• 한국산업융합학회 논문집
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• 제20권3호
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• pp.233-243
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• 2017

This paper proposes a structure of direct-printed flexible tactile-sensor. These flexible tactile sensors are based on pressure-sensing materials that allow pressure to be measured according to resistance change that in turn results from changes in material size because of compressive force. The sensing material consists of a mixture of multi walled carbon nanotubes (MWCNTs) and TangoPlus, which gives it flexibility and elasticity. The tactile sensors used in this study were designed in the form of array structures composed of many lines so that single pressure points can be measured. To evaluate the performance of the flexible tactile sensor, we used specially designed signal-processing electronics and tactile sensors to experimentally verify the sensors' linearity. To test object grasp, tactile sensors were attached to the surface of the fingers of grippers with three degrees of freedom to measure the pressure changes that occur during object grasp. The results of these experiments indicate that the flexible tactile sensor-based robotic gripper can grasp objects and hold them in a stable manner.

• Management Science and Financial Engineering
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• 제10권2호
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• pp.1-28
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• 2004

The integrated supply chain of business partners for e-Commerce in cyber space is defined as Logistics Chain if the cooperative activities are logistics-related. Logistics Chain could be managed effectively and efficiently by cooperative technologies of logistics chain execution. In this paper, we propose a routing and scheduling algorithm based on the Tabu search by adding geographical information into existing constraint for pick-up and delivery process to minimize service time and cost in logistics chain. And, we also consider an uncertainty processing for the tracing of moving object to control pick-up and delivery vehicles based on GPS/GIS/ITS. Uncertainty processing is required to minimize amount of telecommunication and database on vehicles tracing. Finally, we describe the Logistics Chain Execution (LCE) system to perform plan and control activities for postal logistics chain. To evaluate practical effects of the routing and scheduling system, we perform a pretest for the performance of the tabu search algorithm. And then we compare our result with the result of the pick-up and delivery routing plan generated manually by postmen.

• 해양환경안전학회:학술대회논문집
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• 해양환경안전학회 2003년도 추계학술발표회
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• pp.53-57
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• 2003

이 연구의 최종 목적은 PC를 이용하여 저가이면서 작동이 용이한 가상현실기반 선박조종 시뮬레이터를 개발하는데 있다. 이 논문에서는 가상 항해공간에 구축한 3차원 선박 객체를 선박조종계수로 제어하는 절차와 방법을 기술했다. 가상 항해세계 창출, 선박조종의 수학적 배경, 시스템 구성 둥에 대해서도 검토하였다.

• 한국멀티미디어학회논문지
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• 제9권4호
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• pp.490-504
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• 2006

분산 환경에서 멀티미디어 라이브 스트리밍을 지원하는 멀티미디어 서비스를 구현하기 위해서는 다양한 플랫폼에 분산되어 있는 객체들을 제어하고, 멀티캐스트를 지원하지 않는 네트워크 환경에서 다수의 수신자에게 멀티미디어를 전송하는 것이 필요하다. 본 논문에서는 분산 객체 기술인 RMI와 멀티미디어 전송/처리에 사용하는 JMF를 확장하여 분산 환경에서 1:N 의 멀티미디어 라이브 스트리밍을 지원하는 DLS (Distributed Live Streaming) 패키지를 제안한다. 효율적인 분산 처리를 위해 전송과 제어를 분리하여 설계한 자바 기반의 DLS 패키지는 1:N의 전송을 지원하고 플랫폼 독립적인 멀티미디어 서비스의 개발에 적용이 가능하다.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2007년도 춘계종합학술대회
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• pp.197-200
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• 2007

영상에서 명암 차이가 큰 두 영역간의 경계를 나타내는 에지는 대상 물체에 대한 다양한 정보를 포함한다. 따라서 영상분할을 비롯한 물체인식 등의 분야에서 이러한 에지정보를 이용하고 있다. 에지는 밝기 변화의 크기와 지속시간 등에 따라 다양한 종류가 있으며, 일반적으로 미분을 통해 검출된다. 최근에는 영상처리와 컴퓨터비전 등의 분야에서, 특정 응용에 적용하기 위한 에지검출 방법들이 제시되고 있다. 따라서 본 논문에서는 개선된 에지검출 특성을 위한 웨이브렛 함수를 제안하여, 영상의 라인-에지 성분을 검출하였으며, 시뮬레이션을 통해 그 성능을 확인하였다.

