• KIPS Transactions on Software and Data Engineering
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• v.10 no.5
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• pp.179-186
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• 2021

Manipulation of complex objects with an anthropomorphic robot hand like a human hand is a challenge in the human-centric environment. In order to train the anthropomorphic robot hand which has a high degree of freedom (DoF), human demonstration augmented deep reinforcement learning policy optimization methods have been proposed. In this work, we first demonstrate augmentation of human demonstration in deep reinforcement learning (DRL) is effective for object manipulation by comparing the performance of the augmentation-free Natural Policy Gradient (NPG) and Demonstration Augmented NPG (DA-NPG). Then three DRL policy optimization methods, namely NPG, Trust Region Policy Optimization (TRPO), and Proximal Policy Optimization (PPO), have been evaluated with DA (i.e., DA-NPG, DA-TRPO, and DA-PPO) and without DA by manipulating six objects such as apple, banana, bottle, light bulb, camera, and hammer. The results show that DA-NPG achieved the average success rate of 99.33% whereas NPG only achieved 60%. In addition, DA-NPG succeeded grasping all six objects while DA-TRPO and DA-PPO failed to grasp some objects and showed unstable performances.

• Journal of the Korea Society of Computer and Information
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• v.12 no.6
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• pp.69-76
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• 2007

The main stream of presentation is interrupted because of the direct manipulation of their PC frequently so as to control the screen and file open and so on. A variety of products have been developed to solve these inconveniences of the conventional laser beam pointer [LBP] by simply adding a mouse function to the previous LBP. However. the LBPs fully supporting a mouse function are not yet appeared. In this paper. we developed the LBP fully fulfilling a mouse function using mono-camera as well as a robust image processing and analyzed the position detection accuracy. Finally we verified the developed LBP does not only fulfill a mouse function but also solve the defects of the current laser pointer such as inconvenient installation and Position detection errors due to the illumination and viewing direction changes.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.47 no.2
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• pp.20-32
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• 2010

Previous hardware devices to capture human motion have many limitations; expensive equipment, complexity of manipulation or constraints of human motion. In order to overcome these problems, real-time motion capture algorithms based on computer vision have been actively proposed. This paper presents an efficient analysis method of multiple view images for real-time motion capture. First, we detect the skin color regions of human being, and then correct the image coordinates of the regions by using camera calibration and epipolar geometry. Finally, we track the human body part and capture human motion using kalman filter. Experimental results show that the proposed algorithm can estimate a precise position of the human body.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2003.10a
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• pp.320-324
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• 2003

Recently, Virtual reality parts is applied in various fields of industry. In this paper we got under control motion of reality robot from interface manipulation in the virtual world. This paper created virtual robot using of 3D Graphic Tool. And we reappeared a similar image with reality robot put on texture the use of components of Direct 3D Graphic. Also a reality robot and a virtual robot is controlled by joystick. The developed robot consists of robot controller with vision system and host PC program. The robot and camera can move with 2 degree of freedom by independent remote controlling a user friendly designed joystick. An environment is recognized by the vision system and ultra sonic sensors. The visual mage and command data translated through 900MHz and 447MHz RF controller, respectively. If user send robot control command the use of simulator to control the reality robot, the transmitter/recever got under control until 500miter outdoor at the rate of 4800bps a second in Hlaf Duplex method via radio frequency module useing 447MHz frequency.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.45 no.6
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• pp.44-56
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• 2008

Previous hardware devices to capture human motion have many limitations; expensive equipment, complexity of manipulation or constraints of human motion. In order to overcome these problems, real-time motion capture algorithms based on computer vision have been actively proposed. This paper presents an efficient analysis method of multiple view images for real-time motion capture. First, we detect the skin color regions of human being, and then correct the image coordinates of the regions by using camera calibration and epipolar geometry. Finally, we track the human body part and capture human motion using kalman filter. Experimental results show that the proposed algorithm can estimate a precise position of the human body.

