• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.1
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• pp.15-24
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• 1996

This paper presents a new method for visual servoing to control the pose(position and orientation) of the robotic manipulators for grasping the 3-D moving object whose initial pose and moving informations are unknown by using the stereo camera. The stereo camera is mounted on the end-effector of robotic manipulator. In order to track the current pose of robotic manipulator to the desired pose, we use the image Jacobian, which is described by the differential transform, relating the change in image feature point to the change in the object's pose with respect to the camera. In this paper the simple PD controller is adopted for the robotic manipulator to track the desired pose. Finally, the effectiveness of the proposed method is confirmed by some computer simulations.

• Proceedings of the Korea Institutes of Information Security and Cryptology Conference
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• 2001.11a
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• pp.340-347
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• 2001

Security operating system applied to MAC(Mandatory Access Control) or to MLS(Multi Level Security) gives both subject and object both Security Level and value of Category, and it restrict access to object from subject. But it violates Security policy of system and could be a circulated course of illegal information. This is correctly IPC(Interprocess Communication)mechanism and Covert Channel. In this thesis, I tried to design and implementation as OS kernel in order not only to give confidence of information circulation in the Security system, but also to defend from Covert Channel by Storage and IPC mechanism used as a circulated course of illegal information. For removing a illegal information flow by IPC mechanism. I applied IPC mechanism to MLS Security policy, and I made Storage Covert Channel analyze system call Spec. and than distinguish Storage Covert Channel. By appling auditing and delaying, I dealt with making low bandwidth.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.10
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• pp.968-974
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• 2006

We are moving into the era of ubiquitous computing. Ubiquitous Sensor Network (USN) is a base of such computing paradigm, where recognizing the identification and the position of objects is important. For the object identification, RFID tags are commonly used. For the object positioning, use of sensors such as laser and ultrasonic scanners is popular. Recently, there have been a few attempts to apply RFID technology in robot localization by replacing the sensors with RFID readers to achieve simpler and unified USN settings. However, RFID does not provide enough sensing accuracy for some USN applications such as robot navigation, mainly because of its inaccuracy in distance measurements. In this paper, we describe our approach on achieving accurate navigation using RFID. We solely rely on RFID mechanism for the localization by providing coordinate information through RFID tag installed floors. With the accurate positional information stored in the RFID tag, we complement coordinate errors accumulated during the wheel based robot navigation. We especially focus on how to distribute RFID tags (tag pattern) and how many to place (tag granularity) on the RFID tag-floor. To determine efficient tag granularities and tag patterns, we developed a simulation program. We define the error in navigation and use it to compare the effectiveness of the navigation. We analyze the simulation results to determine the efficient granularities and tag arrangement patterns that can improve the effectiveness of RFID navigation in general.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.13 no.1
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• pp.41-47
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• 1995

In this study, we try to develope the radio control photographing system with 35 mm camera to obtain 3-dimension large scale geographic information more effectively, to automatize and computerize the basic design and practical design of road. By applying this system on getting data which is needed to design road, this study has an object to promote efficiency in possesion and management of geographic information. As result of this study, this system could obtain geographic information effectively on the object region, could get large scale geographic information which was suitable for expected accuracy by photographing in 400 m height and could ac-quire profile, crossection and earth-work volume quickly and exactly.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.5
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• pp.451-456
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• 2005

This paper describes three kinds of experiments and analysis of their results related to human tactile sensitivity using an integrated tactile display system. The device can provide vibration, normal pressure and lateral slip/stretch which are important physical quantities to sense texture. We have tried to find out the efficient method of stimulating, limitation of surface discrimination by kinesthetic farce feedback and the effectiveness of the combination of kinesthetic force and tactile feedback. Seven kinds of different stimulating methods were carried out and they are single or combination of the kinesthetic force, normal static pressure, vibration, active/passive shear and moving wave. Both prototype specimen and stimulus using tactile display were provided to all examinees and they were allowed to answer the most similar sample. The experimental results show that static pressure is proper stimulus for the display of micro shape of the surface and vibrating stimulus is more effective for the display of fine surface. And the sensitivities of active touch and passive touch are compared. Since kinesthetic force feedback is appropriate to display shape and stiffness of an object, but roughness display has a limitation of resolution, the concurrent providing methods of kinesthetic and tactile feedback are applied to simulate physical properties during touching an object.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.10a
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• pp.328-330
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• 2015

