• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1336-1339
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• 1996

In this paper, we design implement an Object-Oriented Graphic System Configuration Editor for Access Control Systems. 'Visual Builder', with such functions as graphic drawing, system configuration, graphic management, processing of user input through graphics. Visual Builder is designed to be well separated from and independent of S/W parts closely coupled with the underlying H/W and thus to improve its reusability and maintainability.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.2
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• pp.293-300
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• 2018

We propose a moving object extraction and tracking method for improvement of animal identification and tracking technology. First, we propose a method of merging separated moving objects into a moving object by using FCM (Fuzzy C-Means) clustering algorithm to solve the problem of moving object loss caused by moving object extraction process. In addition, we propose a method of extracting data from a moving object and a method of counting moving objects to determine the number of clusters in order to satisfy the conditions for performing FCM clustering algorithm. Then, we propose a method to continuously track merged moving objects. In the proposed method, color histograms are extracted from feature information of each moving object, and the histograms are continuously accumulated so as not to react sensitively to noise or changes, and the average is obtained and stored. Thereafter, when a plurality of moving objects are overlapped and separated, the stored color histogram is compared with each other to correctly recognize each moving object. Finally, we demonstrate the feasibility and applicability of the proposed algorithms through some experiments.

• International Journal of Control, Automation, and Systems
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• v.3 no.3
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• pp.444-452
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• 2005

A new scheme for a mobile robot to track and capture a moving object using camera images is proposed. The moving object is assumed to be a point-object and is projected onto an image plane to form a geometrical constraint equation that provides the position data of the object based on the kinematics of the active camera. Uncertainties in position estimation caused by the point-object assumption are compensated for using the Kalman filter. To generate the shortest time path to capture the moving object, the linear and angular velocities are estimated and utilized. In this paper, the experimental results of the tracking and capturing of a target object with the mobile robot are presented.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.12
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• pp.1027-1038
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• 2005

Object recognition in the field of robotics generally has depended on a computer vision system. Recently, RFID(Radio Frequency IDentification) has been suggested as technology that supports object recognition. This paper, introduces the advanced RFID-based recognition using a novel tag which is named a 3D tag. The 3D tag was designed to facilitate object recognition. The proposed RFID system not only detects the existence of an object, but also estimates the orientation and position of the object. These characteristics allow the robot to reduce considerably its dependence on other sensors for object recognition. In this paper, we analyze the characteristics of the 3D tag-based RFID system. In addition, the estimation methods of position and orientation using the system are discussed.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.484-487
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• 1997

In this paper a simulation program for the powertrain control of a gasoline engine with automatic transmission is presented, The object-oriented programming approach has been pursued, and MATLAB/ SIMULINK was adopted for its environment. The purpose of the paper is to demonstrate the programmability of a control system in the object-oriented fashion so that the transferability of the objects is guaranteed. The program developed in the paper was applied to a gasoline engine and the mathematical models used in the paper were just adopted from the literature. It is shown that the simulation results and real experimental results coincide well. Therefore, it is expected that the program or objects made in the paper are useful for the automotive engineers when they design a new engine/transmission system or modify a part of existing system.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.8
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• pp.834-841
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• 2006

Recently, many enterprises are installing AMSs(Automated Manufacturing Systems) for their competitive advantages. As the level of automation increases, proper design and validation of control logic is a imperative task for the successful operation of AMSs. However, current discrete event simulation methods mainly focus on the performance evaluation. As a result, they lack the modeling capabilities for the detail logic of automated manufacturing system controller. Proposed in this paper is a method of validation of the controller logic for automated material handling system using an object-oriented design and simulation. Using this method, FA engineers can validate the controller logic easily in earlier stage of system design, so they can reduce the time for correcting the logic errors and enhance the productivity of control program development Generated simulation model can also be used as a communication tool among FA engineers who have different experiences and disciplines.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 1999.05a
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• pp.163-167
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• 1999

The relational data model can't be applied to CAD/CAM, CE, and CIM since it can't support the semantic model concept such as complex object, random data definition, manipulation, version control, generalization, aggregation and so on. In this paper, the IPCS(Integrated Production Control System) for hand-rail of ship is parted into several module according to process function. further more, the object oriented data model is designed with UML(Unified Modeling Language). UML is the object oriented design methodology of industrial standard that combines the Booch's methodology, the Rumbaugh's On(Object Modeling Technique), and the Jacobson's OOSE(Object-Oriented Software Engineering) methodology. The efficient management is expected with object-oriented data model construction, since this developed system can achieve efficient process control, system maintenance, repair and extension.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.1
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• pp.54-61
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• 2008

