• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.41.1-41
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• 2002

This paper describes a robust landmark matching method to reduce ambiguity of candidate of landmark. General robot system acquires the candidate of landmark through vision sensor in outdoor environment. Our robot uses the omnidirectional vision system to get all around the view. Thus, the robot obtains more candidates of landmark than the conventional vision system. To obtain the candidates of landmark, robot uses the two types of feature. They are vertical edge and merged region of vertical edges. The former is to extract the vertical line of building, street lamp, etc. The latter is to reduce ambiguity of vertical edge in similar region. It is difficult to match the candidates of landmark...

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.8
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• pp.751-755
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• 2010

In this paper, we proposed an omnidirectional ranging system that is able to obtain $360^{\circ}$ all directional distances effectively based on structured light image. The omnidirectional ranging system consists of laser structured light source and a catadioptric omnidirectional camera with a curved mirror. The proposed integro-differential structured light image processing algorithm makes the ranging system robust against environmental illumination condition. The omnidirectional ranging system is useful for map-building and self-localization of a mobile robot.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.9
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• pp.893-897
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• 2008

To achieve the challenges of low-cost MEMS gyros for the precise self-localization of mobile robots, this paper examines an effective method of minimizing the drift on the heading angle that relies solely on integration of rate signals from a gyro. The main idea of the proposed approach is to use wavelet de-noising filter in order to reduce random noise which affects short-term performances. The proposed method was applied to Epson XV3500 gyro and the performances are verified by the comparisons with an existing commercial gyro module of vacuum cleaning robots.

• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.130-133
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• 2002

In this paper we suggest Inertial navigation system(INS) for the guidance robot for the visually impaired. we use 3 gyroscopes and 3 accelerometers and calculate using pentium III computer, we can acquire altitude and position of the guidance robot using this system.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.3
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• pp.207-214
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• 2010

This paper proposes about decentralized control approach based Leader-Follower formation control using LOS (Line of Sight) algorithm and unknown input observer. The position of robots which is a basic information in multi-robot or single robot motion control is determined by localization algorithm fusing UPS (Ultrasonic Position System) and kinematics model. For formation control, a decentralized control approach individually installing a local controller in leader and follower robot is adopted. Leader robot is controlled to track a specified trajectory by LOS algorithm, and the other robots follow the leader by local controller based on tracking platoon level function, self-sensing data and estimated information from unknown input observer. The performance of proposed method is proven through the formation experiment of two vehicle models.

• Electronics and Telecommunications Trends
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• v.38 no.4
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• pp.25-35
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• 2023

As the global semiconductor supply chain falters, major countries are pushing to increase their self-sufficiency in semiconductors. In accordance with these global changes, R&D cooperation is evolving in the semiconductor industry. Previously, as for the case of Interuniversity Microelectronics Center (IMEC) in Europe, many cooperation initiatives were established regardless of nationality for improving productivity through measures such as reducing the time and cost required for joint research. Recently, however, cooperation aimed at strengthening one's own industry has been prominent, such as that led by Taiwan Semiconductor Research Institute (TSRI) and the United States National Semiconductor Technology Center (NSTC). Hence, the Korean semiconductor industry also needs to respond. Internally, technology localization should be promoted by strengthening the foundation for domestic R&D cooperation, while externally, it should expand close cooperation with companies from countries leading the semiconductor industry, such as the United States, Europe, and Japan.

• Proceedings of the Korea Information Processing Society Conference
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• 2022.11a
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• pp.884-886
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• 2022

본 논문에서는 GPS 기반의 자율주행 군사로봇에 사용된 각종 센서들의 융합(Sensor Fusion)에 대하여 다루고 있다. GPS 를 통한 자율주행의 경우 GPS 의 성능에 따라 정확도 차이는 있으나 특별한 지형지물 없이 로봇의 현재 위치를 파악할 수 있다는 장점이 있다. 하지만 GPS 만 이용하여 자율주행 알고리즘을 구성하는 경우 로봇의 진행 방향을 특정하지 못한다는 문제점이 발생한다. 이를 해결하기 위하여 본 논문에서는 RTK GPS 와 Lidar, IMU 센서를 ROS 환경에서 Robot_Localization 과 EKF(Extended Kalman Filter)를 이용하여 융합하는 방법에 대하여 다루었다.

• Proceedings of the Korea Information Processing Society Conference
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• 2023.11a
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• pp.563-565
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• 2023

Acupuncture and acupressure apply needles or pressure to anatomical points for therapeutic benefit. The over 350 mapped acupuncture points in the human body can each treat various conditions, but anatomical variations make precisely locating these acupoints difficult. We propose a computer vision technique using the real-time hand and face tracking capabilities of the MediaPipe framework to identify acupoint locations. Our model detects anatomical facial and hand landmarks, and then maps these to corresponding acupoint regions. In summary, our proposed model facilitates precise acupoint localization for self-treatment and enhances practitioners' abilities to deliver targeted acupuncture and acupressure therapies.

• Journal of Agricultural Extension & Community Development
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• v.1 no.2
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• pp.147-163
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• 1994

Agricultural extension programs in Korea had focused mainly on increased production, and the biggest pride of extension was the achievement of rice self-sufficency in 1970s and abundant vegetable and animal production in 1980s. Farming in Korea has changed rapidly in recent years and extension system on commercialized crops have not been satisfactorily developed to mete farmers` demands. Facing the emerging challenges of international competition and trade liberalization for agricultural commodities, the goals of extension should be focused on increased income and the welfare of coral communities. The transfering of agricultural extension educator from central government jobs to local ones has emerged recently under the trends of localization which resulted unstable job environment of extension educator. Intensive pre-service and in-service training of extension workers on current and advanced techologies are essential to upgrade the quality of extension services, and the future directions for professional development of agricultural extension educators in Korea were suggested as follows: 1. Establishing a national network on agricultural extension system to promote exchanges of information among counties and provinces, to conduct meetings and to publish information on agricultural extension. 2. Determining the implications of recent national and global trends on agricultural extension, and strenthening communication at local, national and international levels for an effective extension system in the era of localization, internationalization and globalization; 3. Recognizing the effect of number and quality of extension staff on the impact of extension and providing opportunities development and advancement of extension personnel through education, training, incentives and rewards; 4. Giving a higher priority to agricultural extension in national policies in order to ensure the adequacy of budgetary support and recognition of importance of extension by the ministries concerned and mass communications.

• The Journal of the Acoustical Society of Korea
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• v.26 no.5
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• pp.220-226
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• 2007

The two major objectives of acoustical measurements in a cavitation tunnel are measuring the noise levels generated by rotating propellers behind a hull and localizing possible noise sources in order to reduce noise levels. Propeller noise measurement experiments were performed in MOERI cavitation tunnel at December, 2006. In order to put the propeller into cavitating conditions, a wake-generating dummy body was devised. In addition, ten hydrophones are put inside a wing-shaped casing in order to minimize the unexpected flow induced self noise around hydrophone itself. After measuring both of the noises of the rotating propeller behind the dummy body and signals generated by a virtual source, respectively the data were matched field processed using the frequency incoherent Bartlett processor to localize noises on the propeller plane. In this paper, we presented the measured noise analysis and the localization results.