• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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• pp.103-106
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• 2003

In this paper, we present a hybrid inertial and vision-based tracking system for VR applications. One of the most important aspects of VR (Virtual Reality) is providing a correspondence between the physical and virtual world. As a result, accurate and real-time tracking of an object's position and orientation is a prerequisite for many applications in the Virtual Environments. Pure vision-based tracking has low jitter and high accuracy but cannot guarantee real-time pose recovery under all circumstances. Pure inertial tracking has high update rates and full 6DOF recovery but lacks long-term stability due to sensor noise. In order to overcome the individual drawbacks and to build better tracking system, we introduce the fusion of vision-based and inertial tracking. Sensor fusion makes the proposal tracking system robust, fast, accurate, and low jitter and noise. Hybrid tracking is implemented with Kalman Filter that operates in a predictor-corrector manner. Combining bluetooth serial communication module gives the system a full mobility and makes the system affordable, lightweight energy-efficient. and practical. Full 6DOF recovery and the full mobility of proposal system enable the user to interact with mobile device like PDA and provide the user with natural interface.

• 제어로봇시스템학회논문지
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• 제12권3호
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• pp.248-254
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• 2006

It is necessary to improve the exactness and adaptation of the working environment for the intelligent robot system. The vision sensor have been studied for a long time at this points. However, it has many processes and difficulties for the real usages. This paper proposes a visual servoing in the virtual environment to support OLP(Off-Line-Programming) path compensation and supplement the problem of complexity of the old kinematical calibration. Initial robot path could be compensated by pixel differences between real and virtual image. This method removes the varies calibrations and 3D reconstruction process in real working space. To show the validity of the proposed approach, virtual space servoing with stereo camera is carried out with WTK and openGL library for a KUKA-6R manipulator and updated real robot path.

• 대한전기학회논문지:시스템및제어부문D
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• 제50권10호
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• pp.486-493
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• 2001

Acrophobia is an abnormal fear of heights. Medications or cognitive-behavior methods have been mainly used as a treatment. Lately the virtual reality technology has been applied to that kind of anxiety disorders. A virtual environment provides patient with stimuli which arouses phobia, and exposing to that environment makes him having ability to over come the fear. In this study, the elevator stimulator that composed with a position sensor, head mount display, and audio system, is suggested. To illustrate the physiological difference between a person who has a feel of phobia and without phobia, heart rate was measured during experiment. And also measured a person's HR after the virtual reality training and in a real building elevator. In this study, we demonstrated the subjective effectiveness of virtual reality psychotherapy through the clinical experiment.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권3호
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• pp.206-214
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• 2005

In these days the virtual reality technology has been applied to treat such an anxiety disorders. And also a medical doctor can diagnose the patient in distance with the telemedicine system. In this thesis, an telemedicine assistant system for treatment of acrophobia using biomedical signals and virtual reality technique is proposed. I made two virtual reality simulations for treatment of acrophobia and telemedicine system for communication between doctor and patient using personal computer. Multimedia conference service, online questionary, signal transfer system are needed to configure such system. Virtual reality simulation system that composed of position sensor, head mount display, and audio system, is also included in this telemedicine system. I added virtual environment update system to this virtual reality telemedicine system for treatment of acrophobia. With this virtual environment update system, the doctors can change virtual reality simulation stage based on the status of each patient and symptom of phobia. We will apply this system to the acrophobia patient in distance and be able to offer better medical treatment for mental illness in near future.

• 인터넷정보학회논문지
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• 제7권4호
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• pp.45-55
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• 2006

본 논문에서는 현장감 있는 모의훈련을 위해 가상영상이 아닌 지상기반 CCD 카메라영상에 지정된 시나리오대로 가상표적을 전시하는 방법을 제안한다. 이를 위해 고해상도 GeoTIFF(Geonraphic Tag Image File Format) 위성영상과 DTED(Digital Terrain Elevation Data)를 이용하여 현실감 있는 3차원 모델을 생성(운용자용)하고 입력된 CCD 영상(운용자 훈련자용)으로부터 도로를 추출하였다. 그러나 위성영상과 지상기반 센서영상은 관측위치, 분해능, 스케일 등에 많은 차이가 있어 특징기반 정합이 어렵다. 따라서 본 논문에서는 영상 워핑함수인 TPS(Thin-Plate Spline) 보간 함수를 일치하는 두 개의 제어점 집합에 적용하여 3차원 모델에 표시된 이동경로를 따라 CCD 영상에도 표적을 전시하는 이동 동기화 방법을 제안하였다. 실험에서는 대전지역의 위성영상과 CCD 영상을 이용하여 제안한 알고리즘의 유효성을 입증하였다.

