• The Journal of Korea Robotics Society
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• v.12 no.1
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• pp.33-41
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• 2017

We present a region-based approach for accurate pose estimation of small mechanical components. Our algorithm consists of two key phases: Multi-view object co-segmentation and pose estimation. In the first phase, we explain an automatic method to extract binary masks of a target object captured from multiple viewpoints. For initialization, we assume the target object is bounded by the convex volume of interest defined by a few user inputs. The co-segmented target object shares the same geometric representation in space, and has distinctive color models from those of the backgrounds. In the second phase, we retrieve a 3D model instance with correct upright orientation, and estimate a relative pose of the object observed from images. Our energy function, combining region and boundary terms for the proposed measures, maximizes the overlapping regions and boundaries between the multi-view co-segmentations and projected masks of the reference model. Based on high-quality co-segmentations consistent across all different viewpoints, our final results are accurate model indices and pose parameters of the extracted object. We demonstrate the effectiveness of the proposed method using various examples.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.46 no.1
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• pp.128-135
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• 2009

Techniques for tracking the same region of physical space with the temporal sequences of images by matching the contours of constant phase show robust and stable performance in relative to the tracking techniques using or assuming the constant intensity. Using this property, we describe an algorithm for obtaining the robust motion parameters caused by the global camera motion. First, we obtain the optical flow based on the phase of spacially filtered sequential images on the region in a direction orthogonal to orientation of each component of gabor filter bank. And then, we apply the least squares method to the optical flow to determine the affine motion parameters. We demonstrate hat proposed method can be applied to the vision based pointing device which estimate its motion using the image including the display device which cause lighting condition varieties and noise.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.15 no.2
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• pp.157-164
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• 1997

This study deals with GPS-photogrammetry practicability by C/A-code reception. It allows data to be acquired and analyzed fast. Combined block adjustment method was applied at the topographical map production of coast-land. And we compared it that of conventional block adjustment. As a result, it was found that accuracy was very sensitive to the arrangement and number of control points. The accuracy in the horizontal and vertical was $\pm{2cm}$ if all of the control points was available. however accuracy was not affected at additional parameters for systematic errors' elimination and it leads to bad results when the number of control points was few and arrangement of control points was not stabilized. GPS observations were added in block adjustment, but the accuracy of block was not upgraded due to the low accuracy of C/A-code reception. So relative positioning method with carrier phases was required for high accuracy and it is expected that CPS photogrammetry with C/A-code will be used widely according to the improvement of observation methods and the development of receiver.

• Journal of the Korean Society for Nondestructive Testing
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• v.23 no.1
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• pp.21-29
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• 2003

It is very important to reduce the computational time in estimating the parameters of vision control algorithm for robot's position control in real time. Unfortunately, the batch estimation commonly used requires too murk computational time because it is iteration method. So, the batch estimation has difficulty for robot's position control in real time. On the other hand, the Extended Kalman Filtering(EKF) has many advantages to calculate the parameters of vision system in that it is a simple and efficient recursive procedures. Thus, this study is to develop the EKF algorithm for the robot's vision control in real time. The vision system model used in this study involves six parameters to account for the inner(orientation, focal length etc) and outer (the relative location between robot and camera) parameters of camera. Then, EKF has been first applied to estimate these parameters, and then with these estimated parameters, also to estimate the robot's joint angles used for robot's operation. finally, the practicality of vision control scheme based on the EKF has been experimentally verified by performing the robot's position control.

• Korean Journal of Applied Biomechanics
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• v.17 no.2
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• pp.145-156
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• 2007

