• Journal of Institute of Control, Robotics and Systems
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• v.12 no.3
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• pp.294-299
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• 2006

This paper studies a visual feedback control scheme for robot manipulators with camera-in-hand configurations. We design a robust controller that compensates for bounded parametric uncertainties of robot mechanical dynamics. In order to reduce steady state tracking error of the robot arms due to uncertain dynamics, integral action is included in the control input. Using the Lyapunov stability criterion, the uniform ultimate boundedness of the tracking error is proved. Simulation and experimental results with a 2-1ink robot manipulator illustrate the robustness and effectiveness of the proposed control algorithm.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.89-91
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• 2005

In this paper, we propose a robust visual feedback controller with integral action for tracking control of n-link robot manipulators in the presence of constant bounded parametric uncertainties. The proposed control input has robustness to the parametric uncertainty and reduces tracking error in the steady-state. The stability of the closed-loop system is shown by Lyapunov method. The effectiveness of the proposed method is shown by simulation results on the 5-link robot manipulators with two degree of freedom.

• The Journal of the Korea Contents Association
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• v.11 no.4
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• pp.140-154
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• 2011

Through this thesis, I intended to analyze superhero action thriller through that achieved in art and box office after the film release. I would to access about it centering around directing viewpoint. of Christoper Nolan is evaluate as 'upgraded excellent action thriller'that have remarkable theme and excellent visual. Analysis of directing'll classify both contents and form. See about contents... theme of existential dilemma about the good and the evel, characters who is grew more powerful, and deeper than Batman series in old times. the fifth plot, especially dramatic plot by Joker's game, and various irony and motif. About form... efficient use of IMAX camera, prominence of action directing about car chase and fighting... better editing and music and art than former super hero series. The most important merit of is it's a philosophical theme. It is dipicted very seriously and successfully. First of all, the film has more advanced technique power and new directing style.

• Smart Media Journal
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• v.11 no.1
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• pp.46-57
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• 2022

In this paper, multi-region based Radial Graph Convolutional Network (MRGCN) algorithm which can perform end-to-end action recognition using the optical flow and gradient of input image is described. Because this method does not use information of skeleton that is difficult to acquire and complicated to estimate, it can be used in general CCTV environment in which only video camera is used. The novelty of MRGCN is that it expresses the optical flow and gradient of the input image as directional histograms and then converts it into six feature vectors to reduce the amount of computational load and uses a newly developed radial type network model to hierarchically propagate the deformation and shape change of the human body in spatio-temporal space. Another important feature is that the data input areas are arranged being overlapped each other, so that information is not spatially disconnected among input nodes. As a result of performing MRGCN's action recognition performance evaluation experiment for 30 actions, it was possible to obtain Top-1 accuracy of 84.78%, which is superior to the existing GCN-based action recognition method using skeleton data as an input.

• Proceedings of the Korea Contents Association Conference
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• 2008.05a
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• pp.116-120
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• 2008

Smart Camera provides intelligent vision functionalities which can interpret captured video, extract context-aware information and execute a necessary action in real-timeliness in addition to the functionality of network cameras which transmit the compressed acquired videos through networks. Intelligent vision algorithms demand tremendous computations so that real-time processing of computation of intelligent vision algorithms as well as compression and transmission of videos simultaneously is too much burden for a single CPU. Davinci processor of Texas Instruments is a popular ASSP(Application Specific Standard Product) which has dual core architecture of ARM core and DSP core and provides various I/O interfaces as well as networking interface and video acquiring interface necessary for developing digital video embedded applications. In this paper, we report the results of designing and implementing S/W for Davinci-based smart camera. We implement a face detection as an example of vision application and verify the implementation works well. In the future, for the development of a smart camera with more broad and real-time vision functionalities, it is necessary to study about more efficient vision application S/W architecture and optimization of vision algorithms on DSP core of Davichi processor.

