4
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• pp.573-601
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• 2009

The present study investigated the perceptual span during reading Korean, using the moving-window display change technique introduced by McConkie and Rayner(1975). Eight different window sizes were used in Experiment 1. They were 3, 5, 7, 9, 11, 13, 15 characters in size and the full line. Reading rate, number of fixation, saccadic distance, fixation duration were compared between each window-size condition and the full line condition. The reading rate was no higher in the full line condition than in the 15 character condition but was higher than in the other conditions. The number of fixations was no larger in the full line condition than in the 15 character condition, had a tendency to be larger than in the 13 characters condition, and was more than in the other conditions. The result pattern of the saccadic distance based on character was the same as that of the reading rate, and the saccadic distance based on the pixel was the same as that of the number of fixation. Similarly, for fixation duration, there was no differences between whole line condition and 15, 13, and 11 characters condition. The fixation duration had a tendency to be shorter in the 9 characters, and was shorter in the 7, 5, and 3 characters conditions than whole line condition. In Experiment 2, based on asymmetry of perceptual span, the 6 different window sizes(0, 1, 2, 3, 4 characters in size and the full line) were used. There was a difference only between the 0 condition and the other conditions in the reading rate, number of fixations, fixation duration. Considering the pattern of eye-movement measures above, the perceptual span of Korean readers extends about 6-7 characters to the right of fixation and 1 character to the left of fixation.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.8
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• pp.132-139
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• 2015

Visual SLAM(Simultaneous Localization And Mapping) has been used widely to estimate a mobile robot's location. Visual SLAM estimates relative motions with static visual features over image sequence. Because visual SLAM methods assume generally static features in the environment, we cannot obtain precise results in dynamic situation including many moving objects: cars and human beings. This paper presents a stereo vision based SLAM method in dynamic environment. First, we extract disparity map with stereo vision and compute optical flow. We then compute disparity change that is the estimated flow field between stereo views. After examining the disparity change value, we detect ROIs(Region Of Interest) in disparity space to determine dynamic scene objects. In indoor environment, many structural planes like walls may be determined as false dynamic elements. To solve this problem, we segment the scene into planar structure. More specifically, disparity values by the stereo vision are projected to X-Z plane and we employ Hough transform to determine planes. In final step, we remove ROIs nearby the walls and discriminate static scene elements in indoor environment. The experimental results show that the proposed method can obtain stable performance in dynamic environment.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38A no.8
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• pp.623-628
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• 2013

The retrodirective array antenna system is operated faster than existing techniques of beamforming due to its less complexity. Therefore, it is effective for beam tracking in the environment of fast vehicle. On the other hand, it also has difficulty in estimating AOA according to multipath environment or multiuser signals. To improve the certainty of estimating AOA), this article proposes hybrid digital retrodirective array antenna systme combined with MUSIC algorithm. In this paper, the digital retrodirective array antenna system is designed according to the number of antenna array by using only one digital PLL which finds angle of delayed phase. And we evaluate the performance of the digital retrodirective array antenna for the high speed tracking application. Performance is studied by simulink when the speed of mobile is 300km/h and the distance between transmitter and receiver is 100m and then we have to confirm the performance of the system in multi path environment. As a result, the mean of AOA (Angle Of Arrival) error is $4.2^{\circ}$ when SNR is 10dB and it is $1.3^{\circ}$ when SNR is 20dB. Consequently, the digital RDA shows very good performance for high speed tracking due to the simple calculation and realization.

• Journal of KIISE:Computing Practices and Letters
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• v.13 no.7
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• pp.488-498
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• 2007

This paper presents a novel approach for representing the spatio-temporal topology of the camera network with overlapping and non-overlapping fields of view (FOVs) in Ubiquitous Smart Space (USS). The topology is determined by tracking moving objects and establishing object correspondence across multiple cameras. To track people successfully in multiple camera views, we used the Merge-Split (MS) approach for object occlusion in a single camera and the grid-based approach for extracting the accurate object feature. In addition, we considered the appearance of people and the transition time between entry and exit zones for tracking objects across blind regions of multiple cameras with non-overlapping FOVs. The main contribution of this paper is to estimate transition times between various entry and exit zones, and to graphically represent the camera topology as an undirected weighted graph using the transition probabilities.

• Journal of the Korean Data and Information Science Society
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• v.26 no.4
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• pp.791-799
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• 2015

In random walk hypothesis, we assume that current change of financial time series is independent of past values. It is interpreted as an existency of a unit root in ARMA models and many researches have been focused on whether ${\rho}$ < 1 or not. If some financial data are generated from an explosive autoregressive model, the chance of a bubble economy increases. We have to find the symptoms of it in advance. Since some well-known parameter estimators contain the parameter itself and other statistic is constructed under a specific parameter structure assumption, those are difficut to be adopted. In this paper we investigate a test for explosive autoregressive models using slope signs. We found the properties of the slope sign test statistic under both independent error and correlated error conditions, mainly by simulations.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.6
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• pp.1477-1484
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• 2015

This paper proposes a robust method for object tracking based on Kalman filters algorithm and covariance matrix. As a feature of the object to be tracked, covariance matrix ensures the continuity of the moving target tracking in the image frames because the covariance is addressed spatial and statistical properties as well as the correlation properties of the features, despite the changes of the form and shape of the target. However, if object moves faster than operation time, real time tracking is difficult. In order to solve the problem, Kalman filters are used to estimate the area of the moving object and covariance matrices as a feature vector are compared with candidate regions within the estimated Kalman window. The results show that the tracking rate of 96.3% achieved using the proposed method.

• KIPS Transactions on Software and Data Engineering
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• v.4 no.4
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• pp.187-194
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• 2015

In this paper, we present an effective visual odometry estimation system to track the real-time pose of a camera moving in 3D space. In order to meet the real-time requirement as well as to make full use of rich information from color and depth images, our system adopts a feature-based sparse odometry estimation method. After matching features extracted from across image frames, it repeats both the additional inlier set refinement and the motion refinement to get more accurate estimate of camera odometry. Moreover, even when the remaining inlier set is not sufficient, our system computes the final odometry estimate in proportion to the size of the inlier set, which improves the tracking success rate greatly. Through experiments with TUM benchmark datasets and implementation of the 3D scene reconstruction application, we confirmed the high performance of the proposed visual odometry estimation method.