This paper proposes a new algorithm for detecting and recognizing overlapped objects among a stack of arbitrarily located objects using a signature representation scheme. The proposed algorithm consists of two processes of detecting overlap of objects and of determining the boundary between overlapping objects. To determine overlap of objects, in the first step, the edge image of object region is extracted and those areas in the object region are considered as the object areas if an area is surrounded by a closed edge. For each object, its signature image is constructed by measuring the distances of those edge points from the center of the object, along the angle axis, which are located at every angle with reference to the center of the object. When an object is not overlapped, its features which consist of the positions and angles of outstanding points in the signature are searched in the database to find its corresponding model. When an object is overlapped, its features are partially matched with those object models among which the best matching model is selected as the corresponding model. The boundary among the overlapping objects is determined by projecting the signature to the original image. The performance of the proposed algorithm has been tested with the task of picking the top or non-overlapped object from a stack of arbitrarily located objects. In the experiment, a recognition rate of 98% has been achieved.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.2 s.233
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• pp.188-200
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• 2005

Control of a multi-fingered robotic hand is usually based on the theoretical analysis for kinematics and dynamics of fingers and of object. However, the implementation of such analyses to robotic hands is difficult because of errors and uncertainties in the real situations. This article presents the control method for estimating the kinematic constraint of an unknown object by active sensing. The experimental system has a two-fingered robotic hand suspended vertically for manipulation in the vertical plane. The fingers with three degrees-of-freedom are driven by wires directly connected to voice-coil motors without reduction gears. The fingers are equipped with three-axis force sensors and with dynamic tactile sensors that detect slippage between the fingertip surfaces and the object. In order to make an accurate estimation for the kinematic constraint of the unknown object, i.e. the constraint direction and the constraint center, four kinds of the active sensing and feedback control algorithm were developed: two position-based algorithms and two force-based algorithms. Furthermore, the compound and effective algorithm was also developed by combining two algorithms. Force sensors are mainly used to adapt errors and uncertainties encountered during the constraint estimation. Several experimental results involving the motion of lifting a finger off an unknown object are presented.

• Journal of KIISE:Software and Applications
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• v.33 no.9
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• pp.751-775
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• 2006

In this paper, we suggested an avatar control technique using the high-level behavior. We separated behaviors into three levels according to level of abstraction and defined layered scripts. Layered scripts provide the user with the control over the avatar behaviors at the abstract level and the reusability of scripts. As the 3D environment gets complicated, the number of required avatar behaviors increases accordingly and thus controlling the avatar-object behaviors gets even more challenging. To solve this problem, we embed avatar behaviors into each environment object, which informs how the avatar can interact with the object. Even with a large number of environment objects, our system can manage avatar-object interactions in an object-oriented manner Finally, we suggest an easy-to-use user interface technique that allows the user to control avatars based on context menus. Using the avatar behavior information that is embedded into the object, the system can analyze the object state and filter the behaviors. As a result, context menu shows the behaviors that the avatar can do. In this paper, we made the virtual presentation environment and applied our model to the system. In this paper, we suggested the technique that we controling an the avatar control technique using the high-level behavior. We separated behaviors into three levels byaccording to level of abstract levelion and defined multi-levellayered script. Multi-leveILayered script offers that the user can control avatar behavior at the abstract level and reuses script easily. We suggested object models for avatar-object interaction. Because, TtThe 3D environment is getting more complicated very quickly, so that the numberss of avatar behaviors are getting more variableincreased. Therefore, controlling avatar-object behavior is getting complex and difficultWe need tough processing for handling avatar-object interaction. To solve this problem, we suggested object models that embedded avatar behaviors into object for avatar-object interaction. insert embedded ail avatar behaviors into object. Even though the numbers of objects areis large bigger, it can manage avatar-object interactions by very efficientlyobject-oriented manner. Finally Wewe suggested context menu for ease ordering. User can control avatar throughusing not avatar but the object-oriented interfaces. To do this, Oobject model is suggested by analyzeing object state and filtering the behavior, behavior and context menu shows the behaviors that avatar can do. The user doesn't care about the object or avatar state through the related object.