• 제어로봇시스템학회논문지
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• 제22권3호
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• pp.210-216
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• 2016

This paper presents a novel collision avoidance technique for mobile robots based on omni-directional vision simultaneous localization and mapping (SLAM). This method estimates the avoidance path and speed of a robot from the location of an obstacle, which can be detected using the Lucas-Kanade Optical Flow in images obtained through fish-eye cameras mounted on the robots. The conventional methods suggest avoidance paths by constructing an arbitrary force field around the obstacle found in the complete map obtained through the SLAM. Robots can also avoid obstacles by using the speed command based on the robot modeling and curved movement path of the robot. The recent research has been improved by optimizing the algorithm for the actual robot. However, research related to a robot using omni-directional vision SLAM to acquire around information at once has been comparatively less studied. The robot with the proposed algorithm avoids obstacles according to the estimated avoidance path based on the map obtained through an omni-directional vision SLAM using a fisheye image, and returns to the original path. In particular, it avoids the obstacles with various speed and direction using acceleration components based on motion information obtained by analyzing around the obstacles. The experimental results confirm the reliability of an avoidance algorithm through comparison between position obtained by the proposed algorithm and the real position collected while avoiding the obstacles.

• 한국임상수의학회지
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• 제24권2호
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• pp.104-108
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• 2007

연구의 목적은 고양이에서 $Zoletil^{(R)}$과 medetomidine 약물 마취 시 atipamezole의 임상적 길항 효과를 보기 위함이다. 마취를 하고 다시 회복되는 동안에 체온, 심박수, 호흡수를 측정하였다. 이 연구에는 12 마리의 건강한 한국 잡종 고양이를 사용하였다. 각 6마리씩 무작위로 선별하여 대조군($Zoletil^{(R)}$ 과 medetomidine, ZM)과 실험군 ($Zoletil^{(R)}$, medetomidine 과 길항제인 atipamezole, ZMA) 두 군으로 나누었다. 모든 고양이들은 투여 전 15분, 주사후 5분, 25분, 65분, 105분에 평가하였으며, 길항제인 atipamezole은 마취 주사 후 20분에 근육 주사 하였다. 회복 시간, 심박수, 호흡수는 두 군간 유의성이 있는 결과를 보였고 체온은 유의성을 나타내지 않았다. 두 군 모두 $Zoletil^{(R)}$과 medetomidine 마취 주사 후 4분 내에 횡와 되는 결과를 보였고 마취 시간도 3시간 가까이 지속해 고양이에 있어서 이들 약물이 좋은 마취 효과가 있음을 보여 주었다. 회복 시 마취 부작용은 거의 보이지 않았다. 고양이가 마취에서 회복되어 기립 자세를 하기까지 걸리는 시간이 ZM 군에서는 $210.8{\pm}45.6$ 시간으로 나타났고, ZMA 군에서는 $154.32{\pm}21.1$ 시간으로 나타났다. 길항제를 투여한 ZMA군에서 회복시간이 거의 한 시간 가까이 단축되어 ZMA 군이 ZM 군보다 회복이 빠르다는 결과를 보였다. 본 연구에서 atipamezole은 medetomidine-tiletamine/zolazepam으로 병용 마취된 고양이에서 유용한 회복효과를 발휘하였다.

• 제어로봇시스템학회논문지
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• 제21권2호
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• pp.81-86
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• 2015

GPS position errors were corrected for guidance of autonomous vehicles. From the vision, we can obtain the lateral distance from the center of lane and the angle difference between the left and right detected line. By using a controller which makes these two measurements zero, a lane following system can be easily implemented. However, the problem is that if there's no lane, such as crossroad, the guidance system of autonomous vehicle does not work. In addition, Line detection has problems working on curved areas. In this case, the lateral distance measurement has an error because of a modeling mismatch. For this reason, we propose GPS error correction filter based on curve-modeled lane detection and evaluated the performance applying it to an autonomous vehicle at the test site.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
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• 제28권1호
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• pp.24-30
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• 2002

