• Journal of Practical Engineering Education
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• v.16 no.3_spc
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• pp.391-399
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• 2024

All highway toll gates in Korea use low-speed WIM(Weight-In-Motion) to block overloaded cargo vehicles from entering the main highway, but some cargo vehicle owners are illegally modifying vehicles to operate variable axles and evading crackdowns by manipulating the axles. In previous studies detect all tires of a running vehicle were detected to determine whether there is axle manipulation. However, because the vehicle entry area at the highway toll gate checkpoint is very narrow, there is a problem that it is realistically difficult to film all tires of the entering vehicle in one video frame. In this paper, we proposed a system that can determine whether the axle is being operated through changes in the height of the vehicle's cargo box rather than by detecting tires. To detect changes in the height of a cargo box, we propose a method to extract the representative line of the cargo box using Hough transform and then measure the change in height of the representative line to detect the change in height of the cargo box. In addition, we propose a method to detect changes in the vertical height of a cargo box by accumulating motion vectors of pixels within a certain area of the image using optical flow. And the two methods were compared and their advantages and disadvantages were analyzed and presented.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.12
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• pp.1011-1019
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• 2005

In this paper, Ubiquitous Home Mess-Cleanup Robot(UHMR), which has a practical function of the automatic mess-cleanup, is developed. The vacuum-cleaner had made the burden of house chore lighten but the operation labour of a vacuum-cleaner had been so severe. Recently, the cleaning robot was producted to perfectly solve the cleaning labour of a house but it also was not successful because it still had a problem of mess-cleaning, which was the clean-up of big trash and the arrangement of newspapers, clothes, etc. The cleaning robot is to just vacuum dust and small trash but has no function to arrange and take away before the automatic vacuum-cleaning. For this reason, the market for the cleaning robot is not yet built up. So, we need a design method and technological algorithm of new automatic machine to solve the problem of mess-cleanup in house. It needs functions of agile automatic navigation, novel manipulation system for mess-cleanup. The automatic navigation system has to be controlled for the full scanning of living room, to recognize the absolute position and orientation of tile self, the precise tracking of the desired path, and to distinguish the mess object to clean-up from obstacle object to just avoid. The manipulate,, which is not needed in the vacuum-cleaning robot, must have the functions, how to distinguish big trash to clean from mess objects to arrange, how to grasp in according to the form of mess objects, how to move to the destination in according to mess objects and arrange them. We use the RFID system to solve the problems in this paper and propose the reading algorithm of RFID tags installed in indoor objects and environments. Then, it should be an intelligent system so that the mess cleaning task can be autonomously performed in a wide variety of situations and environments. It needs to also has the entertainment functions for the good communication between the human and UHMR. Finally, the good performance of the designed UHMR is confirmed through the results of the mess clean-up and arrangement.

• Journal of Advanced Navigation Technology
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• v.13 no.3
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• pp.459-465
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• 2009

Digital watermarking is a technique to insert a visually imperceptible information into an image so that the information can be extracted for the purposes of ownership verification or authentication. And watermarking techniques can be classified as either fragile or robust. Robust watermarks are useful for copyright and ownership assertion purposes. They cannot be easily removed and should resist common image manipulation procedures such as rotation, scaling, cropping, etc. On the other hand, fragile watermarks are easily corrupted by any image processing procedure, it can detect any change to an image as well as localizing the areas that have been changed. In this paper, we propose a fragile watermarking algorithm using a special hierarchical structure for integrity verification of image and detection of manipulated location. In the proposed method, the image to be watermarked is divided into blocks in a multi-level hierarchy and calculating block digital signatures in this hierarchy. The proposed method thwarts the cut-and-paste attack and the experimental results to demonstrate the effectiveness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1612-1616
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• 2005

