• 대한의용생체공학회:의공학회지
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• 제24권3호
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• pp.141-149
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• 2003

본 논문에서는 초음파 의용 영상시스템의 B-모드 영상으로 잘 관찰되지 않는 암이나 종양을 진단하기 위하여 인체 연조직의 탄성계수를 측정하여 영상화하는 방법을 제안하였다. 연조직의 단단함을 측정하기 위하여 조직에 정현파 진동을 인가하고 연조직의 기계적인 진동의 크기를 초음파 영상의 스페클 밝기의 시간적 변화를 추정하여 구하였다. 제안한 방법은 B-모드 영상에서 비교적 적은 계산량으로 쉽게 조직의 단단함을 추정할 수 있음을 시뮬레이션과 실험으로 검증하였다

• Macromolecular Research
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• 제17권6호
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• pp.403-410
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• 2009

Cytotoxicity is a severe problem of cadmium sulfide nanoparticles(CSNPs) for use in biological systems. In the present study, mercaptoacetic acid-coated CSNPs were conjugated with bovine serum albumin (BSA) to improve biocompatibility. The surface properties of the CSNPs and albumin-conjugated CSNPs (ACSNPs) were characterized by XRD, UV, FTIR, EA, TEM and DLS. Human breast cancer cells (KB cells) were then cultured in the presence of the nanoparticles to evaluate the cytotoxicity of CSNPs and ACSNPs. Finally, the fluorescence intensity of the nanoparticles' aqueous solution was examined using a fluorescence spectrometer. The results showed that the cell compatibility and fluorescence intensity of ACSNPs were higher than those of CSNPs. The strongly luminescent features of the biocompatible ACSNPs are promising for use in biological fields such as cellular labeling, intracellular tracking and molecular imaging.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2005년도 가을 학술발표논문집 Vol.32 No.2 (2)
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• pp.901-903
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• 2005

본 논문은 스테레오 카메라를 이용한 이동 카메라 환경에서 다수의 사람을 검출하여 검출된 사람을 추적하는 방법을 제안한다. 카메라가 이동하게 되면 카메라의 움직임과 검출 대상이 되는 사람의 움직임이 동시에 발생하기 때문에 카메라 움직임을 변환 모델을 사용하여 보정하고, 독립적인 움직임을 추출하여 사람을 검출 하였다. 추적은 검출된 사람 영역의 컬러 분포에 기반하여 평균 이동(Mean Shift) 알고리즘을 적용하였다. 평균 이동 알고리즘은 빠르고 안정적인 성능으로 실시간 추적에 적합하다. 그러나 객체의 컬러 정보만으로는 배경과 컬러 분포가 유사한 객체의 경우 추적에 실패할 수 있는 단점이 있다. 이점을 보완하기 위하여 본 논문에서는 변위 지도(Disparity map)를 결합하여 객체와 배경을 분리하는 깊이 마스크를 생성하였다. 변위 지도를 사용하여 다수의 사람이 등장 할 경우 발생하는 가려짐, 겹침 등 다양한 실내 환경에서 발생하는 문제도 해결 하였다. 본 논문에서 제안하는 알고리즘은 다양한 데이터에 대해서 실험한 결과 정확한 검출과 추적에 우수한 성능을 확인 할 수 있었다.

• 드라이브 ㆍ 컨트롤
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• 제15권3호
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• pp.1-7
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• 2018

Humanoid robots have fascinated many researchers since they appeared decades ago. For the requirement of both accurate tracking control and the safety of physical human-robot interaction, torque control is basically desirable for humanoid robots. Humanoid robots are highly nonlinear, coupled, complex systems, accordingly the calculation of robot model is difficult and even impossible if precise model of the humanoid robots are unknown. Therefore, it is difficult to control using traditional model-based techniques. To realize model-free torque control, time-delay control (TDC) for humanoid robot was proposed with time-delay estimation technique. Using optimal walking trajectory obtained by particle swarm optimization, TDC with proposed scheme is implemented on whole body of a humanoid, not on biped legs even though it is performed by a virtual humanoid robot. The simulation results show the validity of the proposed TDC for humanoid robots.

