• KSII Transactions on Internet and Information Systems (TIIS)
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• 제4권4호
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• pp.618-632
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• 2010

This paper presents a novel approach to control the augmented reality (AR) objects robustly in a marker-less AR system by fingertip tracking and hand pattern recognition. It is known that one of the promising ways to develop a marker-less AR system is using human's body such as hand or face for replacing traditional fiducial markers. This paper introduces a real-time method to manipulate the overlaid virtual objects dynamically in a marker-less AR system using both hands with a single camera. The left bare hand is considered as a virtual marker in the marker-less AR system and the right hand is used as a hand mouse. To build the marker-less system, we utilize a skin-color model for hand shape detection and curvature-based fingertip detection from an input video image. Using the detected fingertips the camera pose are estimated to overlay virtual objects on the hand coordinate system. In order to manipulate the virtual objects rendered on the marker-less AR system dynamically, a vision-based hand control interface, which exploits the fingertip tracking for the movement of the objects and pattern matching for the hand command initiation, is developed. From the experiments, we can prove that the proposed and developed system can control the objects dynamically in a convenient fashion.

• 한국CDE학회논문집
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• 제13권2호
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• pp.121-130
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• 2008

The concept of integrated product information has been universalized so that many manufacturing industries have applied the concept to their production system. The field of PDM (Product Data Management), which is one of the core components of the integrated product information, is not an exception. Therefore, various PLM (Product Lifecycle Management) software providers are in process of suggesting the PDM solutions. As the PDM solution is widely adopted in the manufacturing industries, the successful application of the solution has been gathering more strength in manipulation of the product information. However, the standardized implementation methodology is stuck in the basic level contrast with the enhanced PDM's functionality and capability. Present study refers to the application of UML (Unified Modeling Language), which is an object oriented modeling description, to PDM system development procedure. The advantage of UML is its efficiency and effectiveness in handling complex requirement often found in PDM implementation works. This paper shows the integration of PDM and UML proposes a philosophy for the support of requirement analysis throughout the full implementation of PDM system.

• Wind and Structures
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• 제14권1호
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• pp.35-53
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• 2011

Spherical object in wind is a common scenario in daily life and engineering practice. The main challenge in understanding the aerodynamics in turbulent wind lies in the multi-aspect of turbulence. This paper presents a wind tunnel study, which focuses on the role of turbulence integral length scale ${\Lambda}$ on the drag of a sphere. Particular turbulent flow conditions were achieved via the proper combination of wind speed, orifice perforated plate, sphere diameter (D) and distance downstream from the plate. The drag was measured in turbulent flow with $2.2{\times}10^4{\leq}Re{\leq}8{\times}10^4$, $0.043{\leq}{\Lambda}/D{\leq}3.24$, and turbulence intensity Tu up to 6.3%. Our results confirmed the general trends of decreasing drag coefficient and critical Reynolds number with increasing turbulence intensity. More interestingly, the unique role of the relative integral length scale has been revealed. Over the range of conditions studied, an integral length of approximately 65% the sphere diameter is most effective in reducing the drag.

• 제어로봇시스템학회논문지
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• 제18권2호
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• pp.156-160
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• 2012

In this paper, we investigate the effect of asynchronous haptic and video feedback on the performance of teleoperation. To analyze the effect, a tele-manipulation experiment is specially designed, which operator moves square objects from one place to another place by using master/slave telerobotic system. Task completion time and total number of falling of the object are used for evaluating the performance. Subjective study was conducted with 10 subjects in 16 different combinations of video and haptic feedback while participants didn't have any prior information about the amount of each delay. Initially we assume that synchronized haptic and video feedback would give best performance. However as a result, we found that the accuracy was increased when haptic and video feedback was synchronized, and the completion time was decreased when one of the feedback (either haptic or video) was decreased. Another interesting fact that we found in this experiment is that it showed even better accuracy when haptic information arrives little bit earlier than video information, than the case when those are synchronized.

• 한국정보과학회논문지:컴퓨팅의 실제 및 레터
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• 제6권6호
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• pp.569-579
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• 2000

웹에서 정보 전달의 수단으로 등장한 XML은 많은 응용 분야에서 사용될 것이다. 많은 양의 XML 문서를 효율적으로 다루기 위하여 데이타베이스의 지원은 필수적이다. 데이터베이스를 이용하여 XML 데이타를 처리할 때 데이타베이스이 종류뿐만 아니라 그 인터페이스도 중요한 문제이다. 본 논문에서는 관계형 데이터베이스, 객체지향형 데이터베이스 및 랩포를 이용하여 XML 데이타를 저장, 질의하며 그 인터페이스로 XML-뷰, ODMG C++바인딩, OQL, DOM을 사용하였다. 또한 각각의 시스템의 구현을 통하여 각 방법들의 장단점을 논하고, 효율적인 XML 문서 처리에 대한 방법을 제시한다.

