• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.299-302
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• 1995

Recently, we proposed a 3-D range-image measuring system for a slowly moving object by mechanically scanning a laser light beam emitted from a self mixing laser diode. In this paper, we introduced that every object moves along a straight line course, which is set diagonally against the semiconductor laser beam so that we can recognize each shape and size parameters of objects separately from the acquired 3-D range-image. We measured a square mesa on a square plane as an object. The measured velocity was 4.44mm/s and 4.63mm/s with an error of 0.56mm/s to 0.37mm/s. And thickness error of the mesa was 0.5mm to 0.6mm, which was obtained from the 3-D range-image of the standstill or moving object with thickness of 17.Omm.

• Journal of Korea Multimedia Society
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• v.18 no.2
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• pp.138-148
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• 2015

Object detection methods based on background learning are widely used in video surveillance. However, when a car runs with headlights on, these methods are likely to detect the car region and the area illuminated by the headlights as one connected change region. This paper describes a method of separating the car region from the area illuminated by the headlights. First, we detect change regions with a background learning method, and extract blobs, connected components in the detected change region. If a blob is larger than the maximum object size, we extract candidate object regions from the blob by clustering the intensity histogram of the frame difference between the mean of background images and an input image. Finally, we compute the similarity between the mean of background images and the input image within each candidate region and select a candidate region with weak similarity as an object region.

• Journal of Information Display
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• v.3 no.2
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• pp.19-25
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• 2002

In this paper, a new target extraction algorithm is proposed, in which the coordinates of target are obtained adaptively by using the difference image information and the optical BPEJTC(binary phase extraction joint transform correlator) with which the target object can be segmented from the input image and background noises are removed in the stereo vision system. First, the proposed algorithm extracts the target object by removing the background noises through the difference image information of the sequential left images and then controlls the pan/tilt and convergence angle of the stereo camera by using the coordinates of the target position obtained from the optical BPEJTC between the extracted target image and the input image. From some experimental results, it is found that the proposed algorithm can extract the target object from the input image with background noises and then, effectively track the target object in real time. Finally, a possibility of implementation of the adaptive stereo object tracking system by using the proposed algorithm is also suggested.

• Journal of the Korea Society for Simulation
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• v.2 no.1
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• pp.107-124
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• 1993

This paper presents an object -oriented simulation approach. AgvTalk, to design and analze AGV system configuration and control. Smalltalk-80 is used as an implementation language in AgvTalk. AgvTalk includes 25 object classes and more than 300 object methods in its library. Compared to general purpose simulation languages. AgvTalk provides several important benefits. First, the hierarchical features and modularity create possibilities for the extension and reuse of simulation object components. This extensibility and reusability provide more flexible modeling capabilities for simulation of many alternative AGV systems. Second, detailed behavior of each object in the AGV system can be modeled easily and exactly in AgvTalk because there are no limiting modeling constructs. Third, AgvTalk provides a user -friendly simulation modeling environment through the MVC -triad of Smalltalk-80.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.43-48
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• 2002

We show that humans execute the postural control ingeniously by regulating the impedance properties of the musculo-skeletal system as the motor command against the alteration of the environment. Adjusting muscle activity can control the impedance properties of the musculo-skeletal system. To quantify the changes in human arm viscoelasticity on the vertical plane during interaction with the environment, we asked our subject to hold an object. By utilizing surface electromyographic(EMG) studies, we determined a relationship between the perturbation and a time-varying muscle co-activation. Our study showed when the subject lifts the object by himself the muscle stiffness increases while the torque remains the same just before the lift-off. These results suggest that the central nervous system(CNS) simultaneously controls not only the equilibrium point(EP) and the torque, but also the muscle stiffness as themotor command in posture control during the contact task.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.2
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• pp.192-196
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• 2004

A combined optimal design problem is discussed taking a 3-D truss structure as a design object. We use descriptor forms for a controlled object and a generalized plant because the structural parameters appear naturally in these forms. We consider not only the minimum weight design problem for the structure, but also the suppression problem of the effect of disturbances for the control system as the purpose of the design. A numerical example shows the validity of combined optimal design of the structure and control systems. We also consider the validity of the sensor-actuator collocation for the control system design in this paper.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.872-875
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• 1995

The strategy of open architecture control system intends to integrate manufacturing components on a single platform, so that a particular component can be easily added and/or replaced. Therefore, the control scheme is neither hardware dependent nor software dependent. In this paper a modular and object oriented approach for the open architecture structure of control systems is invesigated. A standard reference model for genetic manufacturer system, which consists of three modules; hardware module, operating system module, and application software module, is first proposed. Then a standard reference model for open architecture robot control system is suggested.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• v.5B no.1
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• pp.63-69
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• 2005

The motion of animals and gymnasts in the air as well as free flying space robots without thrusters are subjected to nonholonomic constraints generated by the law of conservation of angular momentum. The purpose of this paper is to derive analytical posture control laws for free flying objects in the air. We propose the bang-bang control method for trajectory planning of a 3 link mechanical system with initial angular momentum. This technique is used to reduce the DOF (degrees of freedom) at first switching phase and to determine the control inputs to steer the reduced order system to the desired position. Computer simulations for motion planning of an athlete approximated by 3 link, namely platform diving, are provided to verify the effectiveness of the proposed control scheme.

• The Journal of Society for e-Business Studies
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• v.12 no.4
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• pp.127-144
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• 2007

This paper describes an Security Manager that integrally manages the Information Service related to RFID middleware, Object Name Service, and Web Service for upper level applications. In order to provide the access control of distributed RFID objects, Single-Sign-On has been implemented by extending existing UCON (Usage Control) model and SAML (Security Assertion Markup Language) assertions. The security technology of distributed RFID systems can be included in middleware and protect RFID information. In the future, it can be also applied to ubiquitous sensor networks.

• Journal of Power System Engineering
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• v.8 no.1
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• pp.69-74
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• 2004

A structure-control combined optimal design problem is discussed taking a 3-D truss structure as a design object. We use descriptor forms for a controlled object and a generalized plant because the structural parameters appear naturally in these forms. We consider not only minimum weight design problem for structure system, but also suppression problem of the effect of disturbances for control system as the purpose of the design. A numerical example shows the validity of combined optimal design of structure and control systems. We also consider the validity of sensor-actuator collocation for control system design in this paper.