• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.557-557
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• 2000

Tracking of the moving object, which is realized by the computer vision, is used for military and industrial fields. It is the application technique with imply complicated processing for understanding the input images. But, in these days, the most moving object tracking algorithms have many difficult problems. A typical problem is the increase of calculation time depending on target number. For this reason, there are many studies to solve real time processing problems and errors for background environmental change. In this paper, we used optical flow which is one of moving object tracking algorithms. It represents vector of the moving object. Optical flow estimation based on the regularization method depends on iteration method but it is very sensitive the noise. We proposed a new method using the Combinatorial Hough Transform (CHT) and Voting Accumulation in order to find optimal constraint lines. Also, we used the logical operation in order to release the operation time. The proposed method can easily and accurately extract the optical flow of moving object area and the moving information. We have simulated the proposed method using the test images. This images are included the noise. Experimental results show that the proposed method get better flow and estimate accurately the moving information.

• Journal of information and communication convergence engineering
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• v.9 no.1
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• pp.21-26
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• 2011

In this paper, we suggest the object-oriented methodology for the design and implementation scheme for the program development in the application of control and instrumentation such as the detection system of RFID defective tags which needs the embedded programming. We apply the design methodology of UML in the system design phase, and suggest the implementation scheme of LabVIEW programs using LVOOP(LabVIEW Object Oriented Programming)in which make it possible to write the object-oriented programming. We design the class diagram and the sequence diagram using UML, and write the classes of LVOOP from the designed class diagram and the main VI from the sequence diagram, respectively. We show that it is possible to develop the embedded programs such as the RFID application through the implementation example of the detection system of RFID defective tags in this paper. And, we obtain the advantages based on the object-oriented design and implementation using the LVOOP approach such as the development of LabVIEW programs by adding the classes and the concept of object of the object-oriented language to LabVIEW.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.10a
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• pp.219-224
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• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot finger which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of area-contact is discussed. Finally, it is shown that even in the simplest case of dual single D.O.F manipulators there exists a sensory feedback from sensing data of the rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that the object is of rectangular shape and motion is confined to a horizontal plane.

• Journal of Drive and Control
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• v.19 no.3
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• pp.23-31
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• 2022

Traffic safety issues have recently been seriously magnified, due to child deaths in apartment complexes and parking lots. Accordingly, traffic safety technologies are being developed to recognize dangerous situations on living roads and to provide warning services. In this study, a collision detection algorithm was developed to prevent collision accidents between moving objects, by using object type and location information provided from CCTV monitoring devices. To determine the exact collision between moving objects, an object movement model was developed to predict the range of movement by considering the moving characteristics of the object, and a collision detection algorithm was developed to efficiently analyze the presence and location of the collision. The developed object movement model as well as the collision detection algorithm were simulated, in a virtual space of an actual living road to verify performance and derive supplementary matters.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.128-130
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• 1997

In the paper a problem of search for a moving robot by another moving robot is considered. The problem is formalized as minmax and maxmin task also as a game.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.06a
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• pp.485-486
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• 2008

• The Journal of Korean Association of Computer Education
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• v.8 no.6
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• pp.23-32
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• 2005

Dolittle is a educational programming language that helps students learning principles and concepts of computer science with programming. Learning programming with robot improve learning achievements robot motivate to be interest with programming. However, Dolittle robot programming is a different from Dolittle programming in process of interpretation and execution mechanism. Therefore, students have virtually to learn two languages to control robot and it would reduce the worth of Dolittle as educational programming language. In order to solve this problem, we tried to Unify Dolittle and robot control language using parser that Dolittle program with turtle object convert robot program. But this try couldn't overcome completely this problem because attributes of turtle object is different from robot. In this research we unified Dolittle programming and Dolittle robot programming as a way of adding new robot object in dolittle standard object group. it would improve educational effect of learning programming with robot in Dolittle.

• Journal of Internet of Things and Convergence
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• v.1 no.1
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• pp.1-4
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• 2015

This paper aims to present the mathematical model to find the mean web object transfer latency in the slow-start phase of TCP congestion control mechanism, which is one of the main control techniques of Internet. Mean latency is an important service quality measure of end-user in the network. The application area of the proposed latency model is the narrowband environment including multi-hop wireless network and Internet of Things(IoT), where packet loss occurs in the slow-start phase only due to small window. The model finds the latency considering initial window size and the packet loss rate. Our model shows that for a given packet loss rate, round trip time and initial window size mainly affect the mean web object transfer latency. The proposed model can be applied to estimate the mean response time that end user requires in the IoT service applications.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.96.2-96
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• 2001

This paper presents a control method for the experimental mobile vehicle. By merging the advantages of neural network, adaptive and fuzzy control, neural network-based adaptive fuzzy control is proposed. It can deal with a large amount of training data by neural network, from these data producing more accurate fuzzy rules by adaptive control, and then controlling the object by fuzzy control. This is not the simple combination of the three methods, but merging them into one control system Experiments and some future considerations are given.

• The KIPS Transactions:PartB
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• v.12B no.3 s.99
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• pp.301-312
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• 2005

Three different cases should be considered for motion tracking: moving object with fixed camera, fixed object with moving camera and moving object with moving camera. Two methods are widely used for motion tracking: the optical flow method and the difference frame method. The optical new method is mainly used when either one, object or camera is fixed. This method tracks object using time-space vector which compares object position frame by frame. This method requires heavy computation, and is not suitable for real-time monitoring system such as DVR(Digital Video Recorder). The different frame method is used for moving object with fixed camera. This method tracks object by comparing the difference between background images. This method is good for real-time applications because computation is small. However, it is not applicable if the camera is moving. This thesis proposes and implements the motion tracking system using the difference frame method with PTZ(Pan-Tilt-Zoom) control. This system can be used for moving object with moving camera. Since the difference frame method is used, the system is suitable for real-time applications such as DVR.