• Korean Journal of Ichthyology
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• v.30 no.3
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• pp.170-174
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• 2018

A single specimen of Caranx melampygus (113 mm standard length), belonging to the family Carangidae, was firstly collected by a set net from the coastal waters of Jejudo Island, Korea. This species is morphologically similar to C. sexfasciatus except for the posterior end of maxilla not reaching the posterior margin of eye (vs. reaching in C. sexfasciatus) and no black blotch on the upper part of opercle (vs. black blotch). We newly add this species to the Korean fish fauna and propose its new Korean name "Jag-eun-ip-jul-jeon-gaeng-i" for the species because it has relatively smaller upper jaw when compared with C. sexfasciatus.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.35-40
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• 2006

Ultrasonic cold forging technology (UCFT) utilizing ultrasonic vibration energy is a method to induce severe plastic deformation to a material surface, therefore the structure of the material surface becomes a nano-crystal structure from the surface to a certain depth. It improves the mechanical properties; hardness, compressive residual stress, wear and fatigue characteristics. Applying UCFT to a rolling process in the steel industry is introduced in this study. First, the UCFT specimens of a tool steel (SKD-61/equivalent H13) are prepared and tested to verify the effects of the UCFT in a variety of mechanical properties, the UCFT is applied to the trimming knives in a cold rolling process. It has been determined that UCFT improves the mechanical properties effectively and becomes a practical method to improve productivity and reliability by about two times compared with the conventionally treated tooling in the trimming process in a cold rolling line.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.6
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• pp.547-554
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• 2013

This paper proposes a novel formation algorithm of identical robots based on object tracking method using omni-directional images obtained through fisheye lenses which are mounted on the robots. Conventional formation methods of multi-robots often use stereo vision system or vision system with reflector instead of general purpose camera which has small angle of view to enlarge view angle of camera. In addition, to make up the lack of image information on the environment, robots share the information on their positions through communication. The proposed system estimates the region of robots using SURF in fisheye images that have $360^{\circ}$ of image information without merging images. The whole system controls formation of robots based on moving directions and velocities of robots which can be obtained by applying Lucas-Kanade Optical Flow Estimation for the estimated region of robots. We confirmed the reliability of the proposed formation control strategy for multi-robots through both simulation and experiment.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.601-605
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• 2009

We have proposed a measurement system for measuring a whole shape of an object easily. The proposed system consists of a camera and a cylinder whose inside is coated by a mirror layer. A target object is placed inside the cylinder and an image is captured by the camera from right above. The captured image includes sets of points that are observed from multiple viewpoints: one is observed directly, and others are observed via the mirror. Therefore, the whole shape of the object can be measured using stereo vision in a single shot. This paper shows that a prototype of the proposed system was implemented and an actual object was measured using the prototype. A method based on a pattern matching which uses a value of SSD (Sum of Squared Difference), and a method based on DP (Dynamic Programming) are employed to identify a set of corresponding points in warped captured images.

• Atmosphere
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• v.28 no.3
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• pp.317-324
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• 2018

In this study, we review the ground-based whole-sky camera (WSC), which is developed to continuously capture day and night cloud images using the illumination data from a precision Lightmeter with a high temporal resolution. The WSC is combined with a precision Lightmeter developed in IYA (International Year of Astronomy) for analysis of an artificial light pollution at night and a DSLR camera equipped with a fish-eye lens widely applied in observational astronomy. The WSC is designed to adjust the shutter speed and ISO of the equipped camera according to illumination data in order to stably capture cloud images. And Raspberry Pi is applied to control automatically the related process of taking cloud and sky images every minute under various conditions depending on illumination data from Lightmeter for 24 hours. In addition, it is utilized to post-process and store the cloud images and to upload the data to web page in real time. Finally, we check the technical possibility of the method to observe the cloud distribution (cover, type, height) quantitatively and objectively by the optical system, through analysis of the captured cloud images from the developed device.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.8
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• pp.766-772
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• 2015

This paper proposes an object detection method based on motion estimation using background subtraction in the fisheye images obtained through omni-directional camera mounted on the vehicle. Recently, most of the vehicles installed with rear camera as a standard option, as well as various camera systems for safety. However, differently from the conventional object detection using the image obtained from the camera, the embedded system installed in the vehicle is difficult to apply a complicated algorithm because of its inherent low processing performance. In general, the embedded system needs system-dependent algorithm because it has lower processing performance than the computer. In this paper, the location of object is estimated from the information of object's motion obtained by applying a background subtraction method which compares the previous frames with the current ones. The real-time detection performance of the proposed method for object detection is verified experimentally on embedded board by comparing the proposed algorithm with the object detection based on LKOF (Lucas-Kanade optical flow).

• Korean Journal of Ichthyology
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• v.26 no.4
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• pp.340-344
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• 2014

A single specimen of Pseudocaranx dentex (115.8 mm in standard length), belonging to the family Carangidae, was firstly collected by a set net in the coastal waters of Jeju Island on July 14, 2014. This species was characterized by a yellow stripe presented along both sides, a single series of canine teeth arranged on jaws, a black spot on upper margin of opercle, and snout length longer than eye diameter. We newly add this species to the Korean fish fauna and propose its Korean name "Heuk-jeom-jul-jeon-gaeng-i-sok" and "Heuk-jeom-jul-jeon-gaeng-i" for the genus and species, respectively.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.7
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• pp.634-640
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• 2015

This paper proposes a novel three-dimensional mapping algorithm in Omni-Directional Vision SLAM based on a fisheye image and laser scanner data. The performance of SLAM has been improved by various estimation methods, sensors with multiple functions, or sensor fusion. Conventional 3D SLAM approaches which mainly employed RGB-D cameras to obtain depth information are not suitable for mobile robot applications because RGB-D camera system with multiple cameras have a greater size and slow processing time for the calculation of the depth information for omni-directional images. In this paper, we used a fisheye camera installed facing downwards and a two-dimensional laser scanner separate from the camera at a constant distance. We calculated fusion points from the plane coordinates of obstacles obtained by the information of the two-dimensional laser scanner and the outline of obstacles obtained by the omni-directional image sensor that can acquire surround view at the same time. The effectiveness of the proposed method is confirmed through comparison between maps obtained using the proposed algorithm and real maps.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.5
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• pp.560-566
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• 2005

In this paper, a practical technique for correction of a distorted image for vision-based localization of ubiquitous mobile robot. The localization of mobile robot is essential and is realized by using camera vision system. In order to wide the view angle of camera, the vision system includes a fish-eye lens, which distorts the image. Because a mobile robot moves rapidly, the image processing should he fast to recognize the localization. Thus, we propose the practical correction technique for a distorted image, verify the Performance by experimental test.

• Journal of Ocean Engineering and Technology
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• v.22 no.2
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• pp.99-105
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• 2008

Ultrasonic nanocrystal surface modification (UNSM) is a method to induce severe plastic deformation to a material surface, so that the structure of the material surface becomes a nanocrystal structure from the surface to a certain depth. It improves the mechanical properties, namely hardness, compressive residual stress, and fatigue characteristics. Specimens of SKD61 were tested to verify the effects of the variation of UNSM static load level on fatigue characteristics. The results were as follows: the grain size of SKD61 treated with UNSM became very fine from the material surface to a $100{\mu}m$ depth. The surface hardness of SKD61 was increased up to 37% after UNSM. And fatigue strength at $10^7$ cycles was increased by 8.3, 11.2, and 17.9% respectively, when the static load levels of UNSM were 4, 6, 8 kgf.