• 제어로봇시스템학회논문지
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• 제15권4호
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• pp.400-405
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• 2009

A new method for the catadioptric omnidirectional stereo vision with single camera is presented in this paper. The proposed method uses a concave lens with a convex mirror. Since the optical part of the proposed method is simple and commercially available, the resultant omnidirectional stereo system becomes versatile and cost-effective. The closed-form solution for 3D distance computation is presented based on the simple optics including the reflection and the reflection of the convex mirror and the concave lens. The compactness of the system and the simplicity of the image processing make the omnidirectional stereo system appropriate for real-time applications such as autonomous navigation of a mobile robot or the object manipulation. In order to verify the feasibility of the proposed method, an experimental prototype is implemented.

• 수면정신생리
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• 제19권1호
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• pp.18-21
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• 2012

Parasomnias induced by hypnosedatives are rare but serious side effect. Such parasomnias have not been reported with all hypnosedatives. However, frequent use of hypnosedatives, particularly nonbenzodiazepine receptor agonists is associated with parasomnias. Associated symptoms are sleep eating, sleepwalking with object manipulation, sleep conversations, sleep driving, sleep sex and sleep shopping etc. Mechanisms include high affinity for $GABA_A$ receptor, interruption of the consolidation phase of memory formation by drug, pharmacokinetic or pharmacodynamic drug-drug interaction and concomitant administration with alcohol. Managements for parasomnias induced by hypnosedatives involve stopping medication, switch to other medications or nonpharmacological treatment, lowest effective dose of NBRAs (Non-Benzodiazepine Receptor Agonists), taking into consideration drug-drug interactions, identification and treatment of underlying disease states.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.25.6-25
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• 2001

A new monitoring system is proposed to give direct visual information of the remote site when working with a tele-operation system. In order to have a similar behavior of a human when he is inspecting an object, multiple cameras that have different view point are attached around the robot hand and are switched on and elf according to the operator´s motion such as joystick manipulation or operator´s head movement. The performance of the system is estimated by performing comparison experiments among single camera (SC) vision system, head mount display (HMD)system and proposed multiple camera (MC) vision system by applying a task to several examines. The reality, depth feeling and controllability are estimated for the examines ...

• 제어로봇시스템학회논문지
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• 제22권3호
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• pp.204-209
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• 2016

In this paper, an unmanned delivery service using drone was proposed and verified the feasibility. The multicopter has GPS for autopilot and a camera for remote control by human operator. The gripper for manipulation of delivery object was designed and evaluated. The multicopter flies to a given position automatically based on GPS, and approaches to the prepared delivery desk by remote control of human operator using the received image from the multicopter. GPS sensor verification and experimental PID tuning were performed to ensure the flight stability. The flight tests were carried out to verify the feasibility of delivery service.

• 한국CDE학회논문집
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• 제4권1호
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• pp.12-18
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• 1999

A deformable non-Uniform Rational B-Spline (NURBS) based volume is programed for the force reflecting exoskeleton haptic device. In this work, a direct free form deformation (DFFD) technique is applied for the realistic manipulation. In order to implement the real-time deformation, a nodal mapping technique is used to connect points on the virtual object with the NURBS volume. This geometric modeling technique is ideally incorporated with the force reflecting haptic device as a virtual interface. The results in this work introduce details for the complete set-up for the realistic virtual clay modeling task with force feedback. The force reflecting exoskeleton haptic manipulator, coupled with a supporting PUMA 560 manipulator and the virtual clay model are integrated with the graphics display, and results show that the force feedback from the realistic physically based virtual environment can greately enhance the sense of immersion.

• 한국CDE학회논문집
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• 제4권4호
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• pp.360-370
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• 1999

The paper proposed a basic architecture of an agent system to support exchange and sharing of design informations by means of ACL(Agent Communication Language) which can represent design informations and knowledges. Based on the architecture of the agent system a ship initial design agent system was implemented in order to show the effectiveness of the agent-based system. The basic architecture of the agent consists of an ACL handlerand CORBA(Common Object Request Broker Architecture) objects for the exchange of ACL messages in the heterogeneous and distributed environment. The ACL handler can process expressions of knowledge and manage communication messages among the agents. The paper mainly focuses on the implementation of the ACL handler. The ACL handler consist of a KQML(Knowledge Query and Manipulation Language) handler that manages KQML messages, a conversation module, and a content handler that handles message contents. The conversation modulo implements conversation policies and checks all messages if they are allowable and meaningful messages based on the conversation policies. The implemented agent-based system was applied to the ship initial design to show the handling procedure of the agent system.

• 전력전자학회:학술대회논문집
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• 전력전자학회 1998년도 전력전자학술대회 논문집
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• pp.116-122
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• 1998

This Paper presents some of challenges of creating feedback force, through manipulation of master manipulator, allowing the user to feel objects within a virtual environment. A sense of touch for the virtual environment. A sense of touch for the virtual environments was generated by a virtual compliance control method. In theis system data communication between the master and slave, we used TCP protocol. In the experiments. A position error between the master and slave arm was about $13.56^{\circ}$ in case that the master and slave arm had not compliance properties of the virtual object, while they have the its properties the position error reduced by $2.43^{\circ}$.

• 한국의류학회지
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• 제30권1호
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• pp.167-175
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• 2006

The purpose of this study is to clarify the expansion of functions of clothes by analyzing the characteristics of transformation, and to forecast future trends in fashion through systematization of the aforementioned analyses. Analysis of 20th century Modernism and Post-Modernism in a sociocultural sense confirms that transformation in clothes was formed by environmental, functional, deconstructive, and expressive factors. In this sense, the formative factors mentioned above conceptually include nomadic characteristics, usefulness, irregularity, and expressiveness. The nomadic characteristics found in clothes transformation signify the change of clothes into environmental nomadic everyday implements, used as tools for the body. Usefulness of clothes means that it is worn for variability, multipurpose multi-functionality, and combined multiple use. Irregularity means the clothes can change indefinitely, according to random manipulation on the wearer's part. Last of all, expressiveness conveys the designer's internal sensitivity and imagination onto an external object through the induction of various expressive factors.

• ETRI Journal
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• 제28권2호
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• pp.162-174
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• 2006

Several photogrammetric and geographic information system applications such as surface matching, object recognition, city modeling, environmental monitoring, and change detection deal with multiple versions of the same surface that have been derived from different sources and/or at different times. Surface registration is a necessary procedure prior to the manipulation of these 3D datasets. This need is also applicable in the field of medical imaging, where imaging modalities such as magnetic resonance imaging (MRI) can provide temporal 3D imagery for monitoring disease progression. This paper will present a general automated surface registration procedure that can establish correspondences between conjugate surface elements. Experimental results using light detection and ranging (LIDAR) and MRI data will verify the feasibility, robustness, and accuracy of this approach.

• 제어로봇시스템학회논문지
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• 제7권3호
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• pp.229-237
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• 2001

In this paper, we propose two design methods of neural networks controller for the height control of helicopter, one is the design of neural network controller having learning capability and the other is the design of more improved neural network controller. Through the simulation results, we show that the proposed controllers have controllers have enhanced control performance(rapid response, effectiveness and safety) than the typical neural networks controller in the height control of helicopter.