• 한국컴퓨터정보학회논문지
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• 제26권2호
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• pp.125-132
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• 2021

본 논문에서 혼합현실에서 공동 작업을 위한 환경 구축에 대한 연구와 웨어러블 IOT 디바이스와 연동하기 위한 방법을 제안한다. 혼합현실은 가상현실과 증강현실의 혼합되어진 형태로서 실세계와 가상세계의 물체가 동시에 보이고, 가상현실과 달리 멀미 현상이 일어나지 않고 무선 방식이라 산업현장에서 적용될 기술로 주목 받고 있다. 마이오 웨어러블 디바이스는 삼축 센서, 근전도 센서, 가속도 센서를 이용하여 팔의 회전 트래킹과 손 제스처 인식을 가능하게 하는 디바이스이다. 혼합현실 관련 다양한 연구가 진행되고 있지만 여러 사람이 함께 혼합 현실 참여할 수 있는 환경 구축, 가상 객체를 직접 손으로 조작하는 것에 대한 논의는 미비한 상황이다. 본 논문에서는 실제 산업 현장에서 혼합 현실을 적용하기 위해 공동 작업이 가능한 환경 구축 방법에 대해 연구하였고, 상호작용이 원활하게 이루어지기 위한 인터랙션 방법에 대해 논의하였다. 그 결과 2인이 동시에 혼합현실 환경에 참여하여 객체에 대한 일원화된 객체를 공유할 수 있었고, 마이오 웨어러블 인터페이스 장비를 가지고 각자 인터랙션 할 수 있는 환경을 조성하였다.

• 정보처리학회논문지C
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• 제16C권4호
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• pp.505-510
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• 2009

무선 센서망은 전력공급이 제한적인 센서 노드들로 구성됨으로, 에너지 비용의 최소화는 망의 수명 연장을 위해 매우 중요하다. 그러나 다수의 사건(event)과 싱크(sink)가 이동하는 환경에서 에너지 비용이 증가한다. 이는 센서 노드들과 싱크들간의 데이터 전달을 위한 라우팅 정보가 빈번히 갱신되어야 하는 문제가 있다. 즉, 싱크의 이동성을 지원하기 위한 라우팅 방안은 이동 싱크에게 끊임없이 데이터를 전달해 주어야 할 뿐만 아니라, 망 내 센서 노드들의 에너지비용을 충분히 고려해야 한다. 하지만 기존 연구들은 싱크와 소스의 이동성을 고려하지 않는 환경에서의 에너지 평준화에 초점을 둔다. 본 논문은 다중 가상 그리드 기법을 이용하여 이동성을 고려한 에너지비용 및 데이터 전송률에 있어 효율적인 라우팅 프로토콜을 제안한다. 그리고 실험을 통해 제안한 프로토콜이 데이터 전송률, 시간지연, 그리고 에너지 비용에 있어서 기존 연구 된 프로토콜들에 비해 성능의 우수함을 입증한다.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2007년도 춘계종합학술대회
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• pp.470-473
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• 2007

Wireless Sensor Networks (WSNs) have merged to become one of the most promising applications of wireless ad hoc networks. A defer timer has been used in some of existing network protocols to solve a set of problems in WSNs. We first investigate the use of a defer timer to fully take the advantage of it in WSNs. We demonstrate that by properly setting up the defer timers, many difficult issues in sensor networks, such as power limitation, the broadcast storm problem, and the construction of the virtual backbone, can be easily tackled with only the help of simple localized information at each node. In this paper, we present the power of a defer timer in the design of dominating set construction protocol for broadcasting. The ns 2 computer simulations are carried out for performance study.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제13권10호
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• pp.4940-4957
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• 2019

Compared with the localization methods in the static sensor networks, node localization in dynamic sensor networks is more complicated due to the mobility of the nodes. Dynamic Sampling Localization Algorithm Based on Virtual Anchor (DSLA) is proposed in this paper to localize the unknown nodes in dynamic sensor networks. Firstly, DSLA algorithm predicts the speed and movement direction of nodes to determine a sector sampling area. Secondly, a method of calculating the sampling quantity with the size of the sampling area dynamically changing is proposed in this paper. Lastly, the virtual anchor node, i.e., the unknown node that got the preliminary possible area (PLA), assists the other unknown nodes to reduce their PLAs. The last PLA is regarded as a filtering condition to filter out the conflicting sample points quickly. In this way, the filtered sample is close to its real coordinates. The simulation results show that the DSLA algorithm can greatly improve the positioning performance when ensuring the execution time is shorter and the localization coverage rate is higher. The localization error of the DSLA algorithm can be dropped to about 20%.

• 대한전기학회논문지:시스템및제어부문D
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• 제52권4호
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• pp.252-257
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• 2003

Acrophobia is an abnormal fear of heights. Medications or cognitive-behavior methods have been mainly used as a treatment. Lately the virtual reality technology has been applied to that kind of anxiety disorders. A virtual environment provides patient with stimuli which arouses phobia, and exposing to that environment makes him having ability to over come the fear. Recently, the patient can take diagnose from a medical doctor in distance with the telemedicine system. The hospital and doctors can get the medical data, audio, video, signals in the actual examination room or operating room via a live interactive system. Audio visual and multimedia conference service, online questionary, ECG signal transfer system, update system are needed in this system. Virtual reality simulation system that composed with a position sensor, head mount display, and audio system, is also included in this telemedicine system. In this study, we tried this system to the acrophobia patient in distance.