• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.457-462
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• 2005

Industrial and economical importance of CP(Cellular Phone) is growing rapidly. Combined with IT technology, CP is currently one of the most attractive technologies for all. However, unless we find a breakthrough to the technology, its growth may slow down soon. RT(Robot Technology) is considered one of the most promising next generation technology. Unlike the industrial robot of the past, today's robots require advanced technologies, such as soft computing, human-friendly interface, interaction technique, speech recognition, object recognition, and many others. In this study, we present a new technological concept named RCP(Robotic Cellular Phone), which combines RT & CP, in the vision of opening a new direction to the advance of CP, IT, and RT all together. RCP consists of 3 sub-modules. They are $RCP^{Mobility}$, $RCP^{Interaction}$, and $RCP^{Interaction}$. $RCP^{Mobility}$ is the main focus of this paper. It is an autonomous navigation system that combines RT mobility with CP. Through $RCP^{Mobility}$, we should be able to provide CP with robotic functionalities such as auto-charging and real-world robotic entertainments. Eventually, CP may become a robotic pet to the human being. $RCP^{Mobility}$ consists of various controllers. Two of the main controllers are trajectory controller and self-localization controller. While Trajectory Controller is responsible for the wheel-based navigation of RCP, Self-Localization Controller provides localization information of the moving RCP. With the coordinate information acquired from RFID-based self-localization controller, Trajectory Controller refines RCP's movement to achieve better RCP navigations. In this paper, a prototype system we developed for $RCP^{Mobility}$ is presented. We describe overall structure of the system and provide experimental results of the RCP navigation.

• Journal of Korean Biological Nursing Science
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• 제22권4호
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• pp.232-248
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• 2020

Purpose: The purpose of this study was to develop and apply a motivation-strengthening obesity management program for obese subjects with visual impairment and evaluate its effects. Methods: The program development and evaluation periods were from March to August 2018. The study design was an experimental study of non-equality, control repeat design. 25 subjects in the experimental group participated in the 12-week obesity management program and the 26 people in the control group did not. Results: The motivation-strengthening obesity management program included stretching exercises for 30 minutes in the morning five times a week. In addition, counseling, education, and group discussions were continued once a week for motivational strengthening. Special custom exercises for blind patients were also completed once a week simultaneously. Both of these activities were continued for 50 minutes a week for a total of 12 weeks. Measurements were recorded periodically to identify the sustained effects of the program. The obese subjects with visual impairment improved their knowledge of obesity, perceived disability, self-efficacy of exercise, and quality of life related to obesity through the motivational obesity management program. Waist circumference, systolic blood pressure, diastolic blood pressure, and fasting blood sugar were also improved in obese subjects. Conclusion: The study findings indicate that this program could be an active intervention for the control of weight gain in participants with visual impairment. Therefore, the motivation-strengthening program based on the ADDIE (Analysis, Design, Development, Implementation& Evaluation) model could be an effective strategy for better health outcomes of obese subjects with visual impairment.

• 제어로봇시스템학회논문지
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• 제8권1호
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• pp.21-27
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• 2002

Inspection and shape measurement of three-dimensional objects are widely needed in industries for quality monitoring and control. A number of visual or optical technologies have been successfully applied to measure three-dimensional surfaces. However, those conventional visual or optical methods have inherent shortcomings such as occlusion and variant surface reflection. X-ray vision system can be a good solution to these conventional problems, since we can extract the volume information including both the surface geometry and the inner structure of any objects. In the x-ray system, the surface condition of an object, whether it is lambertian or specular, does not affect the inherent characteristics of its x-ray images. In this paper, we propose a three-dimensional x-ray imaging method to reconstruct a three dimensional structure of an object out of two dimensional x-ray image sets. To achieve this by the proposed method, two or more x-ray images projected from different views are needed. Once these images are acquired, the simultaneous algebraic reconstruction technique(SART) is usually utilized. Since the existing SART algorithms have several shortcomings such as low performance in convergence and different convergence within the reconstruction volume of interest, an advanced SART algorithm named as USART(uniform SART) is proposed to avoid such shortcomings and improve the reconstruction performance. Because, each voxel within the volume is equally weighted to update instantaneous value of its internal density, it can achieve uniform convergence property of the reconstructed volume. The algorithm is simulated on various shapes of objects such as a pyramid, a hemisphere and a BGA model. Based on simulation results the performance of the proposed method is compared with that of the conventional SART method.

