• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1102-1105
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• 2004

In this paper, the problem of a viewer's head tracking in a desktop-based interactive stereoscopic display system is considered. A fast and low-cost approach to the problem is important for such a computing environment. The system under consideration utilizes a shuttle glass for stereoscopic display. The proposed method makes use of an image taken from a single low-cost video camera. By using a simple feature extraction algorithm, the obtained points corresponding to the image of the user-worn shuttle glass are used to estimate the glass center, its local 'yaw' angle, as measured with respect to the glass center, and its global 'yaw' angle as measured with respect to the camera location. With these estimations, the stereoscopic image synthetic program utilizes those values to interactively adjust the two-view stereoscopic image pair as displayed on a computer screen. The adjustment is carried out such that the so-obtained stereoscopic picture, when viewed from a current user position, provides a close-to-real perspective and depth perception. However, because the algorithm and device used are designed for fast computation, the estimation is typically not precise enough to provide a flicker-free interactive viewing. An error concealment method is thus proposed to alleviate the problem. This concealment method should be sufficient for applications that do not require a high degree of visual realism and interaction.

• Ocean Systems Engineering
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• v.9 no.4
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• pp.391-407
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• 2019

Tracking the location (position) of a surface or underwater marine vehicle is important as part of guidance and navigation. While the Global Positioning System (GPS) works well in an open sea environment but its use is limited whenever testing scaled-down models of such vehicles in the laboratory environment. This paper presents the design, development and implementation of a low energy ultrasonic augmented single beacon-based localization technique suitable for such requirements. The strategy consists of applying Extended Kalman Filter (EKF) to achieve location tracking from basic dynamic distance measurements of the moving model from a fixed beacon, while on-board motion sensor measures heading angle and velocity. Iterative application of the Extended Kalman Filter yields x and y co-ordinate positions of the moving model. Tests performed on a free-running ship model in a wave basin facility of dimension 30 m by 30 m by 3 m water depth validate the proposed model. The test results show quick convergence with an error of few centimeters in the estimated position of the ship model. The proposed technique has application in the real field scenario by replacing the ultrasonic sensor with industrial grade long range acoustic modem. As compared with the existing systems such as LBL, SBL, USBL and others localization techniques, the proposed technique can save deployment cost and also cut the cost on number of acoustic modems involved.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.43 no.3
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• pp.212-221
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• 2007

This paper describes on the evaluation and management of work process in suction hopper dredger and grab bucket dredger as an application of a PC-based ECDIS system. The dynamic tracking of dredging bucket and the data logging of grab dredging information were performed by using the grab dredging vessel "Kunwoong G-18". The position and route tracking of the dredger moving toward the ocean dumping site of dredged material was performed by using the hopper dredging vessel "Samyang-7". The evaluation of wok process in the dredging field, for grab dredger, was continuously carried out on January to May, 2006, in Incheon Hang and for hopper dredger, on July to December, 2003, in Busan Hang, Korea. The dredging information, such as dredger's position, heading, dredging depth and route track which was individually time stamped during the dredging operation, was automatically processed in real-time on the ECDIS and displayed simultaneously on the S-57 ENC chart. From these results, we conclude that the ECDIS system can be applied as a tool in order to manage the work process during the dredging operation, and also in order to generate the factual record of the dredging activities that is sufficient for dredging inspector to accurately evaluate the contract performance even in the absence of a full-time onboard inspector.

• Genomics & Informatics
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• v.12 no.3
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• pp.98-104
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• 2014

Approximately 45% of the human genome is comprised of transposable elements (TEs). Results from the Human Genome Project have emphasized the biological importance of TEs. Many studies have revealed that TEs are not simply "junk" DNA, but rather, they play various roles in processes, including genome evolution, gene expression regulation, genetic instability, and cancer disposition. The effects of TE insertion in the genome varies from negligible to disease conditions. For the past two decades, many studies have shown that TEs are the causative factors of various genetic disorders and cancer. TEs are a subject of interest worldwide, not only in terms of their clinical aspects but also in basic research, such as evolutionary tracking. Although active TEs contribute to genetic instability and disease states, non-long terminal repeat transposons are well studied, and their roles in these processes have been confirmed. In this review, we will give an overview of the importance of TEs in studying genome evolution and genetic instability, and we suggest that further in-depth studies on the mechanisms related to these phenomena will be useful for both evolutionary tracking and clinical diagnostics.

• Proceedings of the IEEK Conference
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• 2003.07e
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• pp.2259-2262
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• 2003

This paper describes visual tracking procedure of the underwater mobile robot for nuclear reactor vessel inspection, which is required to find the foreign objects such as loose parts. The yellowish underwater robot body tend to present a big contrast to boron solute cold water of nuclear reactor vessel, tinged with indigo by Cerenkov effect. In this paper, we have found and tracked the positions of underwater mobile robot using the two color informations, yellow and indigo. The center coordinates extraction procedures is as follows. The first step is to segment the underwater robot body to cold water with indigo background. From the RGB color components of the entire monitoring image taken with the color CCD camera, we have selected the red color component. In the selected red image, we extracted the positions of the underwater mobile robot using the following process sequences: binarization labelling, and centroid extraction techniques. In the experiment carried out at the Youngkwang unit 5 nuclear reactor vessel, we have tracked the center positions of the underwater robot submerged near the cold leg and the hot leg way, which is fathomed to 10m deep in depth.

