• 대한전자공학회논문지SP
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• 제41권5호
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• pp.53-62
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• 2004

본 연구에서는 화상평면내 미지 호흡운동에 의한 MRI 아티팩트를 수정하기 위한 개선된 후처리 기법을 제안한다. 호흡운동은 2차원의 선형확대축소 운동으로 모델화 된다 신체조직을 비압축성 유체모양의 물질로 가정할 때 촬상 대상물체에 대한 단위체적당 푸로톤 밀도는 일정하다고 가정한다. 적용한 모델에 의하면 호흡운동은 위상오차와 불균일 표본화 및 진폭변조왜를 MRI 데이터에 부여한다. 운동파라메타가 알려져 있거나 추정가능하다고 할 때 양선형 중첩법에 기초한 재구성 알고리즘이 MRI 아티팩트를 수정하기 위해 사용된다. 운동 파라메타가 미지인 경우 스펙트럼 이동법을 적용해서 호흡변동함수와 x 방향 확대계수 및 x 방향 확대중심을 추정한다. 다음으로 에너지 최소법을 이용해서 y 방향 확대계수 및 y 방향 확대중심을 추정한다. 최종적으로 시뮬레이션된 체동화상을 통해서 제안한 본 방법의 유효성을 확인한다.

• 센서학회지
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• 제16권3호
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• pp.211-219
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• 2007

This paper describes the development of 6-axis force/moment sensor for a humanoid robot. In order to walk on uneven terrain safely, the robot's foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself, and be controlled by the foot using the forces and moments. Also, in order to grasp unknown object safely, the robot's hand should perceive the weight of the object using the mounted 6-axis force/moment sensor to its wrist, and be controlled by the hand using the forces and moments. Therefore, 6-axis force/moment sensor should be necessary for a humanoid robot's hand and foot. In this paper, 6-axis force/moment sensor for a humanoid robot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing element of the sensor was designed using theoretical analysis. Then, 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, and the characteristic test of the developed sensor was carried out. The rated outputs from theoretical analysis agree well with the results from the experiments.

• 전자공학회논문지B
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• 제33B권1호
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• pp.15-24
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• 1996

본 논문은 로봇 매니퓰레이터의 엔드 이펙터(end-effector)에 부착된 스테레오 카메라를 사용하여 움직이는 물체의 초기자세나 이동에 관한 정보가 미지인 3차원 물체의 파지(grasping)를 위해서, 로봇 매니퓰레이터의 자세(위치 및 방위)제어에 관한 새로운 비주얼 서보잉(visual servoing)을 제안한다. 로봇 매니퓰레이터의 현재의 자세를 목표자세에 잘 추적하기 위해서 본 논문에서는 카메라 자세에 대한 대상물체의 자세변화와 이미지상의 특정점 변화를 기술하는 관계식인 이미지 Jacobian을 미분변환을 이용하여 구했으며, 로봇 매니퓰레이터의 제어를 위해서는 간단한 PD제어기를 사용하였다. 마지막으로 다양한 컴퓨터 시뮬레이션을 통하여 제안한 수법의 유효성을 확인했다.

• 대한의용생체공학회:학술대회논문집
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• 대한의용생체공학회 1997년도 추계학술대회
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• pp.541-545
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• 1997

This paper presents a modified geometric active contour model or edge detection and segmentation of computed tomography(CT) scan images. The method is based on the level setup approach developed by Osher and Sethian and the modeling of propagation fronts with curvature dependent speeds by Malladi. Based on above algorithms, the geometric active contour is obtained through a particular level set of hypersurface lowing along its gradient force and curvature force. This technique retains the attractive feature which is topological and geometric flexibility of the contour in recovering objects with complex shapes and unknown topologies. But there are limitations in this algorithm which are being not able to separate the object with weak difference from neighbor object. So we use speed limitation filter to overcome those problems. We apply a 2D model to various synthetic cases and the three cases of real CT scan images in order to segment objects with complicated shapes and topologies. From the results, the presented model confirms that it attracts very naturally and efficiently to the desired feature of CT scan images.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권3호
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• pp.156-165
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• 2005

Human being recognizes the physical world by integrating a great variety of sensory inputs, the information acquired by their own action, and their knowledge of the world using hierarchically parallel-distributed mechanism. In this paper, authors propose the sensor fusion system that can recognize multiple 3D objects from 2D projection images and tactile informations. The proposed system focuses on improving recognition performance of 3D objects. Unlike the conventional object recognition system that uses image sensor alone, the proposed method uses tactual sensors in addition to visual sensor. Neural network is used to fuse the two sensory signals. Tactual signals are obtained from the reaction force of the pressure sensors at the fingertips when unknown objects are grasped by four-fingered robot hand. The experiment evaluates the recognition rate and the number of learning iterations of various objects. The merits of the proposed systems are not only the high performance of the learning ability but also the reliability of the system with tactual information for recognizing various objects even though the visual sensory signals get defects. The experimental results show that the proposed system can improve recognition rate and reduce teeming time. These results verify the effectiveness of the proposed sensor fusion system as recognition scheme for 3D objects.

