• 한국측량학회지
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• 제12권1호
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• pp.89-94
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• 1994

최근 많은 연구가 실시간 지도제작시스템의 개발에 초점이 맞춰지고 있으며, 일반적으로 자동차나 비행기로부터 지형에 관련된 수치형태의 정보를 얻고 있다. 본 연구는 미국 오하이오 주립대학의 지도 제작센터에서 개발한 일명 "GPS-Van"이라고 하는 관측장비를 이용하여 얻어진 수치영상으로부터 도로정보를 자동추출하고 수치자료의 효과적인 저장과 관리를 위한 방법을 제시하는데 목적을 두고 있다. 도로의 경계선 검출은 수치사진측량기법을 적용하므로써 수치영상에서 자동추출할 수 있으며 실시간 3차원위치 결정도 가능했다. 또한 자료저장단계를 레스터자료단계, 객체지향자료단계, 벡터자료단계로 구성되는 3단계 자료 저장방법과 자료관리 측면에서 효과적인 자료압축과 검색을 위해 사지수형자료구조를 제안하였다.구조를 제안하였다.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2013년도 추계학술대회
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• pp.103-107
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• 2013

본 논문에서는 차선 이탈 경고 장치 시스템에서 사용되는 실시간 차선 추적 방법을 제안한다. 먼저 입력 영상의 원근효과를 제거하기 위해 역투영 변환을 이용하여 조감도 영상을 생성한다. 그 다음 차선의 사전 정보를 이용하여 차선 검출에 적합한 특징들을 추출한다. 블록단위의 관심영역에 해당하는 차선 특징과 RANSAC(RANdom Sample Consensus) 알고리즘을 사용하여 차선 후보군을 검출하고 클러스터링 과정을 수행하여 주행 차선을 결정한다. 마지막으로 칼만 필터를 사용하여 현재 검출된 주행 차선을 추적한다. 제안하는 알고리즘을 주간, 야간 등의 다양한 고속도로 환경에서 실험한 결과 실시간 환경에서 사용가능한 30ms 이내의 처리 속도와 90% 가량의 추적률을 얻을 수 있었다.

• 한국초지조사료학회지
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• 제35권3호
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• pp.225-231
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• 2015

Improving current pasture productivity by precision management requires practical tools to collect site specific pasture biomass data. Recent developments in unmanned aerial vehicle (UAV) technology provide cost effective and real time applications for site specific data collection. For the mapping of herbage biomass (BM) on a hill pasture, we tested a UAV system with digital cameras (visible and near-infrared (NIR) camera). The field measurements were conducted on the grazing hill pasture at Hanwoo Improvement Office, Seosan City, Chungcheongnam-do Province, Korea on May 17 and June 27, 2014. Plant samples were obtained from 28 sites. A UAV system was used to obtain aerial photos from a height of approximately 50 m (approximately 30 cm spatial resolution). Normalized digital number (DN) values of Red and NIR channels were extracted from the aerial photos and a normalized differential vegetation index using DN ($NDVI_{dn}$) was calculated. The results show that the correlation coefficient between BM and $NDVI_{dn}$ was 0.88. For the precision management of hilly grazing pastures, UAV monitoring systems can be a quick and cost effective tool to obtain site-specific herbage BM data.

• 한국정보과학회논문지:컴퓨팅의 실제 및 레터
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• 제8권6호
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• pp.679-691
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• 2002

과학적 가시화의 한 분야인 볼륨 가시화는 3차원, 혹은 그 이상의 차원의 공간에서 정의된 추상적이고 복잡한 볼륨 데이타로부터 의미 있고 가시적인 정보를 효과적으로 추출하도록 도와주는 다양한 기술에 관한 연구 분야로서, 기상학, 의학, 계산 유체 역학 등 여러 학문 분야에서 점차 그 중요성을 더해가고 있다. 한편 가상 현실은 컴퓨터가 만든 가상의 세상에 사용자가 몰입하여 시각, 청각, 촉각 등의 감각을 이용하여 세상을 경험하고 대화식으로 정보를 주고받을 수 있도록 도와주는 여러 기술에 관련된 연구 분야로서 국내외적으로 활발한 연구가 진행되고 있다. 본 논문에서는 CAVE라 불리는 몰입형 3차원 가상 환경 시스템 환경에서 인체 볼륨 데이타를 보다 개선된 볼륨 가시화 방법을 사용하여 실시간으로 입체 영상을 생성해주는 시스템을 설계하고 구현하였다. 이 시스템은 기존 3차원 텍스처 매핑 기반 볼륨 렌더링 방법의 느린 속도를 보완하고자, 영상 기반 렌더링에 기반을 둔 향상된 텍스처 매핑 기법을 사용하여 실시간 볼륨 입체 가시화 기능을 지원하며, 사용자를 위하여 다양한 인터페이스 기능들을 제공한다. 본 시스템의 효용성을 증명하기 위한 테스트 데이터로서 Visible Korean Human 데이타를 사용하였다. 본 논문에서는 실시간 입체 영상 시스템에 필요한 가시화 기법과 라이브러리, 그리고 구체적인 구현 내용에 대해서 설명한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1513-1518
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• 1996

