• Journal of Institute of Control, Robotics and Systems
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• v.13 no.7
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• pp.664-670
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• 2007

This study deals with image-based visual servoing for automatic recharging of mobile robot. Because mobile robot must be recharged periodically, it is necessary to detect and move to docking station. Generally, laser scanner is used for detect of position of docking station. CCD Camera is also used for this purpose. In case of using cameras, the position-based visual servoing method is widely used. But position-based visual servoing method requires the accurate calibration and it is hard and complex work. Another method using cameras is image-based visual servoing. Recently, image based visual servoing is widely used for robotic application. But it has a problem that cannot have linear trajectory in the 3-dimensional space. Because of this weak point, image-based visual servoing has a limit for real application. In case of 2-dimensional movement on the plane, it has also similar problem. In order to solve this problem, we point out the main reason of the problem of the resolved rate control method that has been generally used in the image-based visual servoing and we propose an image-based visual servoing method that can reduce the curved trajectory of mobile robot in the cartesian space.

• Asian Oncology Nursing
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• v.8 no.2
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• pp.86-92
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• 2008

Purpose: This study was designed to investigate the body-image and quality of life in breast cancer patients with mastectomy. Methods: Data were obtained by self-reported questionaries from 110 patients undergone mastectomy from August 1 to 31, 2007. And data were analyzed using SPSS/PC WIN 12.0 program and frequency, percentage, mean, minimum, maximum, t-test, ANOVA, Scheffe test, Pearson's Correlation Coefficient were used. The results of the study were as follows; 1) Mean of Body image of the subjects was $52.54{\pm}6.67$ (range of scale; 17 to 85). Mean of quality of life was $118.01{\pm}34.37$ (range of scale; 0 to 10). 2) There was no significant difference with the score of body image by demographic and disease-related characteristics of subjects. 3) There was significant difference with the score of quality of life by the work type and economic status of subjects. 4) Relationship between body image and quality of life showed moderately strong positive correlation (r=0.408, p<0.0001). Conclusion: Mean of body image and of quality of life in mastectomy patients were moderate. Relationship between body image and quality of life showed moderately strong positive correlation. Therefore, for improving the quality of life, it is needed to improve body image in breast cancer patients with mastectomy.

• Korean Journal of Digital Imaging in Medicine
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• v.9 no.1
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• pp.7-15
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• 2007

This study aim to investigate image characteristics due to focus-grid and head phantom decentering from the armorphos silicon thin film transistor detector the fixed focus-grid is applied, wish to propose right use method of digital medical equipment. Acquired image according to focus-grid and head phantom position decentering using head phantom on armorphos silicon thin film transistor detector the fixed focus-grid is applied. acquired image evaluate pixel value, histogram, plot profile, surface plot using NIB (Image J) image analysis program and compared decentering image with standard image. Mean value and standard deviation value of focus-grid lateral decentering and duplex decentering of focus-grid and head phantom decreased by ratio, consequently increase of horizontality, diagonal decentering. also, deteriorated contrast of image because frequency of high pixel value decreases fairly. according increases decentering, image distortion phenomenon was increase, by next time, pixel mean value of head phantom decentering was no big change but horizontality, diagonal, mean value and standard deviation value of pixel decreased by ratio. Even if increase pixel noise of image because wide latitude and post processing ability of digital detector, radiotechnologist can not recognize. Therefore, radiotechnologist must recognize correctly the photographing factors which increases pixel noise on the grid system installation digital detector and should exam.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.6
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• pp.34-44
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• 1996

In order to examine the accuracy of the intensity method, the fiber orientation-angle distribution of fiber-reinforced polymeric composites is measured using image processing. The fiber orientation function is calculated from the fiber orientation measured by the soft X-ray photograph. Theoretical and experimental results of fiber orientation function are compared for the composites with different fiber contents and fiber orientations. The intensity method is used for the experimental investigation and the measured fiber orientation function is compared to the calculated one. The relations between the measured and the simulated fiber orientation functions $J{\small{M}}$ and $J{\small{S}}$ respectively are identified. For the fiber length of 1.000mm and 2.000mm, it shows that $J{\small{M}}=0.83J{\small{M}}$. However. in general. the value of $J{\small{M}}$ decreases as the fiber length increases. For GFRP composites the relations between $J{\small{M}}$ and theoretical value J show that $J{\small{M}}$=0.73J for short fiber and $J{\small{M}}$=0.81J for long fiber.

