• 제어로봇시스템학회논문지
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• 제17권2호
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• pp.102-107
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• 2011

In this paper we present cooperation of heterogeneous robot team, composed of a wheeled robot and a helicopter for localization and map building. This heterogeneous robot team can successfully fulfill task by combining the abilities of both robots than single robot because wheeled robot and helicopter have complementing ability. The scenario describes a tightly cooperative task, where the wheeled robot move carrying the helicopter and detect obstacles, if there are obstacles, helicopter take off for map building and land, then robot team move destination avoiding obstacles. We present PID controller for position control of helicopter and transformation algorithm to global coordinate from image pixel coordinate. Experimental result show that the proposed method is valid.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술대회 논문집 전문대학교육위원
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• pp.120-123
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• 2003

Accurate acquisition of surface geometries such as machined surfaces, biological surfaces, and deformed parts have been very important technique in scientific study and engineering, expecially for system design, manufacturing and inspection. Two camera method keeps accuracy more than double than mechanical method. In this paper, we describe the processes surface data of teeth for automatic processing, transformation that changes to coping data of possible numeric data form, and processed inlay teeth. As the result of the Inlay manufacture, which can process with high resolution, therefore we construct the automatic processing system that depends on manual.

• 대한전자공학회논문지SP
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• 제40권1호
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• pp.124-129
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• 2003

주기적인 워터마크 패턴에 적용할 수 있는 새로운 워터마크의 동기 복원 방법이 제안되었다. 주기적인 워터마크 패턴을 이용해서 워터마크의 동기를 찾는 방법은 널리 알려져 있지만, 직접적으로 동기 복원을 위한 파라미터를 추정하지 않고 대부분이 피크를 검출하는 과정에 의지하고 있어 그 성능에 있어 한계가 있었다. 제안된 동기 복원을 위한 파라미터 추정 방법은 Radon 변환을 이용하여 손실 압축이나 의도적으로 동기 복원을 방해하려는 공격 하에서도 동기를 복원하는 능력이 탁월한 성능을 보였다.

• 전자공학회논문지S
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• 제34S권10호
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• pp.71-79
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• 1997

This paper introduces a methodology of the precise control of a mobile/task robot using visual information captured bythe camera attached at the hand of the task robot. The major problem residing in the precise control of mobile/task robot is providing an accurate and stable base for the task robot through the precise control of mobile robot. On account of uncertainties on the surface, the precise control of mobile robot is not feasible without using external position sensor. In this paper, the methodology for the precise control of mobile robot is proposed, which recognizes the position of mobile robot using the camera attached at the hand of the task robot. While the task robot is approaching to an assembly part, the position of mobile robot is measured using the line correspondence between the image capturesd by the camera and the real assembly part, and using the kinematic transformation from the hand of the task robot to the mobile robot. To verify the solidness of this method, experimental data for the measurement of camera position/orientation and for the precise control of mobile robot using measurement are shown.

• 한국전산유체공학회지
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• 제7권4호
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• pp.1-7
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• 2002

The phase-change transformation processes are relevant in many engineering applications. In particular, this phenomenon plays an important role in the extraction and fabrication operations in the metallurgical industry. The control of the heat transfer and fluid flow patterns is important to achieve casting quality and competitive production times. In the present study, a simple finite-element algorithm is developed for solid-liquid phase change problems. Natural convection in the liquid phase due to the temperature dependency of water density is considered by a numerical model. The predictions are compared with measurements by the particle image velocimetry(PIV). to show that the calculation results are in good agreement with the experiment results.

• 한국GIS학회:학술대회논문집
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• 한국GIS학회 2003년도 추계학술대회논문집
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• pp.23-29
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• 2003

Detection in remotely sensed images can be conducted spatially, spectrally or both [2]. If the images have high spatial resolution, materials can be detected by using spatial and spectral information, unless we can't see the object embedded in a pixel. In this paper, we intend to solve the limit of spatial resolution by using the hyperspectral image which has high spectral resolution. Therefore, the Linear Spectral Mixing(LSM) Model which is sub-pixel detection algorithm is used to solve this problem. To find class Endmembers, we applied Geometric Model with MNF(Minimum Noise Fraction) transformation. From the result of sub-pixel detection algorithm, we can see the detection of water is satisfied and the object shape cannot be extracted but the possibility of material existence can be identified.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.1027-1031
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• 1990

In this paper, we propose a model-based method of estimating the velocity of a moving object from a series of images. The proposed method utilizes Kalman filtering technique. Assuming that the motion is described by an affine transformation, we construct a discrete-time state variable model of the motion based on the dynamic motion imagery modeling technique proposed by Schalkoff. Using this state variable model, we derive a Kalman filter algorithm. Some simulation results are presented to show that the proposed Kalman filter algorithm is superior to a simple least square method without a model.

• 한국정보통신학회논문지
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• 제10권4호
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• pp.667-673
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• 2006

본 논문에서는 통계적 특징을 이용하여 CoG의 양 불량을 판단하기 위한 시각 검사 시스템을 제안한다. 제안된 시스템은 허프 변환을 이용하여 입력 영상의 회전 오차를 보상한 후 투영 기법을 이용하여 검사 영역을 추출한다. 그런 다음 검사 영역으로부터 패드 영역을 추출하고, 추출된 패드 영역에 대한 통계적 특징을 분석하여 최종적인 검사 결과를 도출하였다.

• Investigative Magnetic Resonance Imaging
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• 제19권1호
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• pp.47-51
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• 2015

Sarcomatous Intrahepatic cholangiocarcinoma is a rare but an aggressive variant of cholangiocarcinoma with a very poor prognosis. A 79-year-old man was admitted to our hospital because of incidentally found liver mass. Magnetic resonance imaging (MRI) revealed well-defined hypointense mass on T1WI and heterogeneous hyperintense mass on T2WI. Gd-EOB-DTPA enhanced study shows peripheral rim-like enhancement in arterial phase and progressive concentric filling of contrast in delayed phase. And mass shows significant enhancement in hepatobiliary phase. The pathologic diagnosis was intrahepatic cholangiocarcinoma with sarcomatous change.

• 한국인쇄학회지
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• 제20권2호
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• pp.69-83
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• 2002

This research attempts on plate making for gravure. Direct Hard Dot Method, Helio Kliso Graph, and Laser TB Dot; these three method are the most popular in Korea. For examining ink transmission, three plates were made in the above three different way for the same manuscript and were printed under the same condition. After printing speed was also varied into 150line/inch, 175line/inch, and 200line/inch, ink transmission was examined too. After printing the same manuscript with the above three method then the researcher examined level of ink transmission. Printing lines shows that Laser TB Dot Method and Direct Hard Dot Method were favorable level, while there was big differences of state of Helio Kliso Graph plate.