A force reflecting hand controller can be used to provide more realistic information to the operator of a teleoperation system such as kinesthetic feedback from a slave robot. In this paper, a new design concept of a force reflecting 6-DOF hand controller utilizing the kinematic structure of a Stewart Platform is presented. Based on the optimal design technique of a Stewart Platform, a force reflecting hand controller has been designed and constructed to verify the technical feasibility of proposed design concept. In order to provide an operator with kinesthetic feedback information, a force mapping algorithm based on a reciprocal product of screws has been introduced. Finally, the technical feasibility of the design concept has been demonstrated through some of experimental results of the device under virtual environment on a real-time graphic system.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 춘계학술대회논문집 - 한국공작기계학회
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• pp.679-684
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• 2000

This paper presents the development of system and program for a Parallel-Typed CNC Machine. The system consists of parallel manipulator, PC (Personal Computer), DMC (DSP Motion Controller), and machining tools. In order to control the manipulator, the program, which is implemented in "c/c++" language, involves inverse/direct kinematics, velocity mapping, Jacobian and etc. A controller computes the kinematic formulation in real-time and generates and motion by the DMC. A monitor, which has access to program and sensory information, displays the status of manipulator.nipulator.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제16권5호
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• pp.1708-1734
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• 2022

In the development of logistics system, the breakthrough of important technologies such as technology platform for logistics information management and control is the key content of the study. Based on Javascript and JQuery, the logistics system realizes real-time monitoring, collection of historical status data, statistical analysis and display, intelligent recommendation and other functions. In order to strengthen the cooperation of warehouse storage, enhance the utilization rate of resources, and achieve the purpose of real-time and visual supervision of transportation equipment and cargo tracking, this paper studies the VNF dynamic deployment and SFC routing problem in the network load change scenario based on the logistics system. The BIP model is used to model the VNF dynamic deployment and routing problem. The optimization objective is to minimize the total cost overhead generated by each SFCR. Furthermore, the application of the SFC mapping algorithm in the routing topology solving problem is proposed. Based on the concept of relative cost and the idea of topology transformation, the SFC-map algorithm can efficiently complete the dynamic deployment of VNF and the routing calculation of SFC by using multi-layer graph. In the simulation platform based on the logistics system, the proposed algorithm is compared with VNF-DRA algorithm and Provision Traffic algorithm in the network receiving rate, throughput, path end-to-end delay, deployment number, running time and utilization rate. According to the test results, it is verified that the test results of the optimization algorithm in this paper are obviously improved compared with the comparison method, and it has higher practical application and promotion value.

• 항공우주시스템공학회지
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• 제14권2호
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• pp.1-11
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• 2020

Detecting obstacles and generating a suitable path to avoid obstacles in real time is a prime mission requirement for UAVs. In areas, close to buildings and people, detecting obstacles in the path and estimating its own position (egomotion) in GPS degraded/denied environments are usually addressed with vision-based Simultaneous Localization and Mapping (SLAM) techniques. This presents possibilities and challenges for the feasible path generation with constraints of vehicle dynamics in the configuration space. In this paper, a near real-time feasible path is shown to be generated in the ORB-SLAM framework using a chain-based path planning approach in a force field with dynamic constraints on path length and minimum turn radius. The chain-based path plan approach generates a set of nodes which moves in a force field that permits modifications of path rapidly in real time as the reward function changes. This is different from the usual approach of generating potentials in the entire search space around UAV, instead a set of connected waypoints in a simulated chain. The popular ORB-SLAM, suited for real time approach is used for building the map of the environment and UAV position and the UAV path is then generated continuously in the shortest time to navigate to the goal position. The principal contribution are (a) Chain-based path planning approach with built in obstacle avoidance in conjunction with ORB-SLAM for the first time, (b) Generation of path with minimum overheads and (c) Implementation in near real time.

• 한국정밀공학회지
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• 제25권3호
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• pp.93-100
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• 2008

Laser interferometry is widely used as a measuring system in many fields because of its high resolution and ability to measure a broad area in real-time all at once. In conventional LASER interferometry, for example Out-of-plane ESPI(Electronic Speckle Pattern Interferometry), In plane ESPI, Shearography and Holography, it uses PZT or other components as a phase shift instrumentation to extract 3D deformation data, vibration mode and others. However, in most cases PZT has some disadvantages, which include nonlinear errors and limited time of use. In the present study, a new type of LASER interferometry using a laser diode is proposed. Using LASER Diode Sinusoidal Phase Modulating (LD-SPM) interferometry, the phase modulation can be directly modulated by controlling the LASER Diode injection current thereby eliminating the need for PZT and its components. This makes the interferometry more compact. This paper reports on a new approach to the LD Modulating interferometry that involves four-buckets phase shift method. This study proposes a four-bucket phase mapping algorithm, which was developed to have a guaranteed application, to stabilize the system in the field and to be a user-friendly GUI. In this paper, the theory for LD wavelength modulation and sinusoidal phase modulation of LD modulating interferometry is shown. Four-bucket phase mapping algorithm is then introduced.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제2권2호
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• pp.133-138
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• 2002

In this paper, we propose an integrated GUI environment of parallel fuzzy inference system fur pattern classification of remote sensing data. In this, as 4 fuzzy variables in condition part and 104 fuzzy rules are used, a real time and parallel approach is required. For frost fuzzy computation, we use the scan line conversion algorithm to convert lines of each fuzzy linguistic term to the closest integer pixels. We design 4 fuzzy processor unit to be operated in parallel by using FPGA. As a GUI environment, PCI transmission, image data pre-processing, integer pixel mapping and fuzzy membership tuning are considered. This system can be used in a pattern classification system requiring a rapid inference time in a real-time.