The facial patterns were expressed by the interrelation of variable factors such as heredity, function and environment. Such variable factors have an effect on the growth and development of maxillofacial bones. The malocclusions with skeletal discrepancies are caused by abnormal forms, sizes and positions of cranial base, maxilla and mandible. For the proper diagnosis and treatment planning, the analysis of such structures is necessary. Lateral cephalograms of 54 adults with class III malocclusion patients (test group) and 61 adults with normal occlusion (control group) were analyzed. Anteroposterior relations and sizes of cranial base, maxilla, mandible were estimated to compare with those of normal ones. In test group, the anterior cranial base length was within normal range, but posterior cranial base, maxilla and mandibular body were longer than those in control group, significantly. Based on the cranial base, the location of maxilla in test group was normal, but the location of mandible was more anterior than that in control. Based on the maxilla, the location of mandible was more anterior in test group than that in control. Both mandibular body and ramus anteroposterior lengths in test group were larger than those in control. Both mandibular plane angle and upper gonial angle were within normal range, but lower gonial angle was significantly high in test group.

• Imaging Science in Dentistry
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• 제40권2호
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• pp.75-81
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• 2010

Purpose : This study is aimed to evaluate the position of mandibular foramen of mandibula prognathism patients using 3-dimensional CT images in order to reduce the chance of an anesthetic failure of the mandibular nerve and to prevent the damage to the inferior alveolar nerve during the orthognathic surgery. Materials and Methods : The control group consist of 30 patients with class I occlusion. The experimental group consist of 44 patients with class III malocclusion. Three-dimensional computed tomography was used to evaluate the position of the mandibular foramina. Results : The distance between mandibular plane and mandibular foramen, class I was 25.385 mm, class III was 23.628 mm. About the distance between occlusal plane and mandibular foramen, class I was 1.478 mm, class III was 5.144 mm. The distance between posterior border plan of mandibular ramus and mandibular foramen had not statistically significant. About the distance between sagittal plane of mandible and mandibular foramen did not also showed statistically significant. Conclusion : The result of this study could help the clinicians to apprehend more accurate anatomical locations of the foramina on the mandible with various facial skeletal types. thereby to perform more accurate block anesthesia of the mandibular nerve and osteotomy with minimal nerve damage. In addition, this study could provide fundamental data for any related researches about the location of the mandibular foramina for other purposes.

• 한국측량학회지
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• 제28권6호
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• pp.637-643
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• 2010

본 연구에서는 비디오카메라와 GPS/MEMS IMU, UMPC를 결합하여 영상과 위치/자세 데이터를 획득하는 휴대용 멀티센서 시스템을 구축하였다. 구축된 시스템을 통해 획득된 데이터를 이용하여 지상기준점을 이용하지 않고 광속조정법 기반의 영상 geo-referencing을 수행하고 정확도 검증을 통해 시스템의 효용성을 평가하였다. 정확도 검증 결과, 지상점의 상대좌표 정확도는 RMSE가수 cm내외로 상당히 정확함을 확인할 수 있었다. 구축된 시스템은 대상 객체의 3차원 모델과 상대좌표를 획득하는데 있어서 충분히 활용 가능하다고 판단된다. 향후에는 시스템 및 카메라의 엄밀한 보정을 통해 절대좌표의 정확도를 개선할 예정이다.

• 천문학회보
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• 제41권1호
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• pp.74.1-74.1
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• 2016

미국 텍사스 주 맥도날드 천문대에 위치한 2.1m 망원경에 부착된 SQUEAN (SED Camera for QUasars in EArly uNiverse)은 2010년부터 운용되고 있는 CQUEAN을 바탕으로 개발된 적외선 영역 광학기기이다. 20개의 필터 장착이 가능한 필터 휠 제어 시스템을 가지고 있는 SQUEAN 시스템은 SMOP (SQUEAN Main Observation software package), KFC82 (KHU Filter wheel Control software package for McDonald 82 inch Telescope), KAP82 (KHU Auto-guiding software Package for McDonald 82 inch Telescope) 등으로 구성되어 있다. 그러나 대형 필터 휠을 제어하는 모터의 토크부족과 감속기의 백래시(Backlash)의 영향으로 오프셋의 오차가 커서 초기위치의 재설정 없이 하룻밤 이상 관측을 지속하는데 어려움이 있었다. 토크가 크고 인코더가 장착된 모터 교체와 제어 프로그램 등을 변경하고, 백래시의 영향을 최소화할 수 있도록 소프트웨어로 보정하였다. 또한, SMOP로부터 네트워크 통신을 통해 초기화용 필터 마스크(Initial Filter Mask:IFM)를 제작하여 돔 플랫 이미지에서 정확한 필터의 위치를 측정하는 기능을 도입하였다. 이 발표에서는, 개선된 하드웨어 및 소프트웨어의 내용과 테스트한 결과에 대해 보여준다.