• Design & Manufacturing
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• 제14권3호
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• pp.44-49
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• 2020

One of display trends today is development of high pixel density. To get high PPI, a small size of pixel must be developed. RGB pixel is arranged by evaporation process which determines pixel size. Normally, a fine metal mask (FMM; Invar alloy) has been used for evaporation process and it has advantages such as good strength, and low thermal expansion coefficient at low temperature. A FMM has been manufactured by chemical etching which has limitation to controlling the pattern shape and size. One of alternative method for patterning FMM is laser micromachining. Femtosecond laser is normally considered to improve those disadvantages for laser micromachining process due to such short pulse duration. In this paper, a femtosecond laser drilling for thickness of 16 ㎛ FMM is examined. Additionally, we introduce experimental results for controlling taper angle of hole by vibration module adapted in laser system. We used Ti:Sapphire based femtosecond laser with attenuating optics, co-axial illumination, vision system, 3-axis linear stage and vibration module. By controlling vibration amplitude, entrance and exit diameters are controllable. Using vibrating objective lens, we can control taper angle when femtosecond laser hole drilling by moving focusing point. The larger amplitude of vibration we control, the smaller taper angle will be carried out.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2006년도 춘계종합학술대회
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• pp.1001-1004
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• 2006

영상에서 잡음을 제거하기 위한 연구는 영상인식과 컴퓨터비젼 등과 같은 신호처리 분야에서 활발하게 진행되고 있으며, AWGN과 임펄스 잡음이 가장 대표적이다. 그리고 임펄스 잡음에는 salt & pepper와 random-valued 임펄스 잡음이 있으며, 이러한 임펄스 잡음을 제거하기 위해 SM 필터와 같은 비선형 필터가 이용된다. 그러나 기본적인 SM 필터는 영상의 에지영역에서 여전히 많은 오류를 발생시키고 있으며, 이와 같은 단점을 해결하기 위해 다양한 방법들이 연구되고 있다. 본 논문에서는 영상의 에지보존 성능이 우수한 임펄스 잡음 제거 알고리즘을 제안하였으며, 이때 noise detector를 이용하여 잡음을 검출한 후, min-max 연산에 기반한 잡음 제거 알고리즘을 적용하였고, 시뮬레이션을 통해 그 성능을 기존의 방법들과 비교하였다.

• 융합신호처리학회논문지
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• 제22권4호
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• pp.193-198
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• 2021

최근 4차 산업에 대한 관심으로 농업 분야의 벼농사에서 농민의 방제에 대한 요구수준이 증가하고 농업용 방제 드론의 관심과 활용이 증가하고 있다. 따라서 고농도의 농약을 살포하는 농업용 방제 드론 제품의 다양화와 드론 국가자격증 취득으로 인한 방제사의 증가로 인하여 드론 산업 분야에서 농업 분야가 급성장하고 있다. 세부 사업으로 농약 관리, 방제사 관리, 정밀살포, 방제 작업 물량 분류, 정산, 토양관리, 병충해 예찰 및 감시 등으로 방대한 빅데이터를 구축하고 데이터를 처리하기 위한 효과적인 플랫폼을 요구하고 있다. 그러나 데이터 분석알고리즘, 영상 분석 알고리즘, 생육 관리 알고리즘, AI 알고리즘 등 이를 통합하고 빅데이터를 처리하기 위한 모델과 프로그램 개발에 대한 국내외 연구는 미흡한 실정이다. 본 논문에서는 농업 분야에서의 관리자와 농민 요구도를 만족하고 드론을 활용한 농업용 드론방제 프로세서를 기반으로 정밀 AI 방제를 실현화시키기 위하여 온라인 드론 방제 관리 정보 플랫폼을 제안하고 실증 실험을 통하여 종합 관리 시스템 개발의 토대를 제시하였다.

• 제어로봇시스템학회논문지
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• 제20권2호
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• pp.218-222
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• 2014

In this paper, we introduce an autonomous calibration method for a 2D laser displacement sensor (e.g. laser vision sensor and laser range finder) by matching a single point on a flat structure. Many arc welding robots install a 2D laser displacement sensor to expand their application by recognizing their environment (e.g. base metal and seam). In such systems, sensing data should be transformed to the robot's coordinates, and the geometric relation (i.e. rotation and translation) between the robot's coordinates and sensor coordinates should be known for the transformation. Calibration means the inference process of geometric relation between the sensor and robot. Generally, the matching of more than 3 points is required to infer the geometric relation. However, we introduce a novel method to calibrate using only 1 point matching and use a specific flat structure (i.e. circular hole) which enables us to find the geometric relation with a single point matching. We make the rotation component of the calibration results as a constant to use only a single point by moving a robot to a specific pose. The flat structure can be installed easily in a manufacturing site, because the structure does not have a volume (i.e. almost 2D structure). The calibration process is fully autonomous and does not need any manual operation. A robot which installed the sensor moves to the specific pose by sensing features of the circular hole such as length of chord and center position of the chord. We show the precision of the proposed method by performing repetitive experiments in various situations. Furthermore, we applied the result of the proposed method to sensor based seam tracking with a robot, and report the difference of the robot's TCP (Tool Center Point) trajectory. This experiment shows that the proposed method ensures precision.