• Proceedings of the IEEK Conference
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• 2004.08c
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• pp.699-702
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• 2004

This paper discusses about the mechanism of catching an image through an optical manipulation of each organizations in the eye, more specifically, mechanism of catching an image on a retina through a Camera and a Crystal Lens. In the retina, the macula roles as a fovea contrails and it leads the image which is about 3 mm to be shaped on there. However, even the macula may not properly function, our eyes still can catch the image by shifting the optical path to around of the macula, even if the sensitivity of the image is generally lower than the image on the macula. This paper proposes a method of shifting the shaped image on the retina by refracting the optical path through a prism located on the rear of a screen which consists of a 0.7' TFT LCD. Applying this method that throwing an image around on the macula, central visual disturbance patients among retinitis pimentos patients can expect to recover such a mechanism to catch an image.

• International Journal of Control, Automation, and Systems
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• v.3 no.3
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• pp.461-468
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• 2005

This paper proposes a wheel-assembly automation system, which assembles a wheel into a hub of a vehicle hung to a moving hanger in a car manufacturing line. A macro-micro manipulator control strategy is introduced to increase the system bandwidth and tracking accuracy to ensure insertion tolerance. A camera is equipped at the newly designed wheel gripper, which is attached at the center of the end-effector of the macro-micro manipulator and is used to measure position error of the hub of the vehicle in real time. The redundancy problem in the macro-micro manipulator is solved without complicated calculation by assigning proper functions to each part so that the macro part tracks the velocity error while the micro part regulates the fine position error. Experimental results indicate that tracking error satisfies the insertion tolerance of assembly $({\pm}1mm)$, and thus it is verified that the proposed system can be applied to the wheel assembly task on a moving hanger in the manufacturing line.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.25 no.1
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• pp.76-83
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• 2012

In a real-time indoor place recognition system using image features detection, specific markers included in input image should be detected exactly and quickly. However because the same markers in image are shown up differently depending to movement, direction and angle of camera, it is required a method to solve such problems. This paper proposes a technique to extract the features of object without regard to change of the object scale. To support real-time operation, it adopts SURF(Speeded up Robust Features) which enables fast feature detection. Another feature of this system is the user mark designation which makes possible for user to designate marks from input image for location detection in advance. Unlike to use hardware marks, the feature above has an advantage that the designated marks can be used without any manipulation to recognize location in input image.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.12
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• pp.1102-1106
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• 2008

Microfluidics deals with the behavior, precise control and manipulation of fluids at a micro scale. It has become increasingly prevalent in various applications such as biomedical applications (diagnostics, therapeutics, and cell/tissue engineering), inkjet head, and fuel cells etc. The issue of inspection and characterization of microfluidics has emerged as a major consideration in design, fabrication, and detection of microfluidic devices. In this paper, we characterize a diffusion based mixing in Y-microchannel using a fluorescent optical scanner based on a DVD pick-up module, which is widely used in optical storages. Using fluorescent dye, we measure the fluorescent intensity that represents the mixing patterns in Y-microchannel. We also compare these experimental results with computational fluid dynamics (CFD) simulation ones. It is shown that the proposed optical scanner can be used as an alternative measurement system with high performance and cost-effectiveness, compared to conventional optical tools such as epifluorescent microscopes using high resolution CCD camera and confocal microscopes with photomultiplier (PMT) detectors.

• The Journal of the Korea Contents Association
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• v.10 no.5
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• pp.20-28
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• 2010

In this paper, we propose a hand gesture interface for the manipulation of augmented objects in 3D space using a camera. Generally a marker is used for the detection of 3D movement in 2D images. However marker based system has obvious defects since markers are always to be included in the image or we need additional equipments for controling objects, which results in reduced immersion. To overcome this problem, we replace marker by planar hand shape by estimating the hand pose. Kalman filter is for robust tracking of the hand shape. The experimental result indicates the feasibility of the proposed algorithm for hand based AR interfaces.