• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.951-956
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• 2005

Since a snake achieves various movements just by a slender body, the mechanism of it is very amazing Many researches have been focusing on a snake like robot and have done for it on the ground. However the meander motion of the snake not only can be done by ground creatures, but also can be done by a water creature such as a sea snake or an eel. Therefore, the purpose of our research is to develop an autonomous underwater robot like the sea snake. As an approach to this goal, we develop an experimental sea snake-like-robot for examining basic characteristics, including propulsion, a turning and other performance. Our developed robot is composed of the head and 4 bodies. Each body equips one servomotor, which is operated with pulse signal. In the head unit, 1- chip-microcomputer, which generates the servomotor control signal for realizing a snake motion and the battery, is equipped. Our robot is covered with a rubber film for the waterproof. Using our developed robot, characteristics of the snake-like-robot moved in water are examined.

• The KIPS Transactions:PartB
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• v.10B no.5
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• pp.527-534
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• 2003

An active contour model called snake is powerful tool for object contour extraction. But, conventional snakes require exhaustive computing time, sometimes can´t extract complex shape contours due to the properties of energy function, and are also heavily dependent on the position and the shape of an initial snake. To solving these problems, we propose in this paper an improved snake called "shaking snake", based on a greedy algorithm. A shaking snake consist of two steps. According to their appropriateness, we in the first step move each points directly to locations where contours are likely to be located. In the second step, we then align some snake points with a tolerable bound in order to prevent local minima. These processes shake the proposed snake. In the experimental results, we show the process of shaking the proposed shake and comparable performance with a greedy snake. The proposed snake can extract complex shape contours very accurately and run fast, approximately by the factor of five times, than a greedy snake.

• Journal of Pharmacopuncture
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• v.6 no.2
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• pp.165-177
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• 2003

The study was carried out to investigate the researches of Snake which was published papers in the TOXlCON(1990-2000), one of the most famous Journal of toxicology. And the results were as follows : 1. The number related with Snake is 195papers. 2. There were great papers related wih Cobra, and next is Tigris, Viper, etc. 3. There were great papers related wih protein in the composition of snake venom. 4. There were great papers related wih neurotoxin in the research of poisonous character. 5. There were great papers related wih Viper according to the anticoagulation. 6 Eight papers were published to study the immune response of snake venom. 7. The papers of molecular study of snake venom were seven. 8. The papers of anti-snake venom study were three.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.486-491
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• 2005

There come various types of robot with researches for mobile robot. This paper introduces the multi-joint snake robot having 16 degree of freedom and composing of eight-axis. The biological snake robot uses the forward movement friction and the proposed artificial snake robot uses the un-powered wheel instead of the body of snake. To determine the enable joint angle of each joint, the controller inputs are considered such as color and distance using PC Camera and ultra-sonic sensor module, respectively. The movement method of snake robot is sequential moving from head to tail through body. The target for movement direction is decided by a certain article be displayed in the PC Camera. In moving toward that target, if there is any obstacle then the snake robot can avoid by itself. In this paper, we show the method of snake robot for tracing the target with experiment.

• Journal of applied mathematics & informatics
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• v.32 no.3_4
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• pp.377-387
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• 2014

Let G be a (p, q) graph. Let f be a map from V (G) to {1, 2, ${\ldots}$, p}. For each edge uv, assign the label ${\mid}f(u)-f(\nu){\mid}$. f is called a difference cordial labeling if f is a one to one map and ${\mid}e_f(0)-e_f(1){\mid}{\leq}1$ where $e_f(1)$ and $e_f(0)$ denote the number of edges labeled with 1 and not labeled with 1 respectively. A graph with admits a difference cordial labeling is called a difference cordial graph. In this paper, we investigate the difference cordial labeling behavior of triangular snake, Quadrilateral snake, double triangular snake, double quadrilateral snake and alternate snakes.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.2 no.2 s.3
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• pp.85-95
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• 2003

This paper proposes a multiple moving objects tracking system which is adaptable itself to circumstances. Snake model is sensitive to the start position value because it does not accurately express contours of objects in complex image. It can be improved as the proposed system gets background images by using difference images, segments objects using neighborhood pixels and assesses the position feature values acquired on the start position value to deformable Snake model. And also the system can simplify complex background images and reduce search regions by the constituent points of a Snake laid in Positions of object. It is showed that the proposed system can be appBied to multiple moving vehicle racking systems by the experimental results of 30fps AVI file.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.4
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• pp.2757-2763
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• 2015

p-Snake is an energy minimizing algorithm that applies an additional prototype energy to the existing Active Contour Model and is used to extract the contour line in the area where the edge information is unclear. In this paper suggested the creation of a prototype energy field that applies a variable prototype expressed as a combination of circle and straight line primitives, and a fudge function, to improve p-Snake's contour extraction performance. The prototype was defined based on the parts codes entered and the appropriate initial contour was extracted in each primitive zones acquired from the pre-processing process. Then, the primitives variably adjusted to create the prototype and the contour probability based on the distance to the prototype was calculated through the fuzzy function to create the prototype energy field. This was applied to p-Snake to extract the contour from 100 images acquired from various small parts and compared its similarity with the prototype to find that p-Snake made with the adaptive prototype was about 4.6% more precise than the existing Snake method.

• Journal of KIISE:Software and Applications
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• v.33 no.1
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• pp.95-104
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• 2006

The Gradient Vector Flow (GVF) snake or active contour model offers the best performance for image segmentation. However, there are problems in classical snake models such as the limited capture range and the slow progress into concavity. This paper presents a new method for enhancing the performance of the GVF snake model by extending the external force fields from the neighboring fields and using a modified smoothing method to regularize them. The results on a simulated U-shaped image showed that the proposed method has larger capture range and makes it possible for the contour to progress into concavity more quickly compared with the conventional GVF snake model.

• Journal of Information Processing Systems
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• v.7 no.3
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• pp.519-530
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• 2011

A Snake is an active contour for representing object contours. Traditional snake algorithms are often used to represent the contour of a single object. However, if there is more than one object in the image, the snake model must be adaptive to determine the corresponding contour of each object. Also, the previous initialized snake contours risk getting the wrong results when tracking multiple objects in successive frames due to the weak topology changes. To overcome this problem, in this paper, we present a new snake method for efficiently tracking contours of multiple objects. Our proposed algorithm can provide a straightforward approach for snake contour rapid splitting and connection, which usually cannot be gracefully handled by traditional snakes. Experimental results of various test sequence images with multiple objects have shown good performance, which proves that the proposed method is both effective and accurate.

• The Journal of Korea Robotics Society
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• v.14 no.3
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• pp.196-202
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• 2019

Snake robots are slower than wheeled robots or legged robots, while they have an excellent terrainability in a disastrous area. Considering their advantages and disadvantages, a legged robot whose legs are snake robots, 'Quadnake' was proposed in this research. Five motions of the snake were analyzed. Applying these motions, Quadnake could implement eight kinds of motions which snake robots and quadruped walking robots can implement. As a result of it, Quadnake can have the advantages of both a snake robot and a walking robot. It is expected to move stably in a harsh terrain with snake's motion and move fast with walking.