• 대한전자공학회논문지SP
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• 제41권6호
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• pp.89-97
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• 2004

빛을 반사하거나 방출하는 물체의 형상은 여러 원인에 의해 왜곡된 영상으로 센서에 포착된다. 이러한 왜곡을 제거해 원래 물체의 형상을 추정하는 것을 영상 복원이라고 한다. 영상 복원은 결정론적 방법과 확률론적 방법이 있다. 본 논문에서는 확률론적 방법의 한 종류로서 피셔 인포메이션(Fisher Information)으로부터 유도된 MFI(Minimum Fisher Information)을 이용한 영상 복원을 제안한다. 이는 B. Roy Frieden에 의해 최근에 제안된 신호 추정 방법의 하나이다. MFI을 이용한 복원에서 노이즈 제어 파라미터에 따라 영상 복원의 결과가 어떻게 변화하는지를 조사하였으며, 복원의 정확도에 대한 기준으로 크로스 엔트로피(Kullback-Leibler entropy)를 사용하였다.

• 제어로봇시스템학회논문지
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• 제10권4호
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• pp.350-356
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• 2004

This paper presents a farce manipulability analysis of multi-legged walking robots, which calculates force or acceleration workspace attainable from joint torque limits of each leg. Based on the observation that the kinematic structure of the multi-legged walking robots is basically the same as that of multiple cooperating robots, we derive the proposed method of analyzing the force manipulability of walking robot. The force acting on the object in multiple cooperating robot systems is taken as reaction force from ground to each robot foot in multi-legged walking robots, which is converted to the force of the body of walking robot by the nature of the reaction force. Note that each joint torque in multiple cooperating robot systems is transformed to the workspace of force or acceleration of the object manipulated by the robots in task space through the Jacobian matrix and grasp matrix. Assuming the torque limits are given in infinite norm-sense, the resultant dynamic manipulability is derived as a polytope. The validity of proposed method is verified by several examples, and the proposed method is believed to be useful for the optimal posture planning and gait planning of walking robots.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 춘계학술대회
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• pp.758-763
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• 2003

This paper describes the development of a 6-axis robot's finger force/moment sensor, which measures forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously, for making a robot's gripper. In order to safely grasp and unknown object using the robot's gripper, it should measure the force in the gripping direction and the force in the gravity direction, and perform the force control using the measured forces. Thus, the robot's gripper should be composed of 6-axis robot's finger force/moment sensor that can measure forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In this paper, the 6-axis robot's finger force/moment sensor for measuring forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test of made sensor was performed. Also, Robot's gripper with the 6-axis robot's finger force/moment sensor for the characteristic test of force control was manufactured, and the characteristic test for grasping an unknown object was performed using it.

• 제어로봇시스템학회논문지
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• 제13권9호
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• pp.868-874
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• 2007

This paper proposes an efficient partial matching system and representation by using a region-based method for 2D image, and we applied to an extraction of the ROI(Region of Interest) according to its matching score. The matching templates consist of the global pattern and the local one. The global pattern can make it by using region-based relation between center region and its rest regions in an object. And, the local pattern can be obtained appling to the same method as global, except relation between objects. As the templates can be normalized, we use this templates for extraction of ROI with invariant to size and position. And, our system operates only one try to match, due to normalizing of region size. To use our system for searching and examining if it's the ROI by evaluating the matching function, at first, we are searching to find candidate regions with the global template. Then, we try to find the ROI among the candidates, and it works this time by using the local template. We experimented to the binary and the color image respectively, they showed that the proposed system can be used efficiently for representing of the template and the useful applications, such as partially retrievals of 2D image.

• 제어로봇시스템학회논문지
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• 제20권4호
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• pp.428-436
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• 2014

This paper proposes a statistical regression method for classifying pillars and vehicles in parking area using a single ultrasonic sensor. There are three types of information provided by the ultrasonic sensor: TOF, the peak and the width of a pulse, from which 67 different features are extracted through segmentation and data preprocessing. The classification using the multiple SVM and the multinomial logistic regression are applied to the set of extracted features, and has achieved the accuracy of 85% and 89.67%, respectively, over a set of real-world data. The experimental result proves that the proposed feature extraction and classification scheme is applicable to the object classification using an ultrasonic sensor.