• The Korean Journal of Nuclear Medicine
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• v.32 no.4
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• pp.365-373
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• 1998

Purpose: The conventional gamma camera is not ideal for scintimammography because of its large detector size (${\sim}500mm$ in width) causing high cost and low image quality. We are developing a small gamma camera dedicated for breast imaging. Materials and Methods: The small gamma camera system consists of a NaI (T1) crystal ($60 mm{\times}60 mm{\times}6 mm$) coupled with a Hamamatsu R3941 Position Sensitive Photomultiplier Tube (PSPMT), a resister chain circuit, preamplifiers, nuclear instrument modules, an analog to digital converter and a personal computer for control and display. The PSPMT was read out using a standard resistive charge division which multiplexes the 34 cross wire anode channels into 4 signals ($X^+,\;X^-,\;Y^+,\;Y^-$). Those signals were individually amplified by four preamplifiers and then, shaped and amplified by amplifiers. The signals were discriminated ana digitized via triggering signal and used to localize the position of an event by applying the Anger logic. Results: The intrinsic sensitivity of the system was approximately 8,000 counts/sec/${\mu}Ci$. High quality flood and hole mask images were obtained. Breast phantom containing $2{\sim}7 mm$ diameter spheres was successfully imaged with a parallel hole collimator The image displayed accurate size and activity distribution over the imaging field of view Conclusion: We have succesfully developed a small gamma camera using NaI(T1)-PSPMT and nuclear Instrument modules. The small gamma camera developed in this study might improve the diagnostic accuracy of scintimammography by optimally imaging the breast.

• Journal of Advanced Navigation Technology
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• v.10 no.2
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• pp.113-120
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• 2006

In this paper, a vision-based robust controller for tracking the desired trajectory a robot manipulator is proposed. The trajectory is generated to move the feature point into the desired position which the robot follows to reach to the desired position. To compensate the parametric uncertainties of the robot manipulator which contain in the control input, the robust controller is proposed. In addition, if there are uncertainties in the Jacobian, to compensate it, a vision-based robust controller which has control input is proposed as well in this paper. The stability of the closed-loop system is shown by Lyapunov method. The performance of the proposed method is demonstrated by simulations and experiments on a two degree of freedom 5-link robot manipulators.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.23 no.1
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• pp.156-161
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• 2009

This paper proposes a new method about performance improvement of soccer robots system by the revision of lens distortion most commonly occurred in camera and the revision of position and angle error in robot patch for the realization of robot position. Among the lens distortions, we revise geometrical distortion and apply it to soccer robots system for realtime environment. Patch used in the recognition and the distinction for coordination and direction of robot occurs a position and angle error according to the figure of it. In this paper, we suggest the method of reduction for position and angle error of robot by improved patch and verify its propriety through the experiment.

• The KIPS Transactions:PartB
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• v.9B no.6
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• pp.707-714
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• 2002

This paper presents a real-time Hausdorff matching algorithm for tracking of moving object acquired from an active camera. The proposed method uses the edge image of object as its model and uses Hausdorff distance as the cost function to identify hypothesis with the model. To enable real-time processing, a high speed approach to calculate Hausdorff distance and half cross matching method to improve performance of existing search methods are also presented. the experimental results demonstrate that the proposed method can accurately track moving object in real-time.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.9 no.1
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• pp.64-69
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• 2008

In order that a mobile robot can perform tasks in unknown environment localization of a mobile robot is essential task. In this paper, a new localization method for a mobile robot using an active landmark is proposed, which is very simple to implement. The landmark has a LED which can be controlled by a mobile robot via wireless communication. CCD camera gets two images of the landmark, one of which is with LED off and the other is with LED on. Because the landmark can be detected by using the difference image of the two images, detection time can be minimized. By using the characteristic points of the landmark, localization can be performed simply. A series of experiments are performed to evaluate the proposed method and the experimental results show that the proposed method can be applicable to the localization of a mobile robot.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2007.06a
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• pp.601-604
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• 2007

In this paper dose a laver surface check using a real time image process. This system does false retrieval of a laver at a laver production line. At first, a laver image was read in real time using a CCD camera. In this paper, we use an area scan CCD camera. Image is converted into a binary code image using a high-speed imaging process board afterwards. A laver feature is extracted by a binary code image. Surface false retrieval is finally executed using a laver feature. In this paper, we use an area feature of a laver image.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.05a
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• pp.358-359
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• 2018

In this paper, opencv and android studio are used to distinguish between objects ahead of the blind. When the movement is detected in a positive direction in connection with the camera of the smartphone, the user is informed that the part of the camera is being rabelified and continues to track using the mean shift algorithm. A C ++ program based on OpenCV-based was used for real-time motion observation and the application will be produced by android studio. As a result of the study, objects that move with Labeling are identified and the box area is specified using the mean shift algorithm to move the box along with the object to track objects in real time.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.1 s.307
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• pp.13-20
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• 2006

In this paper, we propose a motion control scheme of robot manipulators based on visual feedback under camera-in-hand configuration. The desired joint velocity and acceleration for motion control is made by the feature-based visual data in the outer loop. The control input for tracking feature points on the image plane uses robot kinematics dynamic. The proposed control input consists of the image feature and the joint velocity error to achieve robustness to the parametric uncertainty. The stability of the closed-loop system is proved by Lyapunov approach. Computer simulations and experiments on a two degree of freedom manipulator with 5 links are presented to illustrate the performance of proposed control system.

• Journal of Korea Multimedia Society
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• v.8 no.8
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• pp.1057-1068
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• 2005

This paper proposes a real-time face detection system which detects multiple faces from low resolution video such as web-camera video. First, It finds face region candidates by using AdaBoost based object detection method which selects a small number of critical features from a larger set. Next, it generates reduced feature vector for each face region candidate by using principle component analysis. Finally, it classifies if the candidate is a face or non-face by using SVM(Support Vector Machine) based binary classification. According to experiment results, the proposed method achieves real-time face detection from low resolution video. Also, it reduces the false detection rate than existing methods by using PCA and SVM based face classification step.

• 전자공학회논문지 IE
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• v.48 no.1
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• pp.16-24
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• 2011

In this paper, we developed a auto sorting system for T type welding nut using a vision inspector. We used edge and thread detection with histogram of image which is captured by machine vision camera. We also used a binary morphology operation for a detection of spot. As a result we performed numeric inspection of 0.1mm accuracy. This is impossible in old sorting system and inspector with naked eye. Also, we reduced the manufacturing unit cost to 25% and improved a production efficiency to 330%.