• Annual Conference of KIPS
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• 2009.04a
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• pp.163-164
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• 2009

최근 감시카메라의 사용률이 증가하고 있다. 개인 사업체, 전문 감시업체, 일반 기업 및 공공기관 등 감시카메라는 폭넓게 사용된다. 하지만 현재 설치된 감시카메라는 녹화된 감시영상이나 카메라 컨트롤을 관리자가 언제 어디서나 확인하고 조절할 수 없다는 단점이 있다. 이러한 단점을 해결하기 위해 TCP/IP기반의 네트워크에서 PDA로 Wi-Fi를 이용하여 접속한 후 감시카메라를 제어하거나 영상을 확인하는 방법을 제안하고 구현하였다. 제안하는 시스템은 서버 컴퓨터는 카메라의 영상을 받고 팬틸트 컨트롤을 하게한다. 클라이언트 컴퓨터는 PC와 PDA를 이용하여 서버에 접속한 뒤 실시간으로 영상을 받아오고 카메라 팬틸트를 컨트롤 한다. 본 논문에서 제안한 내용은 Wi-Fi가 사용가능한 곳에 있는 사용자가 언제 어디서나 감시카메라의 영상을 보고 컨트롤 하는데 유용할 것이다.

• Nuclear Engineering and Technology
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• v.46 no.3
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• pp.439-446
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• 2014

An amphibious inspection robot system (hereafter AIROS) is being developed to visually inspect the in-containment refueling storage water tank (hereafter IRWST) strainer in APR1400 instead of a human diver. Four IRWST strainers are located in the IRWST, which is filled with boric acid water. Each strainer has 108 sub-assembly strainer fin modules that should be inspected with the VT-3 method according to Reg. guide 1.82 and the operation manual. AIROS has 6 thrusters for submarine voyage and 4 legs for walking on the top of the strainer. An inverse kinematic algorithm was implemented in the robot controller for exact walking on the top of the IRWST strainer. The IRWST strainer has several top cross braces that are extruded on the top of the strainer, which can be obstacles of walking on the strainer, to maintain the frame of the strainer. Therefore, a robot leg should arrive at the position beside the top cross brace. For this reason, we used an image processing technique to find the top cross brace in the sole camera image. The sole camera image is processed to find the existence of the top cross brace using the cross edge detection algorithm in real time. A 5-DOF robot arm that has multiple camera modules for simultaneous inspection of both sides can penetrate narrow gaps. For intuitive presentation of inspection results and for management of inspection data, inspection images are stored in the control PC with camera angles and positions to synthesize and merge the images. The synthesized images are then mapped in a 3D CAD model of the IRWST strainer with the location information. An IRWST strainer mock-up was fabricated to teach the robot arm scanning and gaiting. It is important to arrive at the designated position for inserting the robot arm into all of the gaps. Exact position control without anchor under the water is not easy. Therefore, we designed the multi leg robot for the role of anchoring and positioning. Quadruped robot design of installing sole cameras was a new approach for the exact and stable position control on the IRWST strainer, unlike a traditional robot for underwater facility inspection. The developed robot will be practically used to enhance the efficiency and reliability of the inspection of nuclear power plant components.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.6
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• pp.35-41
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• 2007

We proposed an eye gaze tracking system under natural head movements. The system consists of one CCD(charge-coupled device) camera and two front-surface mirrors. The mirrors rotate to follow head movements in order to keep the eye within the view of the camera. However, the mirror controller cannot guarantee the fast head movements, because the frame rate is generally 30Hz. To overcome this problem, we applied Kalman filter to estimate next eye position from the current eye image. In the results, our system allowed the subjects head to move 60cm horizontally and 40cm vertically, with the head movement speed about 55cm/sec and 45cm/sec, respectively. And spatial gate resolutions were about 4.5 degree and 5.0 degree, respectively, and the gaze estimation accuracy was 92% under natural head movements.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.4
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• pp.194-201
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• 2004

Optical fibers are indispensable fer optical communication systems that transmit large volumes of data at high speed. But the aligning technology under the sub-micron accuracy is required for the precise axis adjustment and connection. For the purpose of precise alignment of the optical arrays, in this research, we have developed the 12-axis(with 8 automated axis and 4 manual axis) automatic optical fiber alignment system including the image processing-based searching system, the automatic loading system using the robot and the suction toot and the automatic UV bonding system. In order to obtain the sub-micron alignment accuracy, two 4-axis PC-based motion controllers and the two 50nm resolution 6-aixs micro-stage actuated by micro stepping motors are adopted. The fiber aligning procedure consists of two steps. Firstly, the optical wave guide and an input optical array are aligned by the 6-axis input micro-stage with the IR camera. The image processing technique is introduced to reduce primary manual aligning time and result in achieving the 50% decrease of aligning time. Secondly, the IR camera is replaced by the output micro-stage and a wave guide and two optical arrays are aligned simultaneously before the laser power intensity delivered to the optical powermeter reached the threshold value. When the aligning procedure is finished, the wave guide and arrays are W bonded. The automatic loading/unloading system is also introduced and the entire wave guide handing time is reduced significantly compared to the former commercial aligning system.