In this paper, a Home Mess-Cleanup Robot(HMR), which has a practical function of the automatic mess-cleanup, is developed. The vacuum-cleaner had made the burden of house chore lighten but the operation labour of a vacuum-cleaner had been so severe. Recently, the cleaning robot was producted to perfectly solve the cleaning labour of a house but it also was not successful because it still had a problem of mess-cleaning, which was the clean-up of big trash and the arrangement of newspapers, clothes, etc. The cleaning robot is to just vacuum dust and small trash but has no function to arrange and take away before the automatic vacuum-cleaning. For this reason, the market for the cleaning robot is not yet built up. So, we need a design method and technological algorithm of new automatic machine to solve the problem of mess-cleanup in house. It needs functions of agile automatic navigation, novel manipulation system for mess-cleanup. The automatic navigation system has to be controlled for the full scanning of living room, to recognize the absolute position and orientation of the self, the precise tracking of the desired path, and to distinguish the mess object to clean-up from obstacle object to just avoid. The manipulator, which is not needed in the vacuum-cleaning robot, must have the functions, how to distinguish big trash to clean from mess objects to arrange, how to grasp in according to the form of mess objects, how to move to the destination in according to mess objects and arrange them. We use the RFID system to solve the problems in this paper and propose the reading algorithm of RFID tags installed in indoor objects and environments. Then, it should be an intelligent system so that the mess cleaning task can be autonomously performed in a wide variety of situations and environments. It needs to also has the entertainment functions for the good communication between the human and HMR. Finally, the good performance of the designed HMR is confirmed through the results of the mess clean-up and arrangement.

• International Journal of Computer Science & Network Security
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• v.21 no.1
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• pp.143-151
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• 2021

The enormous prevalence of transferring official confidential digital documents via the Internet shows the urgent need to deliver confidential messages to the recipient without letting any unauthorized person to know contents of the secret messages or detect there existence . Several Steganography techniques such as the least significant Bit (LSB), Secure Cover Selection (SCS), Discrete Cosine Transform (DCT) and Palette Based (PB) were applied to prevent any intruder from analyzing and getting the secret transferred message. The utilized steganography methods should defiance the challenges of Steganalysis techniques in term of analysis and detection. This paper presents a novel and robust framework for color image steganography that combines Linear Congruential Generator (LCG), simulated annealing (SA), Cesar cryptography and LSB substitution method in one system in order to reduce the objection of Steganalysis and deliver data securely to their destination. SA with the support of LCG finds out the optimal minimum sniffing path inside a cover color image (RGB) then the confidential message will be encrypt and embedded within the RGB image path as a host medium by using Cesar and LSB procedures. Embedding and extraction processes of secret message require a common knowledge between sender and receiver; that knowledge are represented by SA initialization parameters, LCG seed, Cesar key agreement and secret message length. Steganalysis intruder will not understand or detect the secret message inside the host image without the correct knowledge about the manipulation process. The constructed system satisfies the main requirements of image steganography in term of robustness against confidential message extraction, high quality visual appearance, little mean square error (MSE) and high peak signal noise ratio (PSNR).

• Journal of the Korea Society of Computer and Information
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• v.27 no.5
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• pp.157-163
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• 2022

As the online game market grows, the use of game bots is causing the most serious problem for game services. We propose a harvest coordinate analysis model to detect harvesting bots among game bots of the Massively Multiplayer Online Role-Playing Games(MMORPGs) genre. The proposed model analyzes the player's harvesting behavior using the coordinate data. Game bots can obtain in-game goods and items more easily than normal players and are not affected by realistic restrictions such as sleep time and character manipulation fatigue. As a result, there is a difference in harvesting coordinates between normal players and game bots. We divided the coordinate zones and used these coordinate zone differences to distinguish between game bot players and normal players. We created a dataset with NCSoft's AION log and applied it to a random forest model to detect game bots, and as a result, we derived performance with a recall of 0.72 and a precision of 0.92.

