• Journal of the Institute of Electronics Engineers of Korea SP
• /
• v.37 no.1
• /
• pp.1-15
• /
• 2000

To reconstruct 3- D shape, It is a common strategy to acquire multiple range Images from different viewpoints and integrate them into a common coordinates In this paper, we particularly focus on the registration and integration processes for combining all range Images into one surface model. For the registration, we propose the 2-step registration algorithm, which consists of 2 steps the rough registration step using all data points and the fine registration step using the high-curved data points For the integration, we propose a new algorithm, referred to as ‘multi-registration’ technique, to alleviate the error accumulation problem, which occurs during applying the pair-wise registration to each range image sequentially, in order to transform them into a common reference frame Intensive experiments are performed on the various real range data In experiments, all range images were registered within 1 minutes on Pentium 150MHz PC The results show that the proposed algorithms registrate and integrate multiple range Images within a tolerable error bound in a reasonable computation time, and the total error between all range Images are equalized with our proposed algorithms.

• Science of Emotion and Sensibility
• /
• v.12 no.4
• /
• pp.519-530
• /
• 2009

Today various interfaces are created with the advancement of technology. The flat 2D and static interfaces are general in the past but 3D and motion factors are imported in user interfaces today. It is important to use the motion factors adequately appropriate timing, situation and so on. This study focuses on the motion factor, especially the squash & stretch principle which affects the style of movement. This study investigates the effect of cartoon style(squash & stretch principle) for motion on attraction, emotion and attention. In experiment 1, participants evaluated attraction and emotion words relating to movement after they saw spheres applied to squash & stretch principle and spheres not applied to. The results indicate the squash & stretch principle can make motion not only more attractive but also brighter and more active than the general motion. In experiment 2, a sphere applied to squash & stretch principle and a sphere not applied to were presented at the same time and we measured the reaction time when participants detected change in one of the two spheres. As a result, the reaction time was faster when a sphere applied to squash & stretch principle changed. This suggests that the squash & stretch principle can make motion attract the attention of users.

• KIPS Transactions on Software and Data Engineering
• /
• v.11 no.3
• /
• pp.141-148
• /
• 2022

Recently, reinforcement learning combined with deep neural network technology has achieved remarkable success in various fields such as board games such as Go and chess, computer games such as Atari and StartCraft, and robot object manipulation tasks. However, such deep reinforcement learning describes states, actions, and policies in vector representation. Therefore, the existing deep reinforcement learning has some limitations in generality and interpretability of the learned policy, and it is difficult to effectively incorporate domain knowledge into policy learning. On the other hand, dNL-RRL, a new relational reinforcement learning framework proposed to solve these problems, uses a kind of vector representation for sensor input data and lower-level motion control as in the existing deep reinforcement learning. However, for states, actions, and learned policies, It uses a relational representation with logic predicates and rules. In this paper, we present dNL-RRL-based policy learning for transportation mobile robots in a manufacturing environment. In particular, this study proposes a effective method to utilize the prior domain knowledge of human experts to improve the efficiency of relational reinforcement learning. Through various experiments, we demonstrate the performance improvement of the relational reinforcement learning by using domain knowledge as proposed in this paper.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.20 no.3
• /
• pp.639-646
• /
• 2016

In this study, the contactless measurement method with a optical displacement sensor(ODS, ADNS 9500) was proposed to overcome flaws in a rotary encoder based measurement under particular circumstances, such as a slippage and a case of little rotational inertia. The performance tests of the optical displacement sensor using data acquisition board and National Instruments's LabVIEW program were performed to accomplish accurate displacement measurements and the performance characteristics according to measurement direction, speed, acceleration, height and surface types were discovered through the repetitive tests. The experimental results indicate that, in order to get an accurate in-plane motion, the height(distance between the ODS and the target surface) has to be maintained at the range of 2.4 mm to 3.2 mm and the sensitivity(resolution) should be modified and applied to the formulae for displacement calculation, considering its measurement direction, speed and surface type.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2010.10a
• /
• pp.259-263
• /
• 2010

This paper introduces an integrated vision system that enables us to detect the image of Slabs and Coils and get the complete three dimensional location data without any other obstacles in the field of unmanned-crane automation system. Existing researches with laser scanner tend to be easily influenced by environment in the work place so they cannot give the exact location information. Also, CCD camera has some problems recognize the pattern because of intensity of illumination caused in the industrial setting. To overcome these two weaknesses, this thesis suggests laser scanner should be combined with CCD camera named integrated vision system. This system can draw more clear pictures and take the advanced 3D location information. The suggested system is expected to help build unmanned-crane automation system.