The purposes of this study were to investigate kinematic parameters of racket head and upper extremities during squash back hand stroke and to provide quantitative data to the players. Five Korean elite male players were used as subjects in this study. To find out the swing motion of the players, the land-markers were attached to the segments of upper limb and 3-D motion analysis was performed. Orientation angles were also computed for angular movement of each segment. The results were as follows. 1) the average time of the back hand swing (downswing + follow-through) was 0.39s (0.24 s + 0.15 s). 2) for each event, the average racket velocity at impact was 11.17m/s and the velocity at the end of swing was 8.03m/s, which was the fastest swing speed after impact. Also, for each phase, 5.10m/s was found in down swing but 7.68m/s was found in follow-through. Racket swing speed was fastest after the impact but the swing speed was reduced in the follow-through phase. 3) in records of average of joints angle, shoulder angle was defined as the relative angle to the body. 1.04rad was found at end of back swing, 1.75rad at impact and it changes to 2.35 rad at the end of swing. Elbow angle was defined as the relative angle of forearm to upper arm. 1.73rad was found at top of backswing, 2.79rad at impact, and the angle was changed to 2.55rad at end of swing. Wrist angle was defined as the relative angle of hand to forearm. 2.48rad was found at top of backswing, 2.86rad at impact, and the angle changes to 1.96rad at end of swing. As a result, if the ball is to fly in the fastest speed, the body has to move in the order of trunk, shoulder, elbow and wrist (from proximal segment to distal segment). Thus, the flexibility of the wrist can be very important factor to increase ball speed as the last action of strong impact. In conclusion, the movement in order of the shoulder, elbow and the wrist decided the racket head speed and the standard deviations were increased as the motion was transferred from proximal to the distal segment due to the personal difference of swing arc. In particular, the use of wrist (snap) may change the output dramatically. Therefore, it was concluded that the flexible wrist movement in squash was very important factor to determine the direction and spin of the ball.

• Journal of The Korean Astronomical Society
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• v.50 no.2
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• pp.29-39
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• 2017

We investigate two abnormal CME-Storm pairs that occurred on 2014 September 10 - 12 and 2015 March 15 - 17, respectively. The first one was a moderate geomagnetic storm ($Dst_{min}{\sim}-75nT$) driven by the X1.6 high speed flare-associated CME ($1267km\;s^{-1}$) in AR 12158 (N14E02) near solar disk center. The other was a very intense geomagnetic storm ($Dst_{min}{\sim}-223nT$) caused by a CME with moderate speed ($719km\;s^{-1}$) and associated with a filament eruption accompanied by a weak flare (C9.1) in AR 12297 (S17W38). Both CMEs have large direction parameters facing the Earth and southward magnetic field orientation in their solar source region. In this study, we inspect the structure of Interplanetary Flux Ropes (IFRs) at the Earth estimated by using the torus fitting technique assuming self-similar expansion. As results, we find that the moderate storm on 2014 September 12 was caused by small-scale southward magnetic fields in the sheath region ahead of the IFR. The Earth traversed the portion of the IFR where only the northward fields are observed. Meanwhile, in case of the 2015 March 17 storm, our IFR analysis revealed that the Earth passed the very portion where only the southward magnetic fields are observed throughout the passage. The resultant southward magnetic field with long-duration is the main cause of the intense storm. We suggest that 3D magnetic field geometry of an IFR at the IFR-Earth encounter is important and the strength of a geomagnetic storm is strongly affected by the relative location of the Earth with respect to the IFR structure.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.4
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• pp.447-459
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• 2013

Many problems need to be solved before vision systems can actually be applied in industry, such as the precision of the kinematics model of the robot control algorithm based on visual information, active compensation of the camera's focal length and orientation during the movement of the robot, and understanding the mapping of the physical 3-D space into 2-D camera coordinates. An algorithm is proposed to enable robot to move actively even if the relative positions between the camera and the robot is unknown. To solve the correction problem, this study proposes vision system model with six camera parameters. To develop the robot vision control algorithm, the N-R and EKF methods are applied to the vision system model. Finally, the position accuracy and processing time of the two algorithms developed based based on the EKF and the N-R methods are compared experimentally by making the robot perform slender bar placement task.

• Journal of the Korean Magnetic Resonance Society
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• v.6 no.1
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• pp.20-37
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• 2002