• Korean Journal of Pharmacognosy
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• v.13 no.2
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• pp.70-78
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• 1982

To investigate the effect of 'Saengkankunbi-Tang' on the liver tissue recovery in about 70% cutted rat liver, the observation on the photographing by the Gamma-camera and the electromicroscopic section against the rabbit liver induced by $CCl_4$, these studies were conducted. The results were summarized as follows; Observed on the liver tissue recovery, function regeneration and body weight increase in about 70% cutted rat liver, the recovery of liver tissue and body weight were increased with the passage of the time and also they were showed to the high increase rate in proportion to administration amount. The glucose content in the serum was found in increasing tide as compared with the control group. The alkaline phosphate activity in the serum showed the significant difference in the 10th day and 13th day as compared with the control group. The ammonia content in the blood showed the significant difference only in the 10th day. Observed on the photographing by the Gamma-camera against the rabbit liver induced by $CCl_4$, sample groups were shown to be significant recovery as compared with the control group. Observed on the electromicroscopic section, sample groups showed the control action of the nuclear destruction against the rabbit liver induced by $CCl_4$ and also they showed the control action of the expansion of glycogen and granular endothelial reticulum in cytoplasm. According to the above finding, it is presume that 'Saengkankunbi-Tang' can be applicable to the extensive treatment of liver disease.

• The Korean Journal of Air & Space Law and Policy
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• v.35 no.1
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• pp.3-32
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• 2020

With controlling Drones, although it was discussed in the previous study which showed a possibility. Which is personality and property rights of third parties could be violated while operating the drone with a video camera. But It's hard to find out precedents related to drones in Korea. In case of that someone try to control the drone which is equipped with a camera in a yard of neighborhood, the German District Court (Potsdam) considered an operator of drone has little bit of careless to do his duty and admit nonfeasance claim in the owner of the one's property for prevention to repetition of similar situation according to a nonfeasance claim for prevention to Section 1004 (1) sentence 2 of the German Civil Code(BGB). The drone which is equipped with a camera have possibilities to disrupt property and personal rights of the owner. Because a danger in repetition is getting larger regarding the violation of law. Moreover, there is a case that someone shot down the drone which is equipped with a camer. Because it has a risk to interrupt private life and cause some dangerous in our life. The German district court(Riesa) recently have considered that controlling the drone with a camera in private spaces is illegal as a violation of personal life. In addtion to, the action of property owner shot down drone is a legal according to § 228 of the German Civil Code(BGB) which is caleed "Necessity". Although it is difficult to apply to foreign cases directly to Korea, similar cases are likely to be occurred in Korea. The decision of the German District Court showed implications to Korea. As demand for the camera-equipped drone increases in Korea, it is time to discuss specific measures for drone violations.

• IEIE Transactions on Smart Processing and Computing
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• v.3 no.4
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• pp.195-204
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• 2014

This paper presents the depth evaluation for object detection by automated assembling robots. Pattern distortion analysis from a structured light system identifies an object with the greatest depth from its background. An automated assembling robot should prior select and pick an object with the greatest depth to reduce the physical harm during the picking action of the robot arm. Object detection is then combined with a depth evaluation to provide contour, showing the edges of an object with the greatest depth. The contour provides shape information to an automated assembling robot, which equips the laser based proxy sensor, for picking up and placing an object in the intended place. The depth evaluation process using structured light for an automated electronics assembling robot is accelerated for an image frame to be used for computation using the simplest experimental set, which consists of a single camera and projector. The experiments for the depth evaluation process required 31 ms to 32 ms, which were optimized for the robot vision system that equips a 30-frames-per-second camera.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.810-815
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• 1988

This paper presents a mobile robot that travels employing visual information. The mobile robot is equipped solely with a TV camera as a sensor, and views from the TV camera are transferred to a separately installed micro computer through an image acquisition device. An acquired image of a view is processed there and the information necessary for travel is yielded. Instructions based on the information are then sent from the micro computer to the mobile robot, which causes the mobile robot next action. Among several application programs that have already been developed for the mobile robot other than the entire control program, this paper focuses its attention on the travelling control of the mobile robot in a model environment with obstructions as well as an overview of the whole system. The behaviour the present mobile robot takes when it travels among obstructions was investigated by an experiment, and satisfactory results were obtained.

• Journal of the Society of Naval Architects of Korea
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• v.45 no.3
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• pp.238-246
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• 2008

In the present study, the influences on the gap cavitaiton of the semi-spade rudder are investigated experimentally in the condition with propeller and hull wakes. To reduce the scale effect in the given experimental conditions, 1/28.5-scale-down models of propeller and rudder are manufactured. We have the propeller rotate ahead of the rudder, inducing the three dimensional effects originated from the propeller action. Experimental methods are composed of the cavitation observation using high speed camera, PIV (particle image velocimetry) measurements to visualize the cavitaition and flows around the gap. The propeller slipstream affects both of the gap flows and cavitation of the rudder.