• Journal of Institute of Control, Robotics and Systems
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• v.19 no.12
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• pp.1067-1071
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• 2013

A 3D visual sensing method using a laser structured beam is presented for robotic tracking applications in a simple and reliable manner. A cylindrical shaped laser structured beam is proposed to measure the pose and position of the target surface. When the proposed laser beam intersects on the surface along the target trajectory, an elliptic pattern is generated. Its ellipse parameters can be induced mathematically by the geometrical relationship of the sensor coordinate and target coordinate. The depth and orientation of the target surface are directly determined by the ellipse parameters. In particular, two discontinuous points on the ellipse pattern, induced by seam trajectory, indicate mathematically the 3D direction for robotic tracking. To investigate the performance of this method, experiments with a 6 axis robot system are conducted on two different types of seam trajectories. The results show that this method is very suitable for robot seam tracking applications due to its excellence in accuracy and efficiency.

• Korean Chemical Engineering Research
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• v.49 no.4
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• pp.393-399
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• 2011

The electrochemical or optical sensors for environmental pollutants are developed over the past several years. Nowadays, the development of colorimetric sensing is particularly challenging since it requires no equipment at all as color changes can be detected by the naked eye. Visual detection can give immediate qualitative information and is becoming increasingly appreciated in terms of quantitative analysis. In addition, simple colorimetric-sensor have shown useful in the detection, identification, and quantification of volatile organic compounds(VOC) in gas phase or heavy metal ion in aqueous phase. In this review, we investigated the wide applications and some drawbacks of colorimetric-sensors. And thus, we try to suggest the methodologies of development approach of multi-functional and reversible colorimetric-sensor.

• IEMEK Journal of Embedded Systems and Applications
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• v.12 no.1
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• pp.35-41
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• 2017

We propose a face recognition and notification system that can transform visual face information into tactile signals in order to help visually impaired people. The proposed system consists of a glasses type camera, a mobile computer and an electronic cane. The glasses type camera captures the frontal view of the user, and sends this image to mobile computer. The mobile computer starts to search for human's face in the image when obstacles are detected by ultrasonic sensors. In a case that human's face is detected, the mobile computer identifies detected face. At this time, Adaboost and compressive sensing are used as a detector and a classifier, respectively. After the identification procedures of the detected face, the identified face information is sent to controller attached to a cane using a Bluetooth communication. The controller generates motor control signals using Pulse Width Modulation (PWM) according to the recognized face labels. The vibration motor generates vibration patterns to inform the visually impaired person of the face recognition result. The experimental results of face recognition and notification system show that proposed system is helpful for visually impaired people by providing person identification results in front of him/her.

• Journal of the Optical Society of Korea
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• v.16 no.3
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• pp.243-246
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• 2012

An off-axis four-mirror-anastigmatic telescope is presented here which is composed of two aspheric surfaces and two spherical surfaces. The entrance pupil diameter is 290 mm and the stop is located at the primary mirror. The effective focal length is 900 mm. The strip field of view for the telescope is $15^{\circ}{\times}0.2^{\circ}$ and if the telescope is launched into an orbit about 400 km altitude, the observed range width will be more than 105 km within a scene without any other auxiliary scanning instrument. The spectral range can be as wide as from visual wave band to infrared wave band in the mirror system. This telescope can be used for environmental monitoring with different detectors whose pixel is adapted to the optical resolution. In this paper, the spectral range is chosen as 3.0 -5.0 ${\mu}m$, and center distance of the pixel is 30 ${\mu}m$. And the image quality is near the diffraction limit.

• Physical Therapy Korea
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• v.14 no.3
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• pp.16-22
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• 2007

The purpose of this study was to determine the influence of muscle fatigue in elbow flexors on the sense of force reproduction. Fifteen healthy subjects were recruited for this study. Maximum voluntary force (MVF) of elbow flexor muscles was measured by a digital tensiometer. Force errors were measured to test accuracy of the sense of force reproduction in elbow flexors. The subject was required to flex the elbow joint, to maintain and concentrate on about 20% of the MVF target force under visual feedback for 3 seconds. After a 5 second period rest, the subject was asked to duplicate the target force actively. Muscle fatigue was evoked with isometric contraction of the elbow flexors. Isometric contraction was continued until a 50% drop in MVF. The difference, in kilogram between the target force and the reproduced force was calculated for measuring force error. Force errors were compared between the non-fatigued condition and the fatigued condition by the paired t-test. Force errors were significantly increased in the fatigued condition compare to non-fatigued condition. This result suggests that the sense of force reproduction can be disturbed by localized muscle fatigue.

