• Proceedings of the KIEE Conference
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• 1994.11a
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• pp.299-301
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• 1994

Visual feedback has traditionally been used in robot manipulator control to a limited extent. However in varying environment, visual data is needed to control the manipulator to complete the desired task. In this paper we present a method of manipulator control scheme called image-based visual servo. In this scheme we use image data as feedback to control robot manipulator. And we also show the experimental results with an industrial robot manipulator.

• Asian Pacific Journal of Cancer Prevention
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• v.15 no.4
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• pp.1707-1710
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• 2014

Background: The objective of this study was to evaluate baseline use and positive rates of staging images (bone scan, CT) in newly diagnosed patients with prostate cancer (PCa) and to improve staging image overuse. Materials and Methods: This retrospective study covered a consecutive series of patients with PCa who underwent stage imaging at our institution between 2006 and 2011. Various clinical and pathological variables (age, PSA, biopsy Gleason score, clinical T stage, positive biopsy core rate) were evaluated by multivariate logistic regression analysis for their ability to predict a positive staging image. All patients were stratified according to the NCCN risk stratification and positive rates were compared in each risk group. Results: 410 patients (100%) underwent a bone scan and 315 patients (76.8%) underwent a CT scan. Some 51 patients (12.4%) had a positive bone scan, clinical T3 and T4 being significant independent predictors. Positive bone scan rates for low-, intermediate-, high-, and very high-risk groups were 0%, 0%, 8.25%, and 56.6%. Some 59 (18.7%) patients had a positive CT scan, with elevated PSA and clinical T3, T4 as significant independent predictors. Low-, intermediate-, high- and very high-risk group rates were 0%, 0%, 13.8% and 80.0%. Conclusions: The incidences of positive staging image in low- and intermediate- risk group were reasonably low. Following feedback on these results, staging in low- and intermediate- risk groups could be omitted.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.39 no.4
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• pp.28-37
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• 2002

In this paper, we present an image retrieval method for improving retrieval performance by fusion of probabilistic method and query point movement. In the proposed algorithm, the similarity for probabilistic method and the similarity for query point movement are fused in the computation of the similarity between a query image and database image. The probabilistic method used in this paper is suitable for handling negative examples. On the other hand, query point movement deals with the statistical property of positive examples. Combining these two methods, our goal is to overcome their shortcoming. Experimental results show that the proposed method yields better performances over the probabilistic method and query point movement, respectively.

• Proceedings of the Korean Institute of Communication Sciences Conference
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• 1987.04a
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• pp.27-30
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• 1987

Some modification of laplacian pyramidal coding have been done and tested for a test image, From our studies, its apperar that 3-D redictor which exploits inter and intra plane redundancy simultaneously somewhat imporves the image quality, We also have tried to reduce the bit rate by only sending zeroth plane image values that correstpond to estimated dege points which can be obtained from the first plane For both cases the feedback of quantization errof in the previous plane has been in the reconstruction of each plane. Subjective and SNR tests show the better performance of the studied methods oner the conventional one.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.109-114
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• 1987

In this thesis, we work on the curve recognition with real time processing and the Robot tracking method on recognized curve. Image information of segment curve is supplied to computer to run to a Robot so that it is a feedback system. Image coordinate frame to world coordinate transformation represents in this paper and curve matching algorithm subscribes by two method, first transformation matching algorithm, second image coordinate matching algorithm. Also Robot running time to computer image processing time relationships finally includes.

• Journal of the Korean Society of Industry Convergence
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• v.17 no.1
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• pp.27-34
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• 2014

This paper proposes a new approach to the designed of visual feedback control system based on visual servoing method. The main focus of this paper is presented how it is effective to use many features for improving the accuracy of the visual feedback control of industrial articulated robot for assembling and inspection of parts. Some rank conditions, which relate the image Jacobian, and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. The effectiveness of redundant features is verified by the real time experiments on a SCARA type robot(FARA) made in samsung electronics company.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2004.04a
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• pp.235-240
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• 2004

The equipment of industrial robot in manufacturing and assembly lines has rapidly increased. In order to achieve high productivity and flexibility, it becomes very important to develop the visual feedback control system with Off-Line Programming System(OLPS). We can save much efforts and time in adjusting robots to newly defined workcells by using OLPS. A proposed visual calibration scheme is based on position-based visual feedback. The calibration program firstly generates predicted images of objects in an assumed end-effector position. The process to generate predicted images consists of projection to screen-coordinates, visible range test and construction of simple silhouette figures. Then camera images acquired are compared with predicted ones for updating position and orientation data. Computation of error is very simple because the scheme is based on perspective projection which can be also expanded to experimental results. Computation time can be extremely reduced because the proposed method does not require the precise calculation of tree-dimensional object data and image Jacobian.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.12 no.1
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• pp.35-42
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• 2013

This paper proposes a new approach to the designed of visual feedback control system based on visual servoing method. The main focus of this paper is presented how it is effective to use many features for improving the accuracy of the visual feedback control of industrial articulated robot for assembling and inspection of parts. Some rank conditions, which relate the image Jacobian, and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. The effectiveness of redundant features is verified by the real time experiments on a SCARA type robot(FARA) made in samsung electronics company.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.46 no.3
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• pp.112-118
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• 2009

Skin color segmentation techniques have been widely utilized for face/hand detection and tracking in many applications such as a diagnosis system using facial information, human-robot interaction, an image retrieval system. In case of a video image, it is common that the skin color model for a target is updated every frame for the robust target tracking against illumination change. As for a single image, however, most of studies employ a fixed skin color model which may result in low detection rate or high false positive errors. In this paper, we propose a novel method for effective skin color segmentation in a single image, which modifies the conditions for skin color segmentation iteratively by the image feedback of segmented skin color region in a given image.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.567-572
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• 2002

The equipment of industrial robot in manufacturing and assembly lines has rapidly increased. In order to achieve high productivity and flexibility, it becomes very important to develop the visual feedback control system with Off-Line Programming System(OLPS ). We can save much efforts and time in adjusting robots to newly defined workcells by using Off-Line Programming System. A proposed visual calibration scheme is based on position-based visual feedback. The visual calibration system is composed of a personal computer, an image processing board, a video monitor, and one camera. The calibration program firstly generates predicted images of objects in an assumed end-effector position. The process to generate predicted images consists of projection to screen-coordinates, visible range test, and construction of simple silhouette figures. Then, camera images acquired are compared with predicted ones for updating position and orientation data. Computation of error is very simple because the scheme is based on perspective projection, which can be also expanded to experimental results. Computation time can be extremely reduced because the proposed method does not require the precise calculation of tree-dimensional object data and image Jacobian.