• 한국산업융합학회 논문집
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• 제18권2호
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• pp.75-81
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• 2015

This study proposes an articulated robot control system using an on/off-line robot graphic simulator with multiple networks. The proposed robot control system consists of a robot simulator using OpenGL, a robot controller based on a DSP(TMS320) motion board, and the server/client communication by multiple networks. Each client can control the real robot through a server and can compare the real robot motion with the virtual robot motion in the simulation. Also, all clients can check and analyze the robot motion simultaneously through the motion image and data of the real robot. In order to show the validity of the presented system, we present an experimental result for a 6-axis vertical articulated robot. The proposed robot control system is useful, especially, in the industrial fields using remote robot control as well as industrial production automation with many clients.

• Investigative Magnetic Resonance Imaging
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• 제3권1호
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• pp.41-46
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• 1999

목적 : 뇌기능 영상을 이용하여 자극에 따른 시각영역, 운동영역 및 소뇌에서의 총활성화의 차이를 연구하고자 하였다. 대상 및 방법 : 건강한 5명의 피실험자를 대상으로 EP 기법을 이용하여 시각자극과 운동자극에 의한 피질활성화 검사를 시행하였다. 시각피질 활성화를 위해서는 LED 자극과 Checker-Board 자극을 각각 행하였고, 운동피질과 소뇌의 활성화를 위해서는 엄지손가락 운동과 네 손가락을 엄지 손가락과 순서대로 마주치게 하는 운동을 시행하였다. 각각의 자극은 60초의 휴식기, 120초의 자극기 및 운동기, 다시 60초의 휴식기로서 시행하였다. 데이터 처리는 cros-correlation 방법으로 통게처리 하였고, 적절한 문턱 값 이상을 가지는 화소를 활성화 화소로 정의하였다. 이 활성화 화소의 수와 신호변화율의 곱으로서 총활성화의 시간축 데이타를 완성하였다. 결과 : 시각피질에서의 총활성화는 Checker-Board 자극에 비해 LED 자극을 가했을 때 100% 이상 증가하였다. 엄지 손가락 운동에 비해 손가락 마주치기 운동을 시행했을 때 총활서와는 운동피질에서 100% 이상 증가하였고, 소뇌에서는 150% 이상 증가하였다. 결론 : 시각 및 운동자극의 변화에 따라 시각영역, 운동영역 및 소뇌에서의 총활성화가 차이를 보이는 것을 확인할 수 있었다.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2005년도 Proceedings of ISRS 2005
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• pp.47-51
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• 2005

Using satellite images, an optimal solution to water motion has been presented in this study. Since temperature patterns are suitable tracers in water motion, Sea Surface Temperature (SST) images of Caspian Sea taken by MODIS sensor on board Terra satellite have been used in this study. Two daily SST images with 24 hours time interval are used as input data. Computation of templates correspondence between pairs of images is crucial within motion algorithms using non-rigid body objects. Image matching methods have been applied to estimate water body motion within the two SST images. The least squares matching technique, as a flexible technique for most data matching problems, offers an optimal spatial solution for the motion estimation. The algorithm allows for simultaneous local radiometric correction and local geometrical image orientation estimation. Actually, the correspondence between the two image templates is modeled both geometrically and radiometrically. Geometric component of the model includes six geometric transformation parameters and radiometric component of the model includes two radiometric transformation parameters. Using the algorithm, the parameters are automatically corrected, optimized and assessed iteratively by the least squares algorithm. The method used in this study, has presented more efficient and robust solution compared to the traditional motion estimation schemes.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 D
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• pp.1991-1992
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• 2006

this paper is described the Vortical Mobile Robot problem which can be generated a lot of error like gravity, mobile error between main control system of robot and application program and solution which is installed RTX( Real Time Extension ) Kernel to Embedded XP of main control board because it needs to guarantee real time between the main control board of robot and the motion drive board and to develop the remote operation system for real time robot control also in case The Vertical Mobile Robot that needs fast and stable motile control so it is proposed a guaranteed real time system

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2004년도 Proceedings of ISRS 2004
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• pp.440-443
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• 2004

As a main management unit of MSC, PMU controls the MSC payload operation by issuing commands to other subunit and PMU internal modules. One of these main control functions is to drive the APS(Antenna Pointing System) when APS motion is required. For this purpose, SBC(Single Board Computer) for calculating motor commands and APDE for driving APM(Antenna Pointing Mechanism) by PWM signal operate inside PUM. In this paper, details on APDE design shall be described such as electronic board architecture, primary and redundant design concept, Cross-Strap, FPGA contents and latch-up immune concept, etc., which shall show good practices of electronic board design for space program.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.365-368
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• 2001

This work describes a real-time method, based on motion energy detection, for detecting and tracking moving object in the consecutive image sequences. The motion of moving objects is detected by taking the difference of the two consecutive image frames. In addition an edge information of the current image is utilized in order to further increase the accuracy of detection. We can track the moving objects continuously by detecting the motion of objects from the sequence of image frames. A prototype system has been implemented using a TI TMS320C6201 EVM fixed-point DSP board, which can successfully track a moving human in real-time.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 G
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• pp.2370-2372
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• 1998

Recently we have developed an active stereo head-eye system with vergence, name it KIST HECter(Head-Eye System with Colored Stero Vision), based on the analysis of human's neck and eye motion at visual behavior. Our HECter is a five degree-of-freedom system composed of pan and tilt motion in neck part and independent vergence motion of binocular cameras and commonly shared elevation axis in eye part. And stereo vision Provides two color image, which are processed by powerful each TMS32080 vision board. The shape and size are designed to be almost same as human face. The ability to vergence has significant importance and gives many beneficial merits. On its mechanical implementation we adapt a non-parallelogram 4-bar linkage mechanism since it provides high accuracy in transfering motion and enables compact and flexible design.

• 제어로봇시스템학회논문지
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• 제13권6호
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• pp.537-641
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• 2007

In this paper, motion analysis algorithm is presented for home surveillance of the aged who lives alone. For the first step, we acquire images from a camera. To enhance the image, we use median filtering and binarize it to reduce processing time. And then morphological operations are performed to remove small blobs and small holes. At the forth step, blobs are analysed to extracts tor foreground region. Then, motions are predicted from these images by using optical tlow technique, and the predicted motion data are refined by comparing our cardboard models so as to judge behavior pattern.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.865-870
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• 2003

A motion controller has been used variously in industry such as semiconductor manufacture equipment, industrial robot, assembly/conveyor line applications and CNC equipment. There are several types of controller in motion control. One of these is a PC-based motion controller such as PCI or ISA, and another is stand-alone motion controller. The PC bus-based motion controller is popular because of improving bus architectures and GUI (Graphic User Interface) that offer convenience of use to user. There are some problems in this. The PC bus-based solution allows for only one of the form factors, so it has a poor flexibility. The overall system package size is bigger than other motion control system. And also, additional axes of control require additional slot, however the number of slots is limited. Furthermore, unwieldy and many wirings come to connect plants or I/O. The stand-alone motion controller has also this limit of axes of control and wiring problems. To resolve these problems, controller must have capability of operating as stand-alone devices that resides outside the computer and it needs network capability to communicate to each motion device. In this paper, a network-based stand-alone motion system is proposed. This system integrates PC and motion controller into one stand-alone motion system, and uses CAN (Controller Area Network) as network protocol. Single board computer that is type of 3.5" FDD form factor is used to reduce the system size and cost. It works with Windows XP Embedded as operating system. This motion system operates by itself or serves as master motion controller that communicates to slave motion controller. The Slave motion controllers can easily connect to master motion system through CAN-network.

• 대한전자공학회논문지SD
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• 제47권4호
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• pp.1-6
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• 2010

정지해 있는 물체가 디스플레이 될 때는 상이 선명하지만 움직이는 물체가 디스플레이 될 때는 물체의 가장자리가 번져 보이는 Motion Blur현상이 일어난다. 이러한 문제점을 개선하기 위하여 본 논문에서는 XUP Virtex-II Pro Development System을 이용하여 Virtex-II Pro XUP XC2VP30 보드에 Motion Blur를 줄이는 Overdrive 기술을 구성하는 것을 목표로 하였다. 구현된 플랫폼은 하드웨어 IP로 구현하였으며 어플리케이션 및 모델 데이터 인터페이스는 소프트웨어에서 처리하도록 하였다. 본 설계에서는 임의의 동영상 모델을 이용하여 동영상의 이동 속도(Pixel/Frame)에 따른 Blur의 정도와 기존의 Overdrive를 제어하였을 경우 발생하는 역잔상을 개선하였고, 동영상에서 보다 선명한 화질이 구현될 수 있음 보여주었다.