• The Journal of Korean Institute of Communications and Information Sciences
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• v.41 no.10
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• pp.1247-1255
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• 2016

The safety and autonomous flight function of micro UAV or drones is crucial to its commercial application. The requirement of own building stable drones is still a non-trivial obstacle for researchers that want to focus on the intelligence function, such vision and navigation algorithm. The paper present a GCS using commercial drone and hardware platforms, and open source software. The system follows modular architecture and now composed of the communication, UI, image processing. Especially, lane-keeping algorithm. are designed and verified through testing at a sports stadium. The designed lane-keeping algorithm estimates drone position and heading in the lane using Hough transform for line detection, RANSAC-vanishing point algorithm for selecting the desired lines, and tracking algorithm for stability of lines. The flight of drone is controlled by 'forward', 'stop', 'clock-rotate', and 'counter-clock rotate' commands. The present implemented system can fly straight and mild curve lane at 2-3 m/s.

• Korean Journal of Family Social Work
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• no.56
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• pp.5-38
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• 2017

This research is conducted through a qualitative methodology, and it aimed for understanding of the generalized structure of getting-together experiences from South Korean who had conversations with North Korean refugees for a long term. As a result, the study, which includes the experiences along with consideration of both contexts and timeline, shows that 'One Korean but divided into South and North', 'Synthesize of water and oil', 'Different from us', 'Understand relativism and deal with it', 'Limitation as an one race: Living different ways on a peninsula' and 'Parallel horizons: Heading to vanishing point' are the key concepts. By understanding these keys, it was able to figure out how their consciousness and acts have been developed in a long term perspective, and thus, we suggest alternative solutions that can be practiced by social workers.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.37 no.6
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• pp.25-37
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• 2000

The trajectories of feature points can be defined by the correspondences between points in consecutive frames. The correspondence problem is known to be difficult to solve because false positives and false negatives almost always exist in real image sequences. In this paper, we propose a robust feature tracking algorithm considering incomplete trajectories such as entering and/or vanishing trajectories. The trajectories of feature points are determined by calculating the matching measure, which is defined as the minimum weighted Euclidean distance between two feature points. The weights are automatically updated in order to properly reflect the motion characteristics. We solve the correspondence problem as an optimal graph search problem, considering that the existence of false feature points may have serious effect on the correspondence search. The proposed algorithm finds a local optimal correspondence so that the effect of false feature point can be minimized in the decision process. The time complexity of the proposed graph search algorithm is given by O(mn) in the best case and O($m^2n$) in the worst case, where m and n arc the number of feature points in two consecutive frames. By considering false feature points and by properly reflecting motion characteristics, the proposed algorithm can find trajectories correctly and robustly, which has been shown by experimental results.

• Art History and Visual Culture
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• no.21
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• pp.126-147
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• 2018

This paper is to find the theme and meaning of the Beauvais Grotesque tapestry considered a conundrum. The three works are chosen from Beauvais Grotesque consisting of six tapestries, which are The Offering to Pan, The Musician and Dancers, The Camel in the J. Paul Getty Museum. I analyzed these works by dividing them into grotesque ornaments, chinoiserie motifs, and scenography. The Offering to Pan shows the influence of Raphael's Grotesque tapestry, but Beauvais work followed the design of Jean Berain's Grotesque with arabesque. In The Musician and Dancers, chinese ceramics, textiles, and Chinese people in edge were noted. Especially, the Chinese with yellow skin in the border reveals the European gaze on China at that time. In the 18th century, Chinoiserie was prevalent through stage designs rather than books. The Camel, playing Brighella, makes it clear that this tapestry is a stage of Comedia dell'arte. The characteristic of Comedia is a mixture of genres such as music and dance, with no scripting 'improvisation.' Features of Comedia are 'improvisation' without a script and a mixture of genres such as music and dance. Thus, the Grotesque tapestry transfers the stage of the Comedia into threads woven. In addition, the horizontal stage decoration with the disappearance of the perspective vanishing point is related to the era of regent of Philippe d'Orl?ans (1674-1723). Above all, the grotesque, Chinoiserie, and scenography are all fantasies separated from reality. Therefore, the Beauvais Grotesque tapestry represents of 'improvisation' and 'fantasy' in which there is no narrative theme or meaning, as if the script of Comedia did not exist.

• Journal of Korean Philosophical Society
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• v.123
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• pp.347-377
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• 2012

We have numerous terms representing mind. We can understand them largely as the relationship of 'Discernible Mind' and 'Indiscernible Mind.' Because, our understanding mind is formed by linguistic discernment. When any discernment arise from our mind, we recognize the mind shown by discernment[Discernible Mind]. At the same time, we can think orignal mind[Indiscernible Mind] outside that discernment. Buddhism, generally, has understood mind in the relation with everything. That is to say, they have understood it from the perspective of dependent co-arising. In the early Buddhism and the abhidharma Buddhism, approaches to mind were mainly made by the discerning method. They explained arising and vanishing of 'Discernible Mind' by the law of dependent arising. Co-arisen 'Discernible Mind' is impermanent and temporary. But they never be denied on 'Discernible Mind' as an vainness. In $Mah{\bar{a}}y{\bar{a}}na$ Buddhism, $N{\bar{a}}garjuna$ understood the essence of dependent arising as the ${\acute{s}}{\bar{u}}nyata$ (emptiness) and the law of dependent arising as simultaneous dependence, not gradual dependences. $N{\bar{a}}garjuna$ criticized on vainness of Discernible Mind through ${\acute{s}}{\bar{u}}nyata$, and made possible to directly perceive Indiscernible Mind, before Discernment. Undiscriminating Mind can not be explained for being stayed beyond the state linguistic discernment(false discrimination), however, had been approached from various other names to potential consciousness or original nature. While ${\acute{s}}{\bar{u}}nata$ thought focused on criticizing vainness of discernment, Hwaeum thought suggested aspect of Indiscernible mind from the aspect of $ekay{\bar{a}}na$ dependant co-arising that everything has been co-arisen, the truth of discrimination. Furthermore, it opened the path to affirm the both indiscernible mind and discernible mind by illuminating that everything is manifestation of original nature itself, i.e. nature-arising. Hwaeum thought focused on perfect understanding by explicating the relation both indiscernible mind and discernible mind from the view point of non-abiding, rather than clarifying 'Discernible Mind' and 'Indiscernible Mind', itself. That is to say, from the aspect of dependant co-arising, Hwaeum thought plays a role that enters the indiscernible world from discernible world, and also, another role, from the aspect of nature-arising that is manifesting discernible world from indiscernible world. These aspects are important for righteous understanding on mind, and also simultaneously, very effective for healing disease of obsession, a kind of metal disease.