• 대한기계학회논문집A
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• 제29권1호
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• pp.1-13
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• 2005

Kinematics of grasping and manipulation by a multi-fingered robotic hand where multi-fingertip surfaces are in contact with an object is solved. The surface of the object was represented by B-spline surfaces in order to model the objects of various shapes. The fingers were modeled by cylindrical links and a half ellipsoid fingertip. Geometric equations of contact locations have been solved for all possible contact combinations between the fingertip surface and the object. The simulation system calculated joint displacements and contact locations for a given trajectory of the object. Since there are no closed form solutions for contact or intersection between these surfaces, kinematics of grasping was solved by recursive numerical calculation. The initial estimate of the contact point was obtained by approximating the B-spline surface to a polyhedron. As for the simulation of manipulation, exact contact locations were updated by solving the contact equations according to the given contact states such as pure rolling, twist-rolling or slide-twist-rolling. Several simulation examples of grasping and manipulation are presented.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제16권2호
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• pp.104-110
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• 2016

Dense local image descriptors like SIFT are fruitful for capturing salient information about image, shown to be successful in various image-related tasks when formed in bag-of-words representation (i.e., histograms). In this paper we consider to utilize these dense local descriptors in the object tracking problem. A notable aspect of our tracker is that instead of adopting a point estimate for the target model, we account for uncertainty in data noise and model incompleteness by maintaining a distribution over plausible candidate models within the Bayesian framework. The target model is also updated adaptively by the principled Bayesian posterior inference, which admits a closed form within our Dirichlet prior modeling. With empirical evaluations on some video datasets, the proposed method is shown to yield more accurate tracking than baseline histogram-based trackers with the same types of features, often being superior to the appearance-based (visual) trackers.

• 산업경영시스템학회지
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• 제31권3호
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• pp.1-7
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• 2008

This paper proposes an object-oriented software development guidance and an evaluation index for the productivity related to EJB(Enterprise JavaBeans). EJB is a known successful standard model for LSDO(Large Size Distributed Object). However, there is no comparison research about the performance of EJB 2.0 and 3.0 with same identical platform. Quantitative analysis is supported as a part of LOC(Line Of Code) analysis. There is a limit to develop the updated software with no the specific evaluating index for the productivity of software. This work proposes an specific index for evaluating the productivity of new version EJB on a platform. Base on the result, the specific guidance of the developing software is obtained.

• 로봇학회논문지
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• 제14권2호
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• pp.104-113
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• 2019

Object manipulation in cluttered environments remains an open hard problem. In cluttered environments, grasping objects often fails for various reasons. This paper proposes a novel task and motion planning scheme to grasp objects obstructed by other objects in cluttered environments. Task and motion planning (TAMP) aims to generate a sequence of task-level actions where its feasibility is verified in the motion space. The proposed scheme contains an open-loop consisting of three distinct phases: 1) Generation of a task-level skeleton plan with pose references, 2) Instantiation of pose references by motion-level search, and 3) Re-planning task based on the updated state description. By conducting experiments with simulated robots, we show the high efficiency of our scheme.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제6권3호
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• pp.264-269
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• 2006

This paper presents the strategy for searching a hidden object in an unknown area for using by multiple distributed autonomous robotic systems (DARS). To search the target in Markovian space, DARS should recognize th ε ir surrounding at where they are located and generate some rules to act upon by themselves. First of all, DARS obtain 6-distances from itself to environment by infrared sensor which are hexagonally allocated around itself. Second, it calculates 6-areas with those distances then take an action, i.e., turn and move toward where the widest space will be guaranteed. After the action is taken, the value of Q will be updated by relative formula at the state. We set up an experimental environment with five small mobile robots, obstacles, and a target object, and tried to research for a target object while navigating in a un known hallway where some obstacles were placed. In the end of this paper, we present the results of three algorithms - a random search, an area-based action making process to determine the next action of the robot and hexagon-based Q-learning to enhance the area-based action making process.

• 산업경영시스템학회지
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• 제44권4호
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• pp.186-192
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• 2021

Recently, the demand for more precise and demand-oriented customized spatial information is increasing due to the 4th industrial revolution. In particular, the use of 3D spatial information and digital twins which based on spatial information, and research for solving social problems in cities by using such information are continuously conducted. Globally, non-face-to-face services are increasing due to COVID-19, and the national policy direction is also rapidly progressing digital transformation, digitization and virtualization of the Korean version of the New Deal, which means that 3D spatial information has become an important factor to support it. In this study, physical objects for cities defined by world organizations such as ISO, OGC, and ITU were selected and the target of the 3D object model was limited to buildings. Based on CityGML2.0, the data collected using a drone suitable for building a 3D model of a small area is selected to be updated through road name address and building ledger, which are administrative information related to this, and LoD2.5 data is constructed and urban space. It was intended to suggest an object update method for a 3D building among data.