• 한국콘텐츠학회논문지
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• 제9권6호
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• pp.145-152
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• 2009

오늘날 우리는 너무나도 많은 이미지들 속에 둘러 쌓여있다. 이러한 이미지들은 각자의 의미들을 내포하면서 의식적이든 무의식적이든 우리의 주체에 영향을 미친다. 푸코는 서구의 뿌리 깊은 이성주의와 합리주의가 알고 보면 자율에 의해 스스로 만들어진 것이 아니라 타율의 권력에 의해 강제로 만들어진 것임을 폭로하고 있다. 이러한 관계 속에 이미지는 특성상 단지 보는 것 만 으로도 감정전달이 잘 이루어지기 때문에 권력에 의해 그 의미가 조정되어져 사람들을 통제하고 규합하는 권력의 수단으로서 사용되어져왔다. 테크놀로지와 미디어의 발달은 이미지를 재현의 대상에서 벗어나 조작과 변형, 복제의 새로운 패러다임을 가져왔다. 이제 이미지는 보이지 않는 파놉티콘을 형성하며 권력형성과 또 이에 대항하는 대응관계로 변화여 가고 있다.

• 한국정보기술학회논문지
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• 제17권10호
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• pp.101-113
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• 2019

최근의 지능형 영상감시 기술은 인공지능 기반 영상분석을 통하여 기존에 제공하지 못했던 선제적 예측감시 등 다양한 서비스의 제공이 가능하게 되었다. 지능형 영상감시에 있어 보안성의 확보는 필수적이며, 원본 CCTV 영상 데이터에 대한 조작이 발생할 경우, 사회적으로 큰 문제로 이어질 수 있다. 따라서 본 논문에서는 블록체인 기반의 지능형 영상감시환경을 제안하였다. 제안한 방식은 CCTV 영상데이터의 위변조 방지를 보장하며, 엣지 블록체인을 통하여 ROI 프라이버시 보호가 가능하여 객체의 프라이버시 노출이 없다는 장점이 있다. 또한, 영상 중복제거가 가능하여 전송 효율을 높이고 스토리지를 절감할 수 있어 효율적이다.

• 한국분말재료학회지
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• 제28권6호
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• pp.509-517
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• 2021

Smart materials capable of changing their characteristics in response to stimuli such as light, heat, pH, and electric and magnetic fields are promising for application to flexible electronics, soft robotics, and biomedicine. Compared with conventional rigid materials, these materials are typically composed of soft materials that improve the biocompatibility and allow for large and dynamic deformations in response to external environmental stimuli. Among them, smart magnetic materials are attracting immense attention owing to their fast response, remote actuation, and wide penetration range under various conditions. In this review, we report the material design and fabrication of smart magnetic materials. Furthermore, we focus on recent advances in their typical applications, namely, soft magnetic actuators, sensors for self-assembly, object manipulation, shape transformation, multimodal robot actuation, and tactile sensing.

• 로봇학회논문지
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• 제17권3호
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• pp.322-333
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• 2022

The Avatar robot, which is one of the teleoperation robots, aims to enable users to feel the robot as a part of the body to intuitively and naturally perform various tasks. Considering the purpose of the avatar robot, an end-effector identical to a human hand is advantageous, but a robotic hand with human hand level performance has not yet been developed. In this paper we propose a new 3-finger robotic hand with human-avatar hand posture mapping algorithm which were integrated with TOCABI-AVATAR, one of the teleoperation system. Due to the flexible rolling contact joints and tendon driven mechanism applied to the finger, the finger could implement adaptive grasping and absorb the impact force caused by unexpected contacts. In addition, human-avatar hand mapping algorithm using five calibration hand postures propose to compensate physical differences between operators. Using the TOCABI-AVATAR system with the robotic hands and mapping algorithm, the operator can perform 13 out of 16 hand postures of grasping taxonomy and 4 gestures. In addition, using the system, we participated in the ANA AVATAR XPRIZE Semi-final and successfully performed three scenarios which including various social interactions as well as object manipulation.

• 대한인간공학회지
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• 제15권2호
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• pp.165-176
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• 1996

Hand posture and force, which define aspects of the way an object is grasped, are features of robotic manipulation. A means for specifying these grasping "flavors" has been developed that uses an instrumented glove equipped with joint and force sensors. The new grasp specification system is being used at the Pennsylvania State University (Penn State) in a Virtual Reality based Point-and-Direct (VR-PAD) robotics implementation. In the Computer Integrated Manufacturing (CIM) Laboratory at Penn State, hand posture and force data were collected for manipulating bricks and other items that require varying amounts of force at multiple pressure points. The feasibility of measuring desired grasp characteristics was demonstrated for a modified Cyberglove impregnated with FSR (Force Sensitive Resistor) pressure sensors in the fingertips. A joint/force model relating the parameters of finger articulation and pressure to various lifting tasks was validated for the instrumented "wired" glove. Operators using such a modified glove may ultimately be able to configure robot grasping tasks in environments involving hazardous waste remediation, flexible manufactruing, space operations and other flexible robotics applications. In each case, the VR-PAD approach improved the computational and delay problems of real-time multiple- degree-of-freedom force feedback telemanipulation.