MnAPSO-34 and Mn-impregnated SAPO-34(Mn-SAPO-34) sample were prepared with various manganese contents and studied by electron spin resonance(ESR) and electron spin echo modulation(ESEM). Electron spin echo modulation analysis of 0.07mo1 ％ Mn(relative to p) in MnAPSO-34 with adsorbed D$_{2}$O shows two deuteriums at 0.26 nm and two at 0.36 nm from Mn. This suggests that two waters hydrate an MnO$_{4}$ configuration with a D-O bond orientation for the waters as expect for a negatively charged site at low manganese content (0.1 mol％), the ESR spectra of MnAPSO-34 and MnH-SAPO-34 exhibit the same parameters(g 2.01 and A 89 G), but the spectra obtained from MnAPSO-34 samples are better resolved. The decomposition temperature of as-synthesized MnAPSO-34 were in the range of 200-600 $^{\circ}C$ of the morpholine which is 12 $^{\circ}C$ higher than that in as-synthesized MnH-SAPO-34. Infrared spectra showed that the position of a band at 3450 $cm^{-1}$ / shifted about 15 $cm^{-1}$ / toward higher energy in MnAPSO-34 versus MnH-SAPO-34. The modulation depth of the two-pulse ESE of MnAPSO-34 with adsorbed D$_{2}$O is deeper than that of MnH-SAPO-34 with adsorbed D$_{2}$O. Three-pulse ESEM of MnAPSO-34 and MnH-SAPO-34 with adsorbed deuterium oxide shows that the local environments of manganese in the hydrated samples are different, suggesting that Mn(II) is framework substituted in MnAPSO-34 since it obviously occupies an extraframework position in MnH-SAPO-34.

• Clinical and Experimental Reproductive Medicine
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• v.40 no.3
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• pp.115-121
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• 2013

Objective: Letrozole and estradiol valerate are used to treat some hormonally-responsive symptoms and also in modeling of the polycystic ovary syndrome. However, the stereological analysis of the ovary has received less attention. Estimation of the whole ovary volume using the Cavalieri method can be applied in any orientation desired, but estimation of the mean volume of the oocytes requires isotropic uniform random sectioning. Here, a combined method was developed for estimating the parameters. To our knowledge, no comparison has been made of the effects of letrozole and estradiol on the ovary. Methods: Sixty rats were divided into 4 groups receiving estradiol (4 mg/kg), olive oil, letrozole (1 mg/kg), or normal saline. After 21 days, their ovaries were studied. Results: Relative to the control group, the total volume of the ovary and the cortex increased in the letrozole-treated and estradiol-treated rats. In addition, the number of the preantral, antral, and granulosa cells decreased by 43% to 56% in the letrozole- and estradiol-treated rats. On average, a 19% increase was observed in the atretic oocytes of the letrozole-treated and estradiol-treated rats, but the mean oocyte volume decreased by 29% to 44% in letrozole- and estradiol-treated rats. Furthermore, the letrozole-treated rats showed a 5-fold and 7-fold increase in the volume of the cysts and corpus luteum, respectively. A 3-fold increase was found in the volume of both the cysts and corpus luteum in the estradiol group. Conclusion: The structural changes of the ovary were most pronounced in the letrozole-treated animals.

• Proceedings of the Korean Magnetic Resonance Society Conference
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• 2002.08a
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• pp.80-80
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• 2002

MnPSO-34 and Mn-impregnated SAPO-34 (Mn-SAPO-34) sample were prepared with various manganese contents and studied by electron spin resonance (ESR) and electron spin-echo modulation (ESEM). Electron spin-echo modulation analysis of 0.07mol ％ Mn(relative to p) in MnAPSO-34 with adsorbed D$_2$O shows two deuteriums at 0.25 nm and two at 0.36 nm from Mn. This suggests that two waters hydrate an MnO4 configuration with a D-O bond orientation for the waters as expect for a negatively charged site at low manganese content (0.07 mol％), the ESR spectra of MnAPSO-34 and MnH-SAPO-34 exhibit the same parameters (g 2.02 and A 87 G), but the spectra obtained from MnAPSO-34 samples are better resolved. TGA of as-synthesized MnAPSO-34 shows that the decomposition temperature in the range 200-$600^{\circ}C$ of the morpholine is 12$^{\circ}C$ higher than that in as-synthesized MnH-SAPO-34. Infrared spectra shows that the position of a band at about 15 cm-1 toward higher energy in MnAPSO-34 versus MnH-SAPO-34. The modulation depth of the two-pulse ESE of MnAPSO-34 with absorbed D$_2$O is deeper than that of MnH-SAPO-34 with absorbed D$_2$O. Three-pulse ESEM of MnAPSO-34 and MnH-SAPO-34 with absorbed deuterium oxide shows that the local environments of manganese in the hydrated samples are different, suggesting that Mn(II) is framework substituted in MnAPSO-34 since it obviously occupies an extra-framework position in MnH-SAPO-34