• 한국측량학회지
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• 제26권5호
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• pp.537-546
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• 2008

현재의 수치지도는 기존의 5년 주기로 일괄 갱신하던 체계에서 2008년도부터 광역도시권 2년, 기타권역 4년 주기로 갱신하도록 결정되었으나 일괄적으로 갱신함에 따라 정확성 및 신뢰성이 저하되고 갱신이 지연되고 있는 실정이다. 대부분의 지방자치단체는 항공사진측량을 통해 수치지도를 일괄적으로 갱신하고 있으나, 항공사진측량에 의한 일괄갱신은 예산이 많이 소요되며, 다음 갱신이 이루어지기 까지는 변경내용이 수치지도에 반영되지 못하는 등의 문제가 발생되고 있다. 따라서 본 연구에서는 국가에서 제작하고 있는 수치지도에 필요한 정보를 제공하고 매년 수치지도 갱신을 위해 중복투자가 발생하는 국가 및 지자체의 예산을 절감하기 위하여 객체기반의 수치지도 수시갱신 시스템을 개발하였다. 또한, 개발된 시스템의 효용성을 분석하기 위하여 대상지역을 선정하였고 갱신 오류를 분석하였으며 분석결과 검수된 66개의 오류를 수정하고 DB에 저장하였다.

• 방송공학회논문지
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• 제7권3호
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• pp.248-261
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• 2002

본 논문에서는 스테레오 비젼 시스템의 3차원 정보에 의해 가변되는 윈도우 마스크와 광 BPEJTC(binary phase extraction joint transform correlator)를 이용하여 스테레오 카메라를 제어하는 새로운 3차원 물체추적 시스템을 제안하였다. 즉, 스테레오 비젼 시스템의 구성 요소에 의해 3차원 정보인 추적 물체까지의 거리 정보를 쉽게 구할 수 있고, 이 거리 정보로 윈도우 마스크를 가변 시켜 추적물체 영역을 추출할 수 있다. 이 추적물체 영역은 다음 기준영상으로 갱신하여 사용된다. 그리고 이 기준영상과 스테레오 입력 영상간에 광 BPEJTC를 실행하여 추적 물체의 위치 값을 구하고. 이 값으로 스테레오 카메라의 주시각과 팬/틸트를 제어하여 3차원 물체추적이 이루어진다. 실험 결과 제안한 알고리즘은 스테레오 입력 영상에서 배경잡음과 관계없이 추적 물체영역을 추출하여 3차원 물체추적이 가능하고, 이의 구현으로 3차원 원격작업 시스템이나 적응적인 3차원 물체 추적기 등의 구현 가능성을 제시하였다.

• 한국컴퓨터정보학회논문지
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• 제8권1호
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• pp.51-59
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• 2003

분산 객체 복제 시스템에서 노드들이 공유하는 객체는 동일 내용을 복수 노드에 위치시키는 것이 효율적이다. 노드들은 시스템에 접근시 접근 정보를 자신의 지역 캐시에 저장해 두었다가 필요시에 인출해서 사용한다. 그러나 시간이 지나감에 따라 다른 노드들에 의해서 데이터의 갱신이 이루어지기 때문에 일관성 문제가 발생한다. 따라서 시스템의 일관성 유지를 통해 성능 및 가용성을 높이기 위해서는 객체를 효율적으로 관리하는 메커니즘이 필요하다. 본 논문에서는 공유 메모리 환경에서 일관성 유지를 위해 객체 관리시 기존의 중복 기법에서 사용하는 일관성 비용 외에 부가 비용이 없이도 제한적으로 병렬 수행의 효과를 얻으며, 또한 중복 기법에서 가장 큰 오버헤드로 알려진 일관성 유지비용을 최소화시키기 위하여 이 비용을 결정하는 가장 핵심적인 요소인 객체 복제본의 수와 위치 그리고 각 객체 사이의 상관도를 고려하여 객체를 효율적으로 관리하고, 전체 수행 시간을 개선시키는 적응적 중복 객체 관리 메커니즘을 연구한다.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 1996년도 Proceedings International Workshop on New Video Media Technology
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• pp.83-87
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• 1996

A virtual reality system using video image is designed and implemented. A participant having 2{{{{ { 1} over { 2} }}}}DOF can interact with the computer-generated virtual object using her/his full body posture and gesture in the 3D virtual environment. The system extracts the necessary participant-related information by video-based sensing, and simulates the realistic interaction such as collision detection in the virtual environment. The resulting scene obtained by compositing video image of the participant and virtual environment is updated in near real time.