• Journal of Institute of Control, Robotics and Systems
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• v.19 no.6
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• pp.547-554
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• 2013

This paper proposes a novel formation algorithm of identical robots based on object tracking method using omni-directional images obtained through fisheye lenses which are mounted on the robots. Conventional formation methods of multi-robots often use stereo vision system or vision system with reflector instead of general purpose camera which has small angle of view to enlarge view angle of camera. In addition, to make up the lack of image information on the environment, robots share the information on their positions through communication. The proposed system estimates the region of robots using SURF in fisheye images that have $360^{\circ}$ of image information without merging images. The whole system controls formation of robots based on moving directions and velocities of robots which can be obtained by applying Lucas-Kanade Optical Flow Estimation for the estimated region of robots. We confirmed the reliability of the proposed formation control strategy for multi-robots through both simulation and experiment.

• International Journal of Highway Engineering
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• v.20 no.4
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• pp.27-34
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• 2018

PURPOSES : The objective of this study is to evaluate the physical properties of recycled asphalt mixtures reinforced with glass fiber. METHODS : Firstly, mixing design was conducted on recycled asphalt mixture for use of 50% recycled aggregate. Various laboratory tests were performed on four types of recycled asphalt mixtures with different glass fiber content to evaluate the physical properties. The laboratory tests include indirect tensile strength test, dynamic modulus test, Hamburg wheel tracking test and tensile-strength ratio to evaluate cracks, rutting and moisture resistance of mixtures. RESULTS : The indirect tensile strength of fiber reinforced glass increased about 139.4%. As a result of comparing the master curves obtained by the dynamic modulus test, the elasticity was low in the low temperature region and high in the high temperature region when the glass fiber was reinforced. The glass fiber contents of PEGS 0.3%, Micro PPGF 0.1% and Macro PPGF 0.3% showed the highest moisture resistance and rutting resistance. CONCLUSIONS : The test results show that use of glass fiber reinforcement can increase the resistance to cracking, rutting, and moisture damage of asphalt mixtures. It is also necessary to validate the long-term performance of recycled asphalt mixtures with glass fiber using full scale pavement testing and field trial construction.

• Journal of Electrical Engineering and Technology
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• v.9 no.2
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• pp.478-488
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• 2014

Torque pulsation mechanism and highly nonlinear magnetic characterization of switched reluctance motors(SRM) lead to unfavorable torque ripple and limit the variety of applications in industry. In this paper, a modification method proposed for torque ripple minimization of SRM based on conventional torque sharing functions(TSF) to improve maximum speed of torque ripple-free operation considering converter limitations. Due to increasing phase inductance in outgoing phase during the commutation region, reference current tracking can be deteriorated especially when the speed increased. Moreover, phase torque production in incoming phase may not be reached to the reference value near the turn-on angle in which the incremental inductance would be dramatically decreased. Torque error for outgoing phase can cause increasing the resultant motor torque while it would be negative for incoming phase and yields reducing the motor torque. In this paper, a modification method is proposed in which phase torque tracking error for each phase under the commutation added to the other phase so that the resultant torque remained in constant level. This yields to extend constant torque region and reduce peak phase current when the speed increased. Simulation and experimental results for four phase 4 KW, 8/6 SRM validate the effectiveness of the proposed scheme.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2009.10a
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• pp.574-578
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• 2009

Real-time object detection for distinguishing a moving object of interests from the background image in still image or video image sequence is an essential step to a correct object tracking and recognition. Moving cast shadow can be misclassified as part of objects or moving objects because the shadow region is included in the moving object region after object segmentation. For this reason, an algorithm for shadow removal plays an important role in the results of accurate moving object detection and tracking systems. To handle with the problems, an accurate algorithm based on the features of moving object and shadow in color space is presented in this paper. Experimental results show that the proposed algorithm is effective to detect a moving object and to remove shadow in test video sequences.

• Journal of KIISE:Computer Systems and Theory
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• v.34 no.11
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• pp.545-561
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• 2007

Location management and message delivery protocol is fundamental to the further development of mobile agent systems in a multi-region mobile agent computing environment in order to control mobile agents and guarantee message delivery between them. However, previous works have some problems when they are applied to a multi-region mobile agent computing environment. First, the cost of location management and message delivery is increased relatively. Second, a tracking problem arises. finally, cloned mobile agents and parent-child mobile agents do not get dealt with respect to location management and message delivery. In this paper, we present a HB (Home-Blackboard) protocol, which is a new location management and message delivery protocol in a multi-region mobile agent computing environment. The HB protocol places a region server in each region and manages the location of mobile agents by using intra-region migration and inter-region migration. It also places a blackboard in each region server and delivers messages to mobile agents when a region server receives location update form them. The HB protocol can decrease the cost of location update and message passing and solve the tracking problem with low communication cost. Also, this protocol deals with the location management and message passing of cloned mobile agents and parent-child mobile agents, so that it can guarantee message delivery of these mobile agents and pass messages without passing duplicate messages.

