• 한국통신학회논문지
• /
• 제19권8호
• /
• pp.1453-1463
• /
• 1994

본 연구에서는 로보트 시스템에게 인식기능을 부여하여 작업대상물의 위치와 방향이 임의적으로 변경되어도 사용자가 원하는 핸들링작업을 원활하게 수행할 수 있는 자동화시스템을 구현하는데 있다. 이를 위하여 작업대상물의 변화된 위치와 방향은 시각센서로서 검출하고, 화상처리과정에서 명도정보의 가변과 같은 주변여건의 변화때문에 발생하는 에지 추적 오차는 적절한 필터링 방법을 적용하여 최소화시켰다. 시각센서의 운용 프로그램은 인터럽트 기법으로 주변장치와 상호제어가 가능토록 구성하고, 시각센서에서 검출한 데이타는 아스키 포멧으로 로보트시스템에 전달되어 6자유도 매니플레이터의 툴 좌표계는 검출데이타와 비례하게 자동보성되어 작업대상물의 위치와 방향변화를 추종할 수 있도록 개발하였다. 본 연구에서 개발한 시스템 운용 알고리즘을 생산현장에 직접 적용한 결과 라인 밸런스의 향상과 산업재해방지를 위한 효과적이고 안정된 생산설비로써 운용될 수 있었다.

• 전자공학회논문지
• /
• 제51권4호
• /
• pp.173-180
• /
• 2014

압축센싱은 성긴(Sparse) 또는 압축가능한(Compressible) 신호에 대해 Nyquist rate 미만의 샘플링으로도 신호 복원이 가능하다는 것을 수학적으로 증명한 새로운 패러다임의 신호 획득 방법이다. 단순한 신호 획득 과정을 이용하면서도, 동시에 우수한 압축센싱 복원 영상을 얻기 위한 많은 연구들이 수행되고 있다. 그러나, 에너지 분포 및 인간 시각 시스템 등 컬러 영상에 대한 기본적인 특성을 복원 과정에 활용한 기존 압축센싱 관련 연구는 많이 부족하다. 이러한 문제를 해결하기 위해, 본 논문에서는 컬러영상의 압축센싱 복원을 위한 평활 그룹-희소성 기반 반복적 경성 임계 알고리즘을 제안한다. 제안하는 방법은 그룹-희소성에 기반한 경성 임계치 적용과 프레임 기반 필터의 사용을 통해 영상의 변환 영역에 대한 희소성을 증대시키는 동시에 화소 영역의 평활 정도를 복원 과정에 활용할 수 있도록 한다. 또한, 그룹-희소화 경성 임계 과정은 자연 영상의 에너지 분포 및 인간 시각시스템 특성에 따라 중요하다고 판단되는 RGB-그룹 계수들을 보전하도록 설계하였다. 실험 결과 객관적 화질 측면에서 제안방법이 대표적인 그룹-희소화 평활 복원 기법 보다 평균 PSNR이 최대 2.7dB 높은 것을 확인하였다.

• 대한원격탐사학회지
• /
• 제30권1호
• /
• pp.1-12
• /
• 2014

본 연구의 목적은 최신 상용 소프트웨어에서 지원하고 있는 영상 모자이크 기법을 비교 분석하고, 제작된 모자이크 영상들의 정량적인 품질평가 방법을 제시하는 것이다. 상대적으로 뛰어난 성능을 나타내는 것으로 알려져 있는 모자이크 기법을 계절적 특성이 서로 다른 7장의 KOMPSAT-2 위성영상에 적용하였고, 각각의 결과를 시각적으로 비교 분석하였다. 또한, 제작된 모자이크 영상의 성능을 비교 할 수 있는 정량적 평가지수를 제안하고, 시각적 결과와 비교 검증을 수행함으로써 제안된 품질평가 지수의 적용 가능성을 제시하였다.

• Journal of Astronomy and Space Sciences
• /
• 제32권2호
• /
• pp.161-166
• /
• 2015

Analysis of lunar samples returned by the US Apollo missions revealed that the lunar highlands consist of anorthosite, plagioclase, pyroxene, and olivine; also, the lunar maria are composed of materials such as basalt and ilmenite. More recently, the remote sensing approach has enabled reduction of the time required to investigate the entire lunar surface, compared to the approach of returning samples. Moreover, remote sensing has also made it possible to determine the existence of specific minerals and to examine wide areas. In this paper, an investigation was performed on the reflectance distribution and its trend. The results were applied to the example of the double ray stretched in parallel lines from the Tycho crater to the third-quadrant of Mare Nubium. Basic research and background information for the investigation of lunar surface characteristics is also presented. For this research, resources aboard the SELenological and ENgineering Explorer (SELENE), a Japanese lunar probe, were used. These included the Multiband Imager (MI) in the Lunar Imager/Spectrometer (LISM). The data of these instruments were edited through the toolkit, an image editing and analysis tool, Exelis Visual Information Solution (ENVI).

• Journal of Forest and Environmental Science
• /
• 제31권3호
• /
• pp.225-234
• /
• 2015

Mangroves are important coastal ecosystems and are located at the inter-tidal zones of tropical and sub-tropical belts. The global mangrove forests are declining dramatically because of the conversion of forests to shrimp farming, over-exploitation, pollution and freshwater diversion. The Bangladesh Forest Department initiated mangrove afforestation throughout the coastal belts of Bangladesh in 1966 to provide better protection for the coastal communities. Up to 1990, 120,000 ha of mangroves had been planted and it is one of the largest coastal afforestaton programs in the world. The objective of this study is to exploit the spatial extent of mangrove plantation and their dynamics of changes over the last two decades using multispectral Landsat imagery. The study area covers the coastal areas of Bangladesh that is extended over the eastern part of Sundarbans up to Teknaf, the southern tip of mainland Bangladesh. Mangrove plantations were interpreted visually on computer screen and interactive delineation of forest boundary was done. The mangrove plantation area has been estimated as 32,725, 47,636 and 43,166 ha for the year of 1989, 2000 and 2010, respectively. Mangrove deforestation by human activity has increased almost six times in the recent decade in comparison to the previous one. The mangrove forest loss due to coastal erosion has slightly declined in the 2000s. Mangroves have been lost primarily because of agricultural expansion. The result of this investigation will be helpful to understand the dynamics of mangrove plantation and the main drivers of changes in this coastal ecosystem.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2003년도 춘계학술대회 논문집
• /
• pp.1727-1730
• /
• 2003

A windshield wiper system plays a key part in assurance of driver's safety at rainfall. However, because quantity of rain and snow vary irregularly according to time and velocity of automotive, a driver changes speed and operation period of a wiper from time to time in order to secure enough visual field in the traditional windshield wiper system. Because a manual operation of windshield wiper distracts driver's sensitivity and causes inadvertent driving, this is becoming direct cause of traffic accident. Therefore, this paper presents the basic architecture of vision-based smart windshield wiper system and the rain sensing algorithm that regulate speed and operation period of windshield wiper automatically according to quantity of rain or snow. Also, this paper introduces the fuzzy wiper control algorithm based on human's expertise, and evaluates performance of suggested algorithm in simulator model. In especial, the vision sensor can measure wide area relatively than the optical rain sensor. hence, this grasp rainfall state more exactly in case disturbance occurs.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2003년도 춘계학술대회 논문집
• /
• pp.237-240
• /
• 2003

In biological cell manipulation, manual thrust or penetration of an injection pipette into an embryo cell is currently performed by a skilled operator, relying on visual feedback information only. Accurately measuring cellular forces is a requirement for minimally invasive cell injections. Moreover, the cellular farce sensing is essential in investigating the biophysical properties for cell injury and membrane modeling studies. This paper presents cellular force measurements for the force feedback-based biomanipulation. Cellular force measurement system using piezoelectric polymer sensor is implemented to measure the penetration force of a zebrafish egg cell. First, measurement system setup and calibration are described. Second, the force feedback-based biomanipulation is experimentally carried out. Experimental results show that it successfully supplies real-time cellular force feedback to the operator at several tens of uN and thus plays a main role in improving the reliability of biological cell injection tasks.

• 대한원격탐사학회지
• /
• 제28권6호
• /
• pp.623-632
• /
• 2012

In this paper, we analyzed the effect of wavelet decomposition levels in feature extraction for anomaly detection from hyperspectral imagery. After wavelet analysis, anomaly detection was experimentally performed using the RX detector algorithm to analyze the detecting capabilities. From the experiment for anomaly detection using CASI imagery, the characteristics of extracted features and the changes of their patterns showed that radiance curves were simplified as wavelet transform progresses and H bands did not show significant differences between target anomaly and background in the previous levels. The results of anomaly detection and their ROC curves showed the best performance when using the appropriate sub-band decided from the visual interpretation of wavelet analysis which was L band at the decomposition level where the overall shape of profile was preserved. The results of this study would be used as fundamental information or guidelines when applying wavelet transform to feature extraction and selection from hyperspectral imagery. However, further researches for various anomaly targets and the quantitative selection of optimal decomposition levels are needed for generalization.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
• /
• pp.30-34
• /
• 1998

Path Planning is one of the important fields in robot technologies. Local path planning may be done in on-line modes while recognizing an environment of robot by itself. In dynamic environments to obtain fluent information for environments vision system as a sensing equipment is a one of the most necessary devices for safe and effective guidance of robots. If there is a predictor that tells what future sensing outputs will be, robot can respond to anticipated environmental changes in advance. The tracking of obstacles has a deep relationship to the prediction for safe navigation. We tried to deal with active contours, that is snakes, to find out the possibilities of stable tracking of objects in image plane. Snakes are defined based on energy