• International Journal of Naval Architecture and Ocean Engineering
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• v.11 no.1
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• pp.211-224
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• 2019

This paper deals with a nonlinear controller based on saturation functions with variable parameters for set-point regulation and trajectory tracking control of an Autonomous Underwater Vehicle (AUV). In many cases, saturation functions with constant parameters are used to limit the input signals generated by a classical PD (Proportional-Derivative) controller to avoid damaging the actuators; however this abrupt bounded harms the performance of the controller. We, therefore, propose to replace the conventional saturation function, with constant parameters, by a saturation function with variable parameters to limit the signals of a PD controller, which is the base of the nonlinear PD with gravitational/buoyancy compensation and the nonlinear PD + controllers that we propose in this paper. Consequently, the mathematical model is obtained, considering the featuring operation of the underwater vehicle LIRMIA 2, to do the stability analysis of the closed-loop system with the proposed nonlinear controllers using the Lyapunov arguments. The experimental results show the performance of an AUV (LIRMIA 2) for the depth control problems in the case of set-point regulation and trajectory tracking control.

• Smart Structures and Systems
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• v.31 no.4
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• pp.409-419
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• 2023

Structural integrity can be accessed from dynamic deformations of structures. Moreover, dynamic deformations can be acquired from non-contact sensors such as video cameras. Kanade-Lucas-Tomasi (KLT) algorithm is one of the commonly used methods for motion tracking. However, averaging throughout the extracted features would induce bias in the measurement. In addition, pixel-wise measurements can be converted to physical units through camera intrinsic. Still, the depth information is unreachable without prior knowledge of the space information. The assigned homogeneous coordinates would then mismatch manually selected feature points, resulting in measurement errors during coordinate transformation. In this study, a two-stage optimization method for video-based measurements is proposed. The manually selected feature points are first optimized by minimizing the errors compared with the homogeneous coordinate. Then, the optimized points are utilized for the KLT algorithm to extract displacements through inverse projection. Two additional criteria are employed to eliminate outliers from KLT, resulting in more reliable displacement responses. The second-stage optimization subsequently fine-tunes the geometry of the selected coordinates. The optimization process also considers the number of interpolation points at different depths of an image to reduce the effect of out-of-plane motions. As a result, the proposed method is numerically investigated by using a truss bridge as a physics-based graphic model (PBGM) to extract high-accuracy displacements from recorded videos under various capturing angles and structural conditions.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.6
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• pp.28-34
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• 2020

This paper proposes an approach to the fusion of two heterogeneous sensors with two different fields-of-view (FOV): LIDAR and an RGB camera. Registration between data captured by LIDAR and an RGB camera provided the fusion results. Registration was completed once a depthmap corresponding to a 2-dimensional RGB image was generated. For this fusion, RPLIDAR-A3 (manufactured by Slamtec) and a general digital camera were used to acquire depth and image data, respectively. LIDAR sensor provided distance information between the sensor and objects in a scene nearby the sensor, and an RGB camera provided a 2-dimensional image with color information. Fusion of 2D image and depth information enabled us to achieve better performance with applications of object detection and tracking. For instance, automatic driver assistance systems, robotics or other systems that require visual information processing might find the work in this paper useful. Since the LIDAR only provides depth value, processing and generation of a depthmap that corresponds to an RGB image is recommended. To validate the proposed approach, experimental results are provided.

• Geophysics and Geophysical Exploration
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• v.7 no.1
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• pp.93-98
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• 2004

The sand-covered Muweilah archaeological site in the United Arab Emirates (UAE) is a unique Iron Age site, and has been subject to intensive investigations. However, excavations are time consuming and may require twenty years to complete. Thus geophysical surveys were undertaken with the objective of characterising the site more expeditiously. This paper presents preliminary results of these surveys. Ground penetrating radar (GPR) was tested as a primary imaging tool, with an ancillary shallow time domain EM (MetalMapper) system. Dense 3D GPR datasets were migrated to produce horizontal (plan view) depth slices at 10 cm intervals, which is conceptually similar to the archaeologists' excavation methodology. The objective was to map all features associated with anthropogenic activity. This required delineating extensive linear and planar features, which could represent infrastructure. The correlation between these and isolated point reflectors, which could indicate anthropogenic activity, was then assessed. Finally, MetalMapper images were used to discriminate between metallic and non-metallic scatterers. The moderately resistive sand cover allowed GPR depth penetration of up to 5 m with a 500 MHz system. GPR successfully mapped floor levels, walls, and isolated anthropogenic activity, but crumbling walls were difficult to track in some cases. From this study, two possible courtyard areas were recognised. The MetalMapper was less successful because of its limited depth penetration of 50 cm. Despite this, the system was still useful in detecting modem-day ferruginous waste and bronze artefacts. The results (subject to ongoing ground-truthing) indicated that GPR was optimal for sites like Muweilah, which are buried under a few metres of sand. The 3D survey methodology proved essential to achieve line-to-line correlation for tracking walls. In performing the surveys, a significant improvement in data quality ensued when survey areas were flattened and de-vegetated. Although MetalMapper surveys were not as useful, they certainly indicated the value of including other geophysical data to constrain interpretation of complex GPR features.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.10
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• pp.902-909
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• 2015

In this paper, monovision based relative navigation for a satellite proximity operation is studied. The chaser satellite only uses one camera sensor to observe the target satellite and conducts image tracking to obtain the target pose information. However, by using only mono-vision, it is hard to get the depth information which is related to the relative distance to the target. In order to resolve the well-known difficulty in computing the depth information with the use of a single camera, the active contour method is adopted for the image tracking process. The active contour method provides the size of target image, which can be utilized to indirectly calculate the relative distance between the chaser and the target. 3D virtual reality is used in order to model the space environment where two satellites make relative motion and produce the virtual camera images. The unscented Kalman filter is used for the chaser satellite to estimate the relative position of the target in the process of glideslope approaching. Closed-loop simulations are conducted to analyze the performance of the relative navigation with the active contour method.