• The Journal of the Korea Contents Association
• /
• v.10 no.2
• /
• pp.130-137
• /
• 2010

Light Drawing is a photographic technique which exposures are made at night or in a darkened room usually by moving a hand-held light source[1]. Due to the limitations of equipment and environment, users having difficulty in drawing a picture in 3D space. If user take a light drawing, they need a camera that have function and darkened environment. Alternative solution is that we can make a light drawing picture by using the computer drawing tool as in Photoshop. Nevertheless, this solution will let the User lose their interest in drawing because this solution cannot synchronize between the real action of human hand motion and the electronic input devices such as mouse and keyboard. This paper proposed a digital content that can make light drawing easier. We used a digital content that will facility Light Drawing easier. We can measure the light spot position by using the stereo camera. Based on the measured position of the light spot, we reproduce light drawing in virtual space by using drawing effect method.

• Journal of Animal Science and Technology
• /
• v.44 no.2
• /
• pp.251-260
• /
• 2002

The corn (Zea mays L) planting date in a double-cropping system is delayed until mid-May due to delayed rye harvest on May. This experiment was conducted to determine the optimum harvesting time for high yield and the best quality of silage corn at late planting date after harvesting winter rye. Corns were planted on 21 May and harvested at eight different maturity stage at Seoul National University Experimental Livestock Farm, Suwon in 1997. Maturities were B (blister; 16 days after silking), M (milk; 20 days), LM (late milk; 24 days), SD (soft dough; 28 days), ED (early dent; 33 days), FD (full dent; 38 days), LD (late dent; 44 days) and PM (physiological maturity; 53 days) stages. The percentage of whole plant dry matter (DM) showed optimum range for silage making (29.0 to 38.5%) when corn plant was harvested at between ED and LD stages. Maximum whole plant DM (14,831 kg/ha) and total digestible nutrients (TDN) yields (10,675 kg/ha) reached at full dent stage. The percentage of whole plant acid detergent fiber (ADF) was decreased from 35.4 to 22.1%, and that of neutral detergent fiber (NDF) was also decreased from 63.8 to 46.0% as harvest stage progressed. These changes in chemical compositions were associated with changes in plant part composition. A progressive increase in total ear, and the decrease in stover portion in the plant were observed with advance in harvest stage. Calculated on net energy for lactation (NEL) and TDN values based on ADF percentage of stover plant decreased by ED stage and then increased by PM stage. But NEL and TDN values of ear and whole plant increased as harvest stage progressed. While in vitro dry matter digestibility of stover was decreased from 61.1 to 49.7%, whole plant was increased from 58.3 to 65.7% as maturity advanced (P$<$0.05). The results of this study indicate that corn can be harvested for silage at full (1/2 milkline) and late dent (2/3 milkline) stages for maximum yield and optimum quality at late planting. And days after silking at late planting was 38 and 44 days.

• Journal of the Institute of Convergence Signal Processing
• /
• v.7 no.3
• /
• pp.87-94
• /
• 2006

For realizing an ubiquitous home network(uHome-net), various sensors should be able to be connected to an integrated wire/wireless sensor network. This paper describes an application case of applying LonWorks technology being widely used in control network to wire/wireless sensor network in uHome-net and the design and application of LonRF device that consists of a neuron chip including LonTalk protocol, a 433.92MHz RF transceiver, a sensor, and application programs. As an application example of the LonRF device, the LonRF smart badge that can measure the 3D location of objects in indoor environment and interwork with the uHome-net was developed. LonRF device based home network services were realized on the uHome-net testbed such as indoor positioning service, remote surveillance service and remote metering service were realized. This research shows that LonWorks technology based sensor network could be applicable to the control network in an ubiquitous home network and the LonRF device can be used as a wireless node in various sensor networks.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.17 no.5
• /
• pp.1208-1217
• /
• 1993

The simple and effective optical technique synthesizing holographic interferometry and speckle photography is presented. The optical system used in this experiment is based on image holography. A cantilever beam located on the precision translator is used to evaluate this measurement system. Experimental results agree well with the actual displacements within the error of 2.8%. As an its application, three dimensional contact deformation in the ball indentation is measured by using this optical system and compared with the numerical analysis by finite element method.

• Journal of Sensor Science and Technology
• /
• v.5 no.5
• /
• pp.55-62
• /
• 1996

This paper describes development of Polarized Stereo Monitoring System (KAERI-PSM) and compares the remote handling performance of KAERI-PSM with that of other monitoring systems, electric shutter type stereo monitoring system and general TV monitoring system. Remote handling performance is evaluated by total time and error number on remote operating experiments. Four kinds of remote handling experiments are carried out through 1) directly 2) general TV 3) electric shutter type monitor, and 4) KAERI-PSM. In these experiments six employees are participated and PUMA robot with force-torque reflectional joystic is used. The result of experiments show that camera angle against object is significant factor in monitoring and stereo monitoring system give more performance benifits in terms of accuracy and speed of remote handling operation than general TV monitoring system. In comparision of the polarized and electric shutter type stereo monitoring system, both have similar accuracy and speed for remote handling operation, but the former is superior in image quality and stability of the performance.