• Korean Journal of Microbiology
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• v.49 no.2
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• pp.150-155
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• 2013

We have conducted pyrosequencing for freshwater microbial community analyses. Fourteen sites along the Yeongsan river were selected for this study, and samples were collected monthly from May to July, 2012. Total 987,380 reads were obtained from 42 samples and used for taxonomic classification and OTU distribution analysis. Our results showed that high geographical and temporal variation in the phylum level bacterial composition, suggesting that microbial community is a very sensitive parameter affected by the surrounding environments including tributaries and land use nearby. In addition, we conducted an OTU-based Microbial Source Tracking to identify sources of fecal pollution in the same region. From this study Firmicutes was found to be the most influential taxa in this region. Here, we report that the use of pyrosequencing based microbial community analysis may give an additional information on freshwater quality monitoring, in addition to the currently used water quality parameters, such as BOD and pH.

• Geomechanics and Engineering
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• v.12 no.5
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• pp.849-862
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• 2017

With growing interests in using bacterial biopolymers in geotechnical practices, identifying mechanical properties of soft gel-like biopolymers is important in predicting their efficacy in soil modification and treatment. As one of the promising candidates, dextran was found to be produced by Leuconostoc mesenteroides. The model bacteria utilize sucrose as working material and synthesize both soluble and insoluble dextran which forms a complex and inhomogeneous polymer network. However, the traditional rheometer has a limitation to capture in situ properties of inherently porous and inhomogeneous biopolymers. Therefore, we used the particle tracking microrheology to characterize the material properties of the dextran polymer. TEM images revealed a range of pore size mostly less than $20{\mu}m$, showing large pores > $2{\mu}m$ and small pores within the solid matrix whose sizes are less than $1{\mu}m$. Microrheology data showed two distinct regimes in the bacterial dextran, purely viscous pore region of soluble dextran and viscoelastic region of the solid part of insoluble dextran matrix. Diffusive beads represented the soluble dextran dissolved in an aqueous phase, of which viscosity was three times higher than the growth medium viscosity. The local properties of the insoluble dextran were extracted from the results of the minimally moving beads embedded in the dextran matrix or trapped in small pores. At high frequency (${\omega}>0.2Hz$), the insoluble dextran showed the elastic behavior with the storage modulus of ~0.1 Pa. As frequency decreased, the insoluble dextran matrix exhibited the viscoelastic behavior with the decreasing storage modulus in the range of ${\sim}0.1-10^{-3}Pa$ and the increasing loss modulus in the range of ${\sim}10^{-4}-1\;Pa$. The obtained results provide a compilation of frequency-dependent rheological or viscoelastic properties of soft gel-like porous biopolymers at the particular conditions where soil bacteria produce bacterial biopolymers in subsurface.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.8 no.4
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• pp.249-256
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• 2015

Shadow is a common physical phenomenon in natural images and may cause problems in computer vision tasks. Therefore, shadow removal is an essential preprocessing process for effective moving object tracking in video image. In this paper, we proposed the method of shadow removal algorithm using chromaticity, brightness distortion and direction of shadow candidate. The proposed method consists of two steps. First, removal process of primary shadow candidate region by using chromaticity, brightness and distortion. The second stage applies the final shadow candidate region to obtain a direction feature of shadow which is estimated by the thinning algorithm after calculating the lowest pixel position of the moving object. To verify the proposed approach, some experiments are conducted to draw a compare between conventional method and that of proposed. Experimental results showed that proposed methodology is simple, but robust and well adaptive to be need to remove a shadow removal operation.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.40 no.3
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• pp.127-136
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• 2003

In this paper, we propose a robust object tracking algorithm based on model and edge, using deformed template and Level-Set theory. The proposed algorithm can track objects in case of background variation, object flexibility and occlusions. First we design a new potential difference energy function(PDEF) composed of two terms including inter-region distance and edge values. This function is utilized to estimate and refine the object shape. The first step is to approximately estimate the shape and location of template object based on the assumption that the object changes its shape according to the affine transform. The second step is a refinement of the object shape to fit into the real object accurately, by using the potential energy map and the modified Level-Set speed function. The experimental results show that the proposed algorithm can track non-rigid objects under various environments, such as largely flexible objects, objects with large variation in the backgrounds, and occluded objects.

• KIPS Transactions on Software and Data Engineering
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• v.3 no.6
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• pp.231-236
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• 2014

The transit time of contrast agents and the parameters of time-intensity curves in ultrasonography are important factors to diagnose various diseases of a digestive organ. We have implemented an automatic parametric imaging method to overcome the difficulty of the diagnosis by naked eyes. However, the micro-bubble noise and the respiratory motions may degrade the reliability of the parameter images. In this paper, we introduce an optimization technique based on MRF(Markov Random Field) model to enhance the quality of the parameter images, and present an image tracking algorithm to compensate the image distortion by respiratory motions. A method to extract the respiration periods from the ultrasound image sequence has been developed. We have implemented the ROI(Region of Interest) tracking algorithm using the dynamic weights and a momentum factor based on these periods. An energy function is defined for the Gibbs sampler of the image enhancement method. Through the experiments using the data to diagnose liver lesions, we have shown that the proposed method improves the quality of the parametric images.