• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.376-381
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• 1992

This paper presents an expert system for the segmentation of a 2.5-D image. The results of two segmentation approaches, edge-based and region-based, are combined to produce a consistent and reliable segmentation. Rich information embedded in the 2.5-D image is utilized to obtain a view independent surface patch description of the image, which can facilitate object recognition considerably.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.613-617
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• 1990

This paper presents a method of calculating the position and orientation of a polyhedron arbitrarily placed in 3-D space using two cameras. We use key feature of the object and CAD data to solve the correspondence problem between two cameras' images.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.488-491
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• 1987

In this paper. a heuristic multi-thresholding algorithm is proposed to extract objects from background. Specifically the proposed algorithm finds out multi valleys from gray level histogram automatically and non-recursively. Some experimental result for various types of image. are presented, to show the effectiveness of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.86.3-86
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• 2002

.Introduction . Microwave subsurface radar . Reflection Phase . Experimental. Conclusion

• The Transactions of the Korea Information Processing Society
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• v.5 no.4
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• pp.975-983
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• 1998

In these days, information communication systems are based on both open distributed computing technologies and object-oriented techniques like inheritance, encapsulation and object reuse to support various system configuration and application. As information systems are interconnected through unsecure networks, the need for the secure information exchange is more critical than before. In this paper, we have designed and implemented a transparent CORBA-basce Security infrastructure with authentication, security context association, access control and security information management to support a secure applications in distributed object environment. SESAME Ver. 4 was adopted as an external security service to manage user privilege attributes and to distribute keys for data encryption, decryption and integrity. Using filter and transformer with an interface to Object Request Broker, it provides a transparent security service to applications. The filter objects are special classes that allow additional parameters to be inserted into messages before they are sent and removed just after they are received. The transformer objects are special classes that allow direct access to the byte stream of every messages for encryption and decryption before it is sent and just after it is received. This study is to implement the access control interceptor(ACI) and the secure invocation interceptor(SII) of secure ORB defined in CORBA using filter and transformer.

• Journal of the Korean Society of Marine Environment & Safety
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• v.29 no.6
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• pp.653-658
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• 2023

In systems like the combat management system of a naval ship or smart city of civilians, where many sensors and actuators are connected, the middle-ware DDS (Data Distribution Service) is mainly used to transmit large amounts of data. It is scalable and can effectively respond to the increase in sensors or equipment connected to the system in the future. The engineering control system (ECS), which plays an important role similar to the combat management system of a naval ship, still uses Server-Client model with industrial protocols such as Modbus and CAN (Controller Area Network) bus, to transmit data, which is unfavorable in terms of scalability. However, as automation and unmanned systems advance, more sensors and actuators are expected to be added, necessitating substantial program modification. DDS can effectively address such situations. The purpose of this study is to confirm the development possibility of an integrated monitoring and control system of a ship by using OpenDDS, which follows the OMG (Object Management Group) standard among the middle-ware DDS used in the combat management system. To achieve this goal, field equipment simulators and an ECS server were configured to perform field equipment data input/output and simulation using DDS was performed. The ECS prototype successfully handled data transmission, confirming that DDS is capable of serving as the middle-ware for the ECS of a ship.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.18 no.1
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• pp.210-216
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• 2014

The edge in the image is a part which the brightness changes rapidly between the object and the object or objects and background, and includes information of the features such as size, position, orientation, and texture of the object. The edge detection is the technique that acquires these information of the images, and now the researches to detect edges are making steady progress. Typical conventional edge detection methods are Sobel, Prewitt, Roberts using the first derivative operator and Laplacian method using the second derivative operator and so on. These methods is more or less insufficient that the characteristics of the edge detection in the image added salt and pepper noise. therefore, in this paper, an edge detection algorithm using modified mask that applies different size mask according to noise density of local mask is proposed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.732-737
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• 2005

Distal 3D Real Object Duplication System(RODS) consists of 3D Scanner and Solid Freeform Fabrication System(SFFS). It is a device to make three-dimensional objects directly from the drawing or the scanning data. In this research, we developed an office type SFFS based on Three Dimensional Printing Process and a industrial SFFS using Dual Laser. An office type SFFS applied sliding mode control with sliding perturbation observer(SMCSPO) algorithm for control of this system. And we measured process variables about droplet diameter measurement and powder bed formation etc. through experiments. Also, in order to develop more elaborate and speedy system for large objects than existing SLS process, this study applies a new Selective Multi-Laser Sintering(SMLS) process and 3-axis dynamic Focusing Scanner for scanning large area instead of the existing $f\theta$ lens. In this process, the temperature has a great influence on sintering of the polymer. Also the laser parameters are considered like that laser beam power, scan speed, scan spacing. Now, this study is in progress to eveluate the effect of experimental parameters on the sintering process.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.12
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• pp.1011-1019
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• 2005

In this paper, Ubiquitous Home Mess-Cleanup Robot(UHMR), which has a practical function of the automatic mess-cleanup, is developed. The vacuum-cleaner had made the burden of house chore lighten but the operation labour of a vacuum-cleaner had been so severe. Recently, the cleaning robot was producted to perfectly solve the cleaning labour of a house but it also was not successful because it still had a problem of mess-cleaning, which was the clean-up of big trash and the arrangement of newspapers, clothes, etc. The cleaning robot is to just vacuum dust and small trash but has no function to arrange and take away before the automatic vacuum-cleaning. For this reason, the market for the cleaning robot is not yet built up. So, we need a design method and technological algorithm of new automatic machine to solve the problem of mess-cleanup in house. It needs functions of agile automatic navigation, novel manipulation system for mess-cleanup. The automatic navigation system has to be controlled for the full scanning of living room, to recognize the absolute position and orientation of tile self, the precise tracking of the desired path, and to distinguish the mess object to clean-up from obstacle object to just avoid. The manipulate,, which is not needed in the vacuum-cleaning robot, must have the functions, how to distinguish big trash to clean from mess objects to arrange, how to grasp in according to the form of mess objects, how to move to the destination in according to mess objects and arrange them. We use the RFID system to solve the problems in this paper and propose the reading algorithm of RFID tags installed in indoor objects and environments. Then, it should be an intelligent system so that the mess cleaning task can be autonomously performed in a wide variety of situations and environments. It needs to also has the entertainment functions for the good communication between the human and UHMR. Finally, the good performance of the designed UHMR is confirmed through the results of the mess clean-up and arrangement.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.12
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• pp.1167-1175
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• 2010

This paper presents the use of the inertial measurement unit information and the infrared sector information for getting the position of an object. Travel distance is usually calculated from the double integration of the accelerometer output with respect to time; however, the accumulated errors due to the drift are inevitable. The orientation change of the accelerometer also causes error because the gravity is added to the measured acceleration. Unless three axis orientations are completely identified, the accelerometer alone does not provide correct acceleration for estimating the travel distance. We propose a way of minimizing the error due to the change of the orientation. In order to reduce the accumulated error, the infrared sector information is fused with the inertial measurement unit information. Infrared sector information has highly deterministic characteristics, different from RFID. By putting several infrared emitters on the ceiling, the floor is divided into many different sectors and each sector is set to have a unique identification. Infrared light based sector information tells the sector the object is in, but the size of the uncertainty is too large if only the sector information is used. This paper presents an algorithm which combines both the inertial measurement unit information and the sector information so that the size of the uncertainty becomes smaller. It also introduces a framework which can be used with other types of the artificial landmarks. The characteristics of the developed infrared light based sector and the proposed algorithm are verified from the experiments.