• Progress in Medical Physics
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• v.28 no.4
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• pp.171-180
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• 2017

The purpose of this study is to install a system that compensated for the respiration motion using an articulated robotic manipulator couch which enables a wide range of motions that a Stewart platform cannot provide and to evaluate the performance of various prediction algorithms including proposed algorithm. For that purpose, we built a miniature couch tracking system comprising an articulated robotic manipulator, 3D optical tracking system, a phantom that mimicked respiratory motion, and control software. We performed simulations and experiments using respiratory data of 12 patients to investigate the feasibility of the system and various prediction algorithms, namely linear extrapolation (LE) and double exponential smoothing (ES2) with averaging methods. We confirmed that prediction algorithms worked well during simulation and experiment, with the ES2-averaging algorithm showing the best results. The simulation study showed 43% average and 49% maximum improvement ratios with the ES2-averaging algorithm, and the experimental study with the $QUASAR^{TM}$ phantom showed 51% average and 56% maximum improvement ratios with this algorithm. Our results suggest that the articulated robotic manipulator couch system with the ES2-averaging prediction algorithm can be widely used in the field of radiation therapy, providing a highly efficient and utilizable technology that can enhance the therapeutic effect and improve safety through a noninvasive approach.

• The Journal of the Korea Contents Association
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• v.9 no.11
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• pp.10-17
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• 2009

Wyner-Ziv video coding is a new video compression paradigm based on distributed source coding theory of Slepian-Wolf and Wyner-Ziv. Wyner-Ziv coding enables light-encoder/heavy-decoder structure by shifting complex modules including motion estimation/compensation task to the decoder. Instead of performing the complicated motion estimation process in the encoder, the Wyner-Ziv decoder performs the motion estimation for the generation of side information in order to make the predicted signal of the Wyner-Ziv frame. The efficiency of side information generation deeply affects the overall coding performance, since the bit-rates of the Wyner-Ziv coding is directly dependent on side information. In this paper, an improved side information generation method using field coding is proposed. In the proposed method, top fields are coded with the existing SI generation method and bottom fields are coded with new SI generation method using the information of the top fields. Simulation results show that the proposed method improves the quality of the side information and rate-distortion performance compared to the conventional method.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.43 no.5 s.311
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• pp.72-78
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• 2006

In this paper, we present a video shot retrieval algorithm in H.264/AVC compression domain. Unlike previous standards such as MPEG-2 and 4, H.264/AVC supports a variable block size for motion compensation. Therefore, existing video retrieval algorithms exploiting the motion vectors in MPEG-2 and 4 domains are not appropriate for H.264/AVC. So, we devise a method to project motion vectors with larger than $4{\times}4$ block sizes into those for the smallest $4{\times}4$ blocks. It also uses correlations among features for the measure of similarity. Experimental results with standard videos of 10558 frames and commercial videos of 48161 frames show that the proposed method yields ANMRR less than 0.2.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.10
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• pp.965-971
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• 2015

This paper suggests a feature point-based Iterative Closest Point (ICP) algorithm to compensate for the disparity error in building a two-dimensional map. The ICP algorithm is a typical algorithm for matching a common object in two different images. In the process of building a two-dimensional map using the laser scanner data, warping and distortions exist in the map because of the disparity between the two sensor values. The ICP algorithm has been utilized to reduce the disparity error in matching the scanned line data. For this matching process in the conventional ICP algorithm, pre-known reference data are required. Since the proposed algorithm extracts characteristic points from laser-scanned data, reference data are not required for the matching. The laser scanner starts from the right side of the mobile robot and ends at the left side, which causes disparity in the scanned line data. By finding the matching points between two consecutive frame images, the motion vector of the mobile robot can be obtained. Therefore, the disparity error can be minimized by compensating for the motion vector caused by the mobile robot motion. The validity of the proposed algorithm has been verified by comparing the proposed algorithm in terms of map-building accuracy to conventional ICP algorithm real experiments.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.40 no.5
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• pp.417-425
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• 2003

