• Journal of the Korea Institute of Information and Communication Engineering
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• v.24 no.1
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• pp.141-144
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• 2020

Convolutional neural networks (CNNs) show high performance in computer vision tasks including object detection, but a lot of weight storage and computation is required. In this paper, a pruning scheme is applied to CNNs for object detection, which can remove much amount of weights with a negligible performance degradation. Contrary to the previous ones, the pruning scheme applied in this paper considers the base accelerator architecture. With the consideration, the pruned CNNs can be efficiently performed on an ASIC or FPGA accelerator. Even with the constrained pruning, the resulting CNN shows a negligible degradation of detection performance, less-than-1% point degradation of mAP on VOD0712 test set. With the proposed scheme, CNNs can be applied to objection dtection efficiently.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2021.05a
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• pp.348-350
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• 2021

The core technology of augmented reality is object recognition technology. Recently, due to the development of various artificial intelligence algorithms such as CNN, it has become possible to effectively distinguish specific objects from images. It is possible to realize more realistic and immersive augmented reality contents only when technology for recognizing objects quickly and accurately is secured. In this study, an object recognition model using SSD (single shot multibox detector) and an object recognition model using YOLO were compared and evaluated.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.4
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• pp.1023-1032
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• 1995

The multiple cooperating robot system plays an important role in the research of modern manufacturing system as the emphasis of production automation is more on the side of flexibility than before. While the kinematic and dynamic analysis of a single robot is performed as an open-loop chain, the dynamic formulation of robot in a multiple cooperating robot system differs from that of a single robot when the multiple cooperating robots form a closed kinematic chain holding an object simultaneously. The object may be any type from a rigid body to a multi-joint linkage. The mobility of the system depends on the kinematic configuration of the closed kinematic chain formed by robots and object, which also decides the number of independent input parameters. Since the mobility is not the same as the number of robot joints, proper constraint condition is sought. The constraints may be such that : the number of active robot joints is kept the same as mobility, all robot joints are active and have interrelations between each joint forces/torques, two robots have master-slave relation, or so on. The dynamic formulation of system is obtained. The formulation is based on recursive dual-number screw-calculus Newton-Eulerian approach which has been used for single robot analysis. This new scheme is recursive and compact symbolically and may facilitate the consideration of the object in real time.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.85-88
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• 2009

In this paper, we propose a DRF-based object detection method using the object adaptive patch in the satellite imagery. It is a Discriminative Random Fields (DRF) based work, so the detection is done by labeling to the possible patches in the image. For the feature information of each patch, we use the multi-scale and object adaptive patch and its texton histogram, instead of using the single scale and fixed grid patch. So, we can include contextual layout of texture information around the object. To make object adaptive patch, we use "superpixel lattice" scheme. As a result, each group of labeled patches represents the object or object's presence region. In the experiment, we compare the detection result with a fixed grid scheme and shows our result is more close to the object shape.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.57.5-57
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• 2001

This paper presents an enhanced web-based distributed system with Single Access Object Protocol(SOAP), which uses HTTP as a communication protocol and XML as a data presentation. The suggested system is applied into a Generic Equipment Model (GEM) for exchanging specified messages(SECS-II), which are encoded into XML presentation, between Equipment and Host via the web sorrel. In this paper, the designed system architecture and its soap components are presented.

• Journal of Platform Technology
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• v.11 no.6
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• pp.106-115
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• 2023

In this paper, we propose a sensor data sharing system for the safe and smooth operation of autonomous vehicles on two-way single lanes in traffic-isolated areas and implement the core module, the situational awareness technology. Two-way single lanes pose challenges for autonomous vehicles, particularly when encountering parked vehicles or oncoming traffic, leading to reversing issues. We introduce a system using infrastructure cameras to detect vehicles' approach, enter, and leave on twoway single lanes in real-time, transmitting this information to autonomous vehicles via V2N communication, thereby expanding the sensing range of the autonomous vehicles. The core part of the proposed system is the situational awareness of the two-way single lane using infrastructure cameras. In this paper, we implement this using object detection and tracking technology. Finally, we validate the implemented situational awareness technology using data collected from actual two-way single lanes.

• The Transactions of the Korea Information Processing Society
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• v.6 no.11S
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• pp.3340-3349
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• 1999

Supporting object group on distributed object system give merits such as load balancing, fault tolerance and high availability. In this paper, we describe a CORBA ORB that has been designed to support object group based on active replication. The ORB supports the operational model in which it uses the IIOP for communication between client and server and total ordered multicast protocol for consistency control among group members. And through extension of ORB, it provides functions required for support of object group. Since it provides transparency of object replication, the ORB is interoperable with the existing CORBA products. It make possible for existing server application to be easily extended to application supporting object group as adding interface functions which should be used for building applications is minimized. A prototype is implemented, and performance of the replicated object group is tested and compared with a single object invocation.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.12
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• pp.2057-2060
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• 2016

Range-based motion estimation of a moving object by using a camera is proposed. Whereas the existing results constrain the motion of an object for the motion estimation of an object, the constraints on the motion is relieved in the proposed method in that a more generally moving object motion can be handled. To this end, a nonlinear observer is designed based on the relative dynamics between the object and camera so that the object velocity and the unknown camera velocity can be estimated. Stability analysis and simulation results for the moving object are provided to show the effectiveness of the proposed method.

• The Journal of Information Technology and Database
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• v.7 no.1
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• pp.17-26
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• 2000

To provide highly available services in the distributed object system, it is required to support the object group. The state machine approach and primary-backup approach are proposed as two representative approaches for support of object group. The primary-backup approach does not only give merits such as transparency of object group and non-deterministic execution but also require less resource than state machine approach. This paper describes an extension of CORBA that is required to support of the primary-backup object group. In this paper, the state of backup is synchronized with primary through the atomic multicast protocol whenever the request of client is executed at primary. As a result, it does not require message logging and check pointing. The object group of this paper also provides fast response time in case of failure of the primary since it makes primary election unnecessary. And through an extension of IDL, it makes possible to avoid consistency control depending on characteristic of application. A prototype has been implemented and the performance of object group has been compared with a single object invocation.

• The Journal of Korean Institute of Information Technology
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• v.17 no.5
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• pp.13-20
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• 2019

Recently, object detection technology based on CNN has been actively studied. Object detection technology is used as an important technology in autonomous vehicles, intelligent image analysis, and so on. In this paper, we propose a rotation change robust object detection system by applying MI-FL (Moment Invariant-Feature Layer) to SSD (Single Shot Multibox Detector) which is one of CNN-based object detectors. First, the features of the input image are extracted based on the VGG network. Then, a total of six feature layers are applied to generate bounding boxes by predicting the location and type of object. We then use the NMS algorithm to get the bounding box that is the most likely object. Once an object bounding box has been determined, the invariant moment feature of the corresponding region is extracted using MI-FL, and stored and learned in advance. In the detection process, it is possible to detect the rotated image more robust than the conventional method by using the previously stored moment invariant feature information. The performance improvement of about 4 ~ 5% was confirmed by comparing SSD with existing SSD and MI-FL.