• Journal of Sensor Science and Technology
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• v.17 no.5
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• pp.338-345
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• 2008

Steel bearing balls are important component in machines having moving parts. In this paper we describe a vision-based automatic inspection system designed for sensing defects on the surface of steel bearing balls. The system has a camera looking down over a rail on which balls roll. Two mirrors are installed at both sides of the rail so that the side parts of a ball can be well inspected. The entire ball surface can be sufficiently seen by taking three images at $120^{\circ}$ rotation interval. Defects are detected by thresholding the difference image between an image captured and the reference image of a good ball.

• Proceedings of the KSRS Conference
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• 2002.10a
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• pp.169-174
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• 2002

In this paper, we suggest a new spatial information system called video GIS where video is used for spatial data construction and is integrated with map. We develop a prototype system of video GIS and apply it to roadside facility management. The main functions supported by the suggested system are data collection, coordinate calculation and conversion, data construction, analysis, searching, and browsing. The stereo images and corresponding position data are collected by a vehicle named 4S-Van that has GPS, IMU, and cameras. The 3-D coordinates of the objects in the images, such as road sign, signal lamp, and building, can be calculated and constructed from the collected data. The spatial objects are displayed on both image and map, and can be searched and browsed, which enables visual and realistic browsing and management of spatial objects. Compared to conventional field survey used in roadside facility management, the method enables faster, easier, and more efficient construction of spatial data. The suggested video GIS can be applied not only to roadside facility management but also to many similar projects of central or local governments that are related to GIS.

• Proceedings of the KSRS Conference
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• 2002.10a
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• pp.775-779
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• 2002

Currently, high-resolution satellite imagery such as KOMPSAT and IKONOS has been tentatively utilized to various types of urban engineering problems such as transportation planning, site planning, and utility management. This approach aims at software development and followed applications of remotely sensed imagery to transportation geographic analysis. At first, GDPA (Gradient Direction Profile Algorithm) and main modules in it are overviewed, and newly implemented results under MS visual programming environment are presented with main user interface, input imagery processing, and internal processing steps. Using this software, road network are automatically generated. Furthermore, this road network is used to transportation geographic analysis such as gamma index and road pattern estimation. While, this result, being produced to do-facto format of ESRI-shapefile, is used to several types of road layers to urban/transportation planning problems. In this study, road network using KOMPSAT EOC imagery and IKONOS imagery are directly compared to multiple road layers with NGI digital map with geo-coordinates, as ground truth; furthermore, accuracy evaluation is also carried out through method of computation of commission and omission error at some target area. Conclusively, the results processed in this study is thought to be one of useful cases for further researches and local government application regarding transportation geographic analysis using remotely sensed data sets.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.6 no.1
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• pp.446-467
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• 2012

In this paper, the analysis and design of a motion simulator (based on the approach taken by interactive virtual reality (VR) entertainment systems) is conducted. The main components of the system include a bilateral control interface, simulation and a motion simulator control scheme. The space entertainment system uses a virtual environment that enables operators to feel the actual feedback sensing and distorted motion from the virtual environment, just as they would in the real environment. The space entertainment system integrates the dynamics of the motion simulator and the virtual environment and the operator maneuvers a steering wheel to interact with the system. The multiple bilateral control schemes employ a dynamical controller, which is designed by considering the velocity and acceleration that the operator imposes on the joystick, the environmental changes imposed on the motion simulator. In addition, we develop a calculated method to evaluate the Ratio of the simulation results. It is shown that the proposed control scheme can improve the performance of the visual entertainment system. Experiments are conducted on the virtual reality entertainment system to validate the theoretical developments.

• Proceedings of the KSRS Conference
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• v.1
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• pp.376-379
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• 2006

A numerous oil slicks of natural origin were revealed in the southwest (SW) part of Caspian Sea by the synthetic aperture radar (SAR) images acquired by Envisat satellite in 2003-2004. On the basis of computer processing, visual analysis of SAR images and comparisons with bathymetry, geophysical and seismic data in geographic information system (GIS), a link between these slicks and unloading of liquid hydrocarbons in the SW Caspian is established. Oil slicks are basically concentrated above domes of local geological formations of the sedimentary cover. In total more than 90 seeps and mud volcanoes having a repeating regime and representing an active type were identified; they are distributed across the SW Azerbaijan and West Iranian sectors. Periodical occurrence of slicks can reflect alternation of mud volcanism pulses forced by intensive seismicity with the quiet periods. Seepage rate of oil in the SW part of the Caspian Sea according to SAR images is estimated to be up to 16,000 metric tons per year. The importance of unloading of oils on hydrochemistry and ecological conditions of the Caspian Sea is demonstrated. Conclusion is done that the Envisat SAR to be an excellent tool for studying oil seeps through observation oil slicks floating on the sea surface.