Edge is a characteristic information that can easily obtain the size, direction and location of objects included in the image, and the edge detection is utilized as a preprocess processing in various image processing application sectors such as object detection and object recognition, etc. For the conventional edge detection methods, there are Sobel, Prewitt and Roberts. These existing edge detection methods are easy to implement but the edge detection characteristics are somewhat insufficient as fixed weighted mask is applied. Therefore, in order to compensate the problems of existing edge detection methods, in this paper, an edge detection algorithm was proposed after applying the weighted value according to the standard deviation and means within the local mask.

• Journal of KIISE:Computing Practices and Letters
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• v.8 no.4
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• pp.468-478
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• 2002

In this paper, we designed a B-WLL MAC(Media Access Control) protocol and validated its operation for implementation of high-speed subscriber networks. Our MAC protocol was designed by SDL using the DAVIC specifications based upon the variable contention/reserved time slot allocation algorithm. For validation of our MAC protocol, Syntax and semantic error check were performed by the Simulation Builder of ObjectGeode and the MAC(Message Sequence Chart) respectively. The validation results showed that our B-WLL MAC protocol is working correctly and may successfully support B-WLL services.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.971-975
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• 2005

In this study, a car-door-controlled collision protection system using proximity sensor is proposed and its preliminary analysis and several preliminary experiments are conducted. The proposed system has three additional sub-components on the car-door that is, a pair of extra electro-magnetic actuator that are attached to the sliding bar of the open/close car-door four-bar mechanism, a proximity sensor that would be attached to the outside surface of the door which is likely to frequently contact to the object and a driving control circuit of the whole system. A proximity sensor is used to detect object close to the car-door, the driving control circuit provides actuating power command to the electro-magnets to generate braking force to stop the swing motion of the car-door. It is verified through kinematic analysis of the four-bar car-door open/close mechanism and through experiments that the magnitude of maximum electronic magnetic force could provide the braking force enough for this application. For this purpose, an electro-magnet driving circuit is implemented and tested. And also to increase the safety of the system a time delay circuit is implemented and tested.

• Journal of Korea Multimedia Society
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• v.19 no.9
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• pp.1647-1658
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• 2016

RGB+D database has been widely used in object recognition, object tracking, robot control, to name a few. While rapid advance of active depth sensing technologies allows for the widespread of indoor RGB+D databases, there are only few outdoor RGB+D databases largely due to an inherent limitation of active depth cameras. In this paper, we propose a novel method used to build outdoor RGB+D databases. Instead of using active depth cameras such as Kinect or LIDAR, we acquire a pair of stereo image using high-resolution stereo camera and then obtain a depth map by applying stereo matching algorithm. To deal with estimation errors that inevitably exist in the depth map obtained from stereo matching methods, we develop an approach that estimates confidence of depth maps based on unsupervised learning. Unlike existing confidence estimation approaches, we explicitly consider a spatial correlation that may exist in the confidence map. Specifically, we focus on refining confidence feature with the assumption that the confidence feature and resultant confidence map are smoothly-varying in spatial domain and are highly correlated to each other. Experimental result shows that the proposed method outperforms existing confidence measure based approaches in various benchmark dataset.

• Journal of Korea Multimedia Society
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• v.24 no.7
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• pp.903-912
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• 2021

Eye tracking research for upper limb disabilities is showing an effect in the aspect of device control. However, the reality is that it is not enough to perform web interaction with only eye tracking technology. In the Eye-Voice interface, a previous study, in order to solve the problem that the existing gaze tracking interfaces cause a malfunction of pointer execution, a gaze tracking interface supplemented with a voice command was proposed. In addition, the reduction of the malfunction rate of the pointer was confirmed through a comparison experiment with the existing interface. In this process, the difficulty of pointing due to the small size of the execution object in the web environment was identified as another important problem of malfunction. In this study, we propose an auto-magnification interface of objects so that people with upper extremities can freely click web contents by improving the problem that it was difficult to point and execute due to the high density of execution objects and their arrangements in web pages.