• Journal of Biosystems Engineering
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• 제33권3호
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• pp.186-195
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• 2008

In this paper, a prototype tele-operative system with a mobile base was developed in order to automate cultivation of house melon. A man-machine interactive hybrid decision-making system via tele-operative task interface was proposed to overcome limitations of computer image recognition. Identifying house melon including position data from the field image was critical to automate cultivation. And it was not simple especially when melon is covered partly by leaves and stems. The developed system was composed of 5 major modules: (a) main remote monitoring and task control module, (b) wireless remote image acquisition and data transmission module, (c) three-wheel mobile base mounted with a 4 dof articulated type robot manipulator (d) exchangeable modular type end tools, and (e) melon storage module. The system was operated through the graphic user interface using touch screen monitor and wireless data communication among operator, computer, and machine. Once task was selected from the task control and monitoring module, the analog signal of the color image of the field was captured and transmitted to the host computer using R.F. module by wireless. A sequence of algorithms to identify location and size of a melon was performed based on the local image processing. Laboratory experiment showed the developed prototype system showed the practical feasibility of automating various cultivating tasks of house melon.

• 한국항해항만학회지
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• 제34권2호
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• pp.105-110
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• 2010

The studies on automatic ship collision avoidance system, which have been carried out in the last 10 years, are facing on new situation due to newly developed high technology such as computer and other information system. It was almost impossible to make it used in real navigation field 3-4 years ago because of the absence of any tool to give other ship's information, however recently developed technology suggests new possibility. This study is carried out to develop the automatic ship collision avoidance support system which considers ship's manoeuvrability into it's collision avoidance algorithm. One of the important part in ship collision avoidance system is collision decision module which can calculate collision risk with other ships and act properly to avoid the situation. Many of previous researches are using present ship's dynamic data such as present speed, position and course to calculate collision risk. However when a ship commences avoidance action, the real situation is quite different with one that has been estimated by the ship's initial data due to the ship's manoeuvring characteristic. Therefore it is better to take into account ship's manoeuvring characteristic from the stage of collision decision in ship collision avoidance system. In this study, these effects are included in the developed system. The proposed system are verified its usefulness in numerical simulation environments.

• 한국측량학회지
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• 제30권2호
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• pp.211-221
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• 2012

회전식 라인 카메라로 취득한 전방위 영상을 실내 공간정보 서비스에 활용하려면 취득한 영상을 실내 좌표계를 기준으로 정교하게 참조할 수 있어야 한다. 이에 본 연구는 실내 전방위 영상의 외부표정요소 - 취득한 시점의 카메라의 위치와 자세를 정확하게 추정 할 수 있는 지오레퍼런싱 방법을 제안한다. 이를 위하여 먼저 회전식 라인 카메라를 기하학적으로 모델링하여 전방위 영상에 대한 공선방정식을 유도한다. 실내 기준점을 공선방정식에 적용하여 실내 전방위 영상의 외부표정요소를 추정한다. 실측데이터에 적용한 결과 외부표정요소의 위치는 1.4mm의 정밀도로, 자세는 $0.05^{\circ}$의 정밀도로 추정할 수 있었다. 수평방향으로 약3픽셀, 수직방향으로 약 10픽셀 정도의 잔차가 남아 있었다. 특히 수직방향으로는 렌즈의 왜곡에 의한 시스템적 오차가 포함되어 있는 것으로 분석되었고 이는 카메라 캘리브레이션을 통해 제거되야 할 것으로 판단된다. 제시된 방법을 이용하여 정밀하게 지오레퍼런싱된 전방위 영상으로부터 고해상도 실내 3차원 모델을 생성하고 이에 기반한 정교한 증강현실 서비스가 가능할 것으로 기대된다.