• 한국HCI학회논문지
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• 제1권2호
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• pp.43-50
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• 2006

거울은 인간이 자신의 모습을 들여다보기 위해 오랜 세월 동안 이용했던 친숙한 도구이다. 디지털 기술의 발달로 우리는 빛과 정보를 함께 반사해 주는 거울에 대한 여러 가지 접근들을 보아 왔다. 전통적인 거울은 빛의 즉각적인 반사에 의해 일어나는 자동적인 시각적 피드백 덕분에 특별한 조작이 필요하지 않으나, 빛과 정보가 함께 반사되는 디지털 거울에서는 다른 형태의, 좀 더 적극적인 사용자 인터랙션을 기대할 수 있다. 본 논문에서는 사용자와 거울간의 거리에 따른 행태 조사결과를 바탕으로 인터랙션 유형을 분류 정리하였다. 이를 바탕으로 사용자와 거울간의 거리에 따라 다른 서비스를 제공하는 디지털 거울에 적합한 사용자 인터페이스를 제안하였고, 초기 모델로 적외선 격자를 이용한 조작, 비전 기반의 정면 이미지 획득 및 얼굴 확인, 그리고 적외선 위치 확인을 통해 사용자와 인터랙션 하는 거울을 설계하였다. 아울러 결과물의 초기모델에 대한 분석을 통해 더 개선된 형태의 '거울을 응용한 시스템'의 설계 가능성 및 사용자 중심적 프로세스를 적용한 개발 사례를 제시한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.383-388
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• 2005

Depth recovery in robot vision is an essential problem to infer the three dimensional geometry of scenes from a sequence of the two dimensional images. In the past, many studies have been proposed for the depth estimation such as stereopsis, motion parallax and blurring phenomena. Among cues for depth estimation, depth from lens translation is based on shape from motion by using feature points. This approach is derived from the correspondence of feature points detected in images and performs the depth estimation that uses information on the motion of feature points. The approaches using motion vectors suffer from the occlusion or missing part problem, and the image blur is ignored in the feature point detection. This paper presents a novel approach to the defocus technique based depth from lens translation using sequential SVD factorization. Solving such the problems requires modeling of mutual relationship between the light and optics until reaching the image plane. For this mutuality, we first discuss the optical properties of a camera system, because the image blur varies according to camera parameter settings. The camera system accounts for the camera model integrating a thin lens based camera model to explain the light and optical properties and a perspective projection camera model to explain the depth from lens translation. Then, depth from lens translation is proposed to use the feature points detected in edges of the image blur. The feature points contain the depth information derived from an amount of blur of width. The shape and motion can be estimated from the motion of feature points. This method uses the sequential SVD factorization to represent the orthogonal matrices that are singular value decomposition. Some experiments have been performed with a sequence of real and synthetic images comparing the presented method with the depth from lens translation. Experimental results have demonstrated the validity and shown the applicability of the proposed method to the depth estimation.

• 전자통신동향분석
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• 제36권1호
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• pp.89-98
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• 2021

The Ministry of National Defense aims to create an environment in which transparent and reasonable defense policies can be implemented in real time by establishing the vision of smart defense innovation based on the Fourth Industrial Revolution and promoting innovation in technology-based defense operation systems. Artificial intelligence (AI) based defense technology is at the level of basic research worldwide, includes no domestic tasks, and involves classified military operation data and command control/decision information. Further, it is needed to secure independent technologies specialized for our military. In the army, military power continues to decline due to aging and declining population. In addition, it is expected that there will be more than 500,000 units should be managed simultaneously, to recognize the battle situation in real time on the future battlefields. Such a complex battlefield, command decisions will be limited by the experience and expertise of individual commanders. Accordingly, the study of AI core technologies supporting real-time combat command is actively pursued at home and abroad. It is necessary to strengthen future defense capabilities by identifying potential threats that commanders are likely to miss, improving the viability of the combat system, ensuring smart commanders always win conflicts and providing reasonable AI digital staff based on data science. This paper describes the recent research trends in AI military staff technology supporting commander decision-making, broken down into five key areas.