• International Journal of Control, Automation, and Systems
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• 제4권3호
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• pp.302-307
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• 2006

The aim of applying Functional Electrical Stimulation (FES) is to restore a person's motor function by directly supplying the controlled electrical currents to the site of the paralyzed muscles. However, most clinically utilized FES systems have adapted an open-loop control scheme. Recently the closed-loop control scheme has been considered for setting up the FES system, but due to the inherent nonlinearities in the musculoskeletal system, the nonlinearities were not fully compensated and it caused the oscillatory responses for tracking the output variables. In this study, a nonlinear controller model that has two inverse compensation units is proposed with the compromising feedback linearization method and this will eventually be used to design the FES control system for stimulating a knee joint musculoskeletal system.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 하계종합학술대회 논문집(4)
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• pp.69-72
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• 2002

Human face detection has many applications such as face recognition, face or facial feature tracking, pose estimation, and expression recognition. We present a new method for automatically segmentation and face detection in color images. Skin color alone is usually not sufficient to detect face, so we combine the color segmentation and shape analysis. The algorithm consists of two stages. First, skin color regions are segmented based on the chrominance component of the input image. Then regions with elliptical shape are selected as face hypotheses. They are certificated to searching for the facial features in their interior, Experimental results demonstrate successful detection over a wide variety of facial variations in scale, rotation, pose, lighting conditions.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.883-884
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• 2006

In this paper, we propose the real-time system that detects and recognizes the human face by PTZ camara. Generally, Face detection algorithms are disturbed by variable illuminations in a image. To avoid those, we use the robust adaboost algorithm for face detection. For recognition, we use PCA algorithm. we focus on the real-time system. It will be necessary in many applications.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제14권1호
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• pp.8-16
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• 2014

We consider the visual barcode recognition problem in a noisy video data setup. Unlike most existing single-frame recognizers that require considerable user effort to acquire clean, motionless and blur-free barcode signals, we eliminate such extra human efforts by proposing a robust video-based barcode recognition algorithm. We deal with a sequence of noisy blurred barcode image frames by posing it as an online filtering problem. In the proposed dynamic recognition model, at each frame we infer the blur level of the frame as well as the digit class label. In contrast to a frame-by-frame based approach with heuristic majority voting scheme, the class labels and frame-wise noise levels are propagated along the frame sequences in our model, and hence we exploit all cues from noisy frames that are potentially useful for predicting the barcode label in a probabilistically reasonable sense. We also suggest a visual barcode tracking approach that efficiently localizes barcode areas in video frames. The effectiveness of the proposed approaches is demonstrated empirically on both synthetic and real data setup.

• 한국정보디스플레이학회:학술대회논문집
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• 한국정보디스플레이학회 2009년도 9th International Meeting on Information Display
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• pp.408-410
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• 2009

First demonstrators of bi-directional OLED microdisplay devices have been developed and integrated into see-through HMD optics. The device combines 'display' and 'imaging' by nested OLED pixels and photodetectors in a single CMOS chip. Major aim of this integration is to provide capabilities for eyetracking to achieve gaze-based human-displayinteraction.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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• pp.549-551
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• 1998

This paper deals with the new gait implementation of biped walking robot(IWR-III). In the case of using old gait. The trunk should be stopped during the phase changing time. But using new gait, the trunk moves continuously for all walking time. As a result, IWR-III has a walking gait similar to human being, and the motion of balancing joints can be reduced by the trunk ahead effect in the double support phase, moreover, ZMP tracking is improved, therefore the stability of IWR-III is improved. The trajectory is planned with a 5th order spline interpolation and stability of IWR-III is certified with a biped simulator.