• 한국정밀공학회지
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• 제21권3호
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• pp.51-58
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• 2004

This paper describes the development of a small 6-axis force/moment sensor for robot's finger, which measures farces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In order to safely grasp an unknown object using the robot's gripper, and accurately perceive the position of it in the gripper, it should measure the force in the gripping direction, the force in the gravity direction and the moments each direction, and perform the force control using the measured forces and moments. Also, it should detect the moments Mx (x-direction moment), My and Mz to accurately perceive the position of the object in the grippers. Thus, the robot's gripper should be composed of 6-axis force/moment sensor that can measure forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In this paper, the small 6-axis force/moment sensor for measuring forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test for the developed sensor was performed, and the result shows that intereference errors of the developed sensor are less than 4.23％. Thus, the developed small 6-axis force/moment sensor may be used a robot's gripper.

• 전기전자학회논문지
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• 제5권2호
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• pp.153-163
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• 2001

전기 임피던스 단층촬영법은 물체 표면의 전극을 통하여 전류를 주입하고 유기된 전압을 측정한 후, 물체 단면의 저항을 분포를 복원하는 기법이다. 본 논문에서는, 대상물체의 저항을 값의 분포가 급변하는 상황에 대한 동적 전기저항 단층활영법을 제안하였다. 특히, 복원 성능을 개선하기 위하여 물체 내부의 구조를 전극으로 사용하였으며, 비 선형 역문제를 상태 추정문제로 설정하여 확장 칼만필터를 이용하여 상태변수(저항율)를 추정하였다. 또한 역문제의 부정치성을 완화시키기 위하여 수정된 Tikhonov 조정기법을 비용함수에 도입하였다. 제안된 알고리즘의 성능을 분석하기 위해 컴퓨터 시뮬레이션을 수행했으며, 기존의 방법들에 비해 개선된 결과를 얻었다.

• 한국지능시스템학회논문지
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• 제18권2호
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• pp.187-192
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• 2008

본 논문은 실내외 공간에서 인간을 포한함 이동물체의 영상정보를 이용하여 이동로봇의 자기위치를 인식하기 위한 방법을 제시하고 있다. 제시한 방법은 로봇자체의 DR센서 정보와 카메라에서 얻은 영상정보로부터 로봇의 위치추정방법을 결합한 것이다. 그리고 이동물체의 이전 위치정보와 관측 카메라의 모델을 사용하여 이동물체에 대한 영상프레임 좌표와 추정된 로봇위치간의 관계를 표현할 수 있는 식을 제시하고 있다. 또한 이동하는 인간과 로봇의 위치와 방향을 추정하기 위한 제어방법을 제시하고 이동로봇의 위치를 추정하기 위해서 칼만필터 방법을 적용하였다. 그리고 시뮬레이션 및 실험을 통하여 제시한 방법을 검증하였다.

• 제어로봇시스템학회논문지
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• 제22권1호
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• pp.24-30
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• 2016

The accuracy of small and low-cost CCD cameras is insufficient to provide data for precisely tracking unmanned aerial vehicles (UAVs). This study shows how a quad rotor UAV can hover on a human targeted tracking object by using data from a CCD camera rather than imprecise GPS data. To realize this, quadcopter UAVs need to recognize their position and posture in known environments as well as unknown environments. Moreover, it is necessary for their localization to occur naturally. It is desirable for UAVs to estimate their position by solving uncertainty for quadcopter UAV hovering, as this is one of the most important problems. In this paper, we describe a method for determining the altitude of a quadcopter UAV using image information of a moving object like a walking human. This method combines the observed position from GPS sensors and the estimated position from images captured by a fixed camera to localize a UAV. Using the a priori known path of a quadcopter UAV in the world coordinates and a perspective camera model, we derive the geometric constraint equations that represent the relation between image frame coordinates for a moving object and the estimated quadcopter UAV's altitude. Since the equations are based on the geometric constraint equation, measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the quadcopter UAV. The Kalman filter scheme is applied for this method. Its performance is verified by a computer simulation and experiments.

• 영어영문학
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• 제53권2호
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• pp.219-241
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• 2007

This study takes its point of departure from Lacanian psychoanalysis and explores the point that an irremediable gap in the human subject can be illuminated in terms of the Lacanian categories, fantasy, symptom, gaze or voice as cause of desire of the Other. With respect to the category of the symptom, Lacan claims that the Other is always already there in the constitution of the subject, that is, the relation of the subject to the Other that is overwhelming as well as attracting the subject. Chapter II deals with the unthought, excessive ground of the conscious that borders on the subject, as is the case of self-excentric aspect of the man. Indeed, in Lacan's early work, the subject is essentially a relationship to the Other as desire(objet petit a), and there is no such thing as a symptom or fantasy without some subjective involvement. Lacanian unknown real, perpetual excess as the cause of desire animates the subject even as it threatens to blast it apart. The structures that establish the lines of desire in every individual are derived from an ineluctably intersubjective field. The Other is always already there in the constitution of the subject. In the final years of Lacan's teaching we find a kind of universalization of the symptom and almost everything that is becomes in a way symptom. Symptom, embodied in Laura in "Goblin Market," is her only substance, the only positive support of her being. By looking at the Laura's symptom in chapter III we gain an insight into the forbidden domain, into a real space that should be left unseen and unthought. The voice of goblin men therefore functions as a sublime object that is animating as well as dominating element even as it threatens to disintegrate the subject. Objet petit a as a sublime object that must be excluded in reality returns in the real, taking on a certain materiality which has an effect on Laura, that is, animates Laura's desire. Objet petit a is a real object, signifying nothing. In conclusion, the theoretical importance of Lacanian psychoanalysis is the relation between a subject and an Other as Objet petit a.