• Journal of Ocean Engineering and Technology
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• v.22 no.4
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• pp.90-96
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• 2008

In general, the swing motions of a crane are controlled and suppressed by controlling the trolley motion. In many of our previous studies, we suggested a new type of anti-sway control system for a crane. In this proposed control system, a small auxiliary mass (moving-mass) is installed on the spreader and moving this auxiliary mass controls tire swing motion. The actuator reaction against the auxiliary mass applies inertial control forces to the container in order to reduce the swing motion in the desired manner. However, measuring systems based on a laser sensor or other means are not veryuseful in real-worldapplications. So, in this paper, animage sensor is used to measure the motions of the spreader and the measured data are fed back to the controller in real time. The applied image processing technique is a kind of robust template matching method called Vector Code Correlation (VCC), which was devised to consider real environmental conditions. The H $\infty$ based control technique is applied to suppress the swing motion of the crane. Experimental results showed that the proposed measurement and control system based on an image sensor is useful and robust to disturbances.

• The Journal of the Korea institute of electronic communication sciences
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• v.9 no.9
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• pp.1043-1049
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• 2014

In this paper, we design and implement a digital LCD stopwatch function of the remote control. The central controller and LCD stopwatch is implemented based on the clock signal of the crystal oscillator of 8MHz by using ATmega8 processor in the AVR representative series of ATMEL, Communication module basic, ZBS-using the ISM 2.4GHz frequency band at 100. Stopwatch of remote control that has been proposed, it is possible to solve the three problems. First, it is possible to solve the sight deviation between broadcast camera and panelists glance to large LCD stopwatch monitors. Second, it is possible to avoid the trouble of broadcasting cameras cross replacement, Third, it is possible to minimize the inconvenient of the viewer corresponding to the operation of the horizontal movement of the broadcast camera.

• The Journal of the Korea Contents Association
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• v.15 no.2
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• pp.11-20
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• 2015

In this paper, we develop an intelligent mobile surveillance system based on binary CDMA for the unmanned automatic tracking and surveillance. That is, we implement a intelligent surveillance system using the binary CDMA wireless communication technology which is applied the merit of CDMA and TDMA on it complexly. This system is able to monitor the site of the accident on network in real time and process the various situations by implementing the security surveillance system. This system pursues an object by the 360-degree using camera, expands image using a PTZ(Pan/Tilt/Zoom) camera zooming function, identifies the mobile objects image within a screen and transfers the identified image to the remote site. Finally, we show the efficiency of the implemented system through the simulation of the controlled situations, such as tracking coverage on objects, object expansion, object detection number, monitoring the remote transferred image, number of frame per second by the image output signal etc..

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.5
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• pp.431-437
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• 2006

In this paper vector code correlation(VCC) method and an algorithm to promote the image-processing performance in building an effective measurement system using cameras are described far automatically berthing and controlling the ship equipped with side-thrusters. In order to realize automatic ship berthing, it is indispensable that the berthing assistant system on the ship should continuously trace a target in the berth to measure the distance to the target and the ship attitude, such that we can make the ship move to the specified location. The considered system is made up of 4 apparatuses compounded from a CCD camera, a camera direction controller, a popular PC with a built-in image processing board and a signal conversion unit connected to parallel port of the PC. The object of this paper is to reduce the image-processing time so that the berthing system is able to ensure the safety schedule against risks during approaching to the berth. It could be achieved by composing the vector code image to utilize the gradient of an approximated plane found with the brightness of pixels forming a certain region in an image and verifying the effectiveness on a commonly used PC. From experimental results, it is clear that the proposed method can be applied to the measurement system for automatic ship berthing and has the image-processing time of fourfold as compared with the typical template matching method.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.6
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• pp.536-541
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• 2015

In this paper, we propose a the image-based automatic flight control system for the mini drone. Automatic flight system with a camera on the ceiling and markers on the floor and landing position is designed in an indoor environment. Images from the ceiling camera is used not only to recognize the makers and landing position but also to track the drone motion. PC sever identifies the location of the drone and sends control commands to the mini drone. Flight controller of the mini drone is designed using state-machine algorithm, PID control and way-point position control method. From the, The proposed automatic flight control system is verified through the experiments of the mini drone. We see that known makers in environment are recognized and the drone can follows the trajectories with the specific ㄱ, ㄷ and ㅁ shapes. Also, experimental results show that the drone can approach and correctly land on the target positions which are set at different height.

• Proceedings of the KSRS Conference
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• 2002.10a
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• pp.229-234
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• 2002

Under the hostile influence of the extreme space environmental conditions due to the deep space and direct solar flux, the thermal control in space applications is especially of major importance. There are tight temperature range restrictions for electro-optical elements while on the other hand there are low power consumption requirements due to the limited energy sources on the spacecraft. So, we usually have strong requirement of thermal and power control module in space applications. In this paper, the design concept of a thermal and power control module in the MSC(Multi-Spectral Camera) system which will be a payload on KOMPSATII is described in terms of H/W & S/W. This thermal and power control module, called THTM(Thermal and Telemetry Module) in MSC, resides inside the PMU(Payload Management Unit) which is responsible for the proper management of the MSC payload for controlling and monitoring the temperature insides the EOS(Electro-Optic System) and gathering all the analog telemetry from all the MSC sub-units, etc. Particularly, the designed heater controller has the special mode of "duty cycle" in addition to normal closed loop control mode as usual. THTM controls heaters in open loop according to on/off set time designed through analysis in duty cycle mode in case of all thermistor failure whereas it controls heaters by comparing the thermistor value to temperature based on closed loop in normal mode. And a designed THTM provides a checking and protection method against the failure in thermal control command using the test pulse in command itself.