• Proceedings of the KSME Conference
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• 2001.11a
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• pp.192-197
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• 2001

To obtain $A_2$ experimentally in the $J-A_2$ theory, deformation field on the lateral surface of a CT specimen was to be determined using Laser speckle method. The crack growth was measured using direct current potential drop method and most procedure of experimental and data reduction was performed according to ASTM Standard E1737-96. Laser speckle images during crack propagation were monitored by two CCD cameras to cancel the effect of rotation and translation of the specimen. An algorithm to pursue displacement of a point from each image was developed and successfully used to measure $A_2$ continuously as the crack tip was propagated. The effects of specimen thickness on J-R curve and $A_2$ were explored.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.5
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• pp.457-461
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• 2013

This paper proposes an image feature-based real-time RGB-D (Red-Green-Blue Depth) 3D SLAM (Simultaneous Localization and Mapping) system. RGB-D data from Kinect style sensors contain a 2D image and per-pixel depth information. 6-DOF (Degree-of-Freedom) visual odometry is obtained through the 3D-RANSAC (RANdom SAmple Consensus) algorithm with 2D image features and depth data. For speed up extraction of features, parallel computation is performed with GPU acceleration. After a feature manager detects a loop closure, a graph-based SLAM algorithm optimizes trajectory of the sensor and builds a 3D point cloud based map.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.4
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• pp.364-370
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• 2006

Optical coherence tomography (OCT) is high resolution medical imaging system which is obtaining image inside biological objects with non-destructive method. OCT system is based on Michelson interferometer with a reciprocating mirror in the reference arm and a biological object in the sample arm. The obtained OCT image suffers from a granular or mottled image, called speckle. Speckle is caused by random interferences between reflected coherence waves. In this paper, we propose effective speckle reduction method that uses wavelet transform. With wavelet domain image, sub-windowing and thresholding are performed. Finally, speckle reduction experiments for Misgurnus mizolepis skin and rat eye images are shown.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.1047-1052
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• 2008

In this paper, we design an image-based robust controller to compensate uncertainties with image Jacobian and robot dynamics due to uncertain depth measurement and load variations. The proposed controller with eye-in-hand structure has separate terms to compensate each of uncertainties. The ultimate boundedness of the closed-loop system is proved by the Lyapunov approach. The performance of the proposed control system is demonstrated by simulation and experimental results a 5-link robot manipulator with two degree of freedom.

• Journal of Computational Design and Engineering
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• v.3 no.3
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• pp.191-197
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• 2016

Since 3D measurement technologies have been widely used in manufacturing industries edge detection in a depth image plays an important role in computer vision applications. In this paper, we have proposed an edge detection process in a depth image based on the image based smoothing and morphological operations. In this method we have used the principle of Median filtering, which has a renowned feature for edge preservation properties. The edge detection was done based on Canny Edge detection principle and was improvised with morphological operations, which are represented as combinations of erosion and dilation. Later, we compared our results with some existing methods and exhibited that this method produced better results. However, this method works in multiframe applications with effective framerates. Thus this technique will aid to detect edges robustly from depth images and contribute to promote applications in depth images such as object detection, object segmentation, etc.

• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.138-141
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• 2005

In this paper, we propose a watermarking technique of multispectral images. In our method, the Principal Component Analysis (PCA) is preliminarily applied on the multispectral image. The most principal component image is used for embedding with a watermark, which is a pseudo-random number sequence generated with a secret key. The embedding process is performed in the wavelet domain. The resulting image is then reinserted into the principal component images, and the final multispectral image containing the watermark can be produced by the inverse PCA. Experimental results are provided to illustrate the performance of the algorithm against various kinds of attacks.