H.264, which is the latest video coding standard of both ITU-T(International Telecommunication Union-Telecommunication standardization sector) and MPEG(Moving Picture Experts Group), adopts new video coding tools such as variable block size motion estimation, multiple reference frames, quarter-pel motion estimation/compensation(ME/MC), 4${\times}$4 Integer DCT(Discrete Cosine Transform), and Rate-Distortion Optimization, etc. These new video coding tools provide good coding of efficiency compared with existing video coding standards as H.263, MPEG-4, etc. However, these new coding tools require the increase of encoder complexity. Therefore, in order to apply H.264 to many real applications, fast algorithms are required for H.264 coding tools. In this paper, when encoder MacroBlock(MB) mode is decided by rate-distortion optimization tool, fast mode decision algorithm by skipping variable block size ME/MC and spatial-predictive coding, which occupies most encoder complexity, is proposed. In terms of computational complexity, the proposed method runs about 4 times as far as JM(Joint Model) 42 encoder of H.264, while the PSNR(peak signal-to-noise ratio)s of the decoded images are maintained.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.47 no.1
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• pp.79-85
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• 2010

In video standards such as H.264/AVC, motion estimation (ME) / compensation (MC) is regarded as a vital component in a video coder as it consumes a large amount of computation resources. The full search technique, which is used in general video codecs, gives the highest visual quality but also has the problem of significant computational load. To solve this problem, many fast algorithm has benn proposed. Among them, NPDS show that can maintain its video quality very close to the full search technique while achieving computation reduction by using a halfway-stop technique in the calculation of block distortion measure. In this paper, we proposed algorithm by determining minimum distortion measure with predictive motion vector and using the new search order. As the result, we can check that the proposed algorithm reduces the computational load 95% in average compared to the full search, respectively with the PSNR lost about 0.04dB.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.17 no.12 s.115
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• pp.1249-1258
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• 2006

Two-dimensional(2-D) radar images, namely, ISAR images from a maneuvering target include unwanted phase errors due to the target's motion. These phase errors make ISAR images to be blurred. The ISAR autofocus technique is required in order to remove these unwanted phase errors. Unless those unwanted phase errors produced by the target's motion are removed prior to target identification, we cannot expect a reliable target identification performance. In this paper, we use the entropy-based ISAR autofocus technique which consists of two steps: range alignment and phase adjustment. We analyze a relationship between the number of sampling point and a image quality in a range alignment algorithm and also analyze a technique for reducing computation time of the SSA(Stage-by-Stage Approachng) algorithm in a phase adjustment.

• The Journal of Korean Institute of Information Technology
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• v.17 no.10
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• pp.57-63
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• 2019

Motion errors which are caused by several reasons, non-ideal path, errors of navigation systems, and radar system errors, have to be corrected. Motion compensation methods can compensate the motion error, but not exactly. To correct these residual errors, several autofocus methods are invented. A popular method is phase gradient autofocus (PGA). PGA does not assume specific circumstances, such as isolated point targets and shapes of errors. PGA is an iterative and adaptive method, so that the processing time is the main problem for the real time processing. In this paper, the improved method to select targets for PGA is proposed to reduce processing time. The variances of image pixels are used to select targets with high SNR. The processing of PGA with these targets diminishes the processing time and iterations effectively. The processed results with real radar data, obtained by flight tests, show that the proposed method compensates errors well, and reduce working time.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.12
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• pp.1067-1076
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• 2016

This paper describes the development of a hybrid-powered wheelchair (HPW) for the elderly. The proposed HPW has novel mechanical and control features compared with conventional powered wheelchairs. An ergonomic back-braking mechanism was designed in order to stop the wheels easily. In terms of control features, the HPW remarkably reduces the muscle power required by combining various assistive functions, such as wheel torque assistance, friction/inertia compensation, gravity compensation, and the one-hand driving algorithm. For wheel torque assistance, strain gauges were attached to the hand-rim in order to measure the wheel torque applied by a human. Gyroscopes and an accelerometer were attached to the wheel and chair respectively for friction and inertia compensation. An inclinometer was attached for gravity compensation and the one-hand driving algorithm was included for patients who can only use one hand. The one-hand driving algorithm controls the angular velocity of the uncontrolled wheel by using a gyroscope and pressure sensors attached to the bottom of the seat. Finally, the performance of the proposed motion assisted algorithm was verified through various experiments.

• ETRI Journal
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• v.27 no.5
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• pp.491-496
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• 2005

An application specific processor for an H.264 decoder with a configurable embedded processor is designed in this research. The motion compensation, inverse integer transform, inverse quantization, and entropy decoding algorithm of H.264 decoder software are optimized. We improved the performance of the processor with instruction-level hardware optimization, which is tailored to configurable embedded processor architecture. The optimized instructions for video processing can be used in other video compression standards such as MPEG 1, 2, and 4. A significant performance improvement is achieved with high flexibility. Experimental results show that we could achieve 300% performance for the H.264 baseline profile level 2 decoder.