• Proceedings of the Korea Information Processing Society Conference
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• 2020.11a
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• pp.854-857
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• 2020

최근 사람형(Anthropomorphic)로봇손의 사물조작 지능을 개발하기 위하여 행동복제(Behavior Cloning) Deep Reinforcement Learning(DRL) 연구가 진행중이다. 자유도(Degree of Freedom, DOF)가 높은 사람형 로봇손의 학습 문제점을 개선하기 위하여, 행동 복제를 통한 Human Demonstration Augmented(DA)강화 학습을 통하여 사람처럼 사물을 조작하는 지능을 학습시킬 수 있다. 그러나 사물 조작에 있어, 의미 있는 파지를 위해서는 사물의 특정 부위를 인식하고 파지하는 방법이 필수적이다. 본 연구에서는 딥러닝 YOLO기술을 적용하여 사물의 특정 부위를 인식하고, DA-DRL을 적용하여, 사물의 특정 부분을 파지하는 딥러닝 학습 기술을 제안하고, 2 종 사물(망치 및 칼)의 손잡이 부분을 인식하고 파지하여 검증한다. 본 연구에서 제안하는 학습방법은 사람과 상호작용하거나 도구를 용도에 맞게 사용해야하는 분야에서 유용할 것이다.

• Journal of the Korea Computer Graphics Society
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• v.8 no.2
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• pp.15-22
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• 2002

Image segmentation methods partition an image into meaningful regions. For image composition and analysis, it is desirable for the partitioned regions to represent meaningful objects in terms of human perception and manipulation. Despite the recent progress in image understanding, however, most of the segmentation methods mainly employ low-level image features and it is still highly challenging to automatically segment an image based on high-level meaning suitable for human interpretation. The concept of HCI (Human Computer Interaction) can be applied to operator-assisted image segmentation in a manner that a human operator provides guidance to automatic image processing by interactively supplying critical information about object boundaries. Intelligent Scissors and Snakes have demonstrated the effectiveness of human-assisted segmentation [2] [1]. This paper presents a method for interactive image segmentation for more efficient and effective detection and tracking of object boundaries. The presented method is partly based on the concept of Intelligent Scissors, but employs the well-established Canny edge detector for stable edge detection. It also uses "sewing method" for including weak edges in object boundaries, and 5-direction search to promote more efficient and stable linking of neighboring edges than the previous methods.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.21 no.5
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• pp.57-66
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• 2022

The Road Management Administration is cracking down on overloaded vehicles by installing low-speed or high-speed WIMs at toll gates and main lines on expressways. However, in recent years, the act of intelligently evading the overloaded-vehicle control system of the Road Management Administration by illegally manipulating the variable axle of an overloaded truck is increasing. In this manipulation, when entering the overloaded-vehicle checkpoint, all axles of the vehicle are lowered to pass normally, and when driving on the main road, the variable axle of the vehicle is illegally lifted with the axle load exceeding 10 tons alarmingly. Therefore, this study developed a technology to detect the state of the variable axle of a truck driving on the road using roadside camera images. In particular, this technology formed the basis for cracking down on overloaded vehicles by lifting the variable axle after entering the checkpoint and linking the vehicle with the account information of the checkpoint. Fundamentally, in this study, the tires of the vehicle were recognized using the Mask RCNN algorithm, the recognized tires were virtually arranged before and after the checkpoint, and the height difference of the vehicle was measured from the arrangement to determine whether the variable axle was lifted after the vehicle left the checkpoint.

• Science of Emotion and Sensibility
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• v.9 no.2
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• pp.93-100
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• 2006

This paper aims at the development and clinical evaluation of the wireless gyro-mouse system. The wireless gyro-mouse system is a computer interface with gyro-sensor and wireless communication, for the patients with upper-extremity disabled from the traffic accident or stroke to use the computer software i.e. internet browser. In the development, we focused on, firstly, to make the system wireless for the patients to manipulate the mouse easily even on the bed or wheelchair, secondly, to insert the gyro-sensor into a headband for easy don-and-doff and aesthetic appearance, thirdly, to devise a click switch in case of $C5{\sim}C6$ patients and a head nodding detection in case of C4 patients for sending click message to computer operating system. We performed evaluation experiment for patients with upper-extremities disabled from spinal cord injury. The results show that the displacement error of the cursor position against the target position during linear (vertical/horizontal) movement manipulation decreased with trial number. The click rate per minute also increased with trial number. This indicates the developed wireless gyro-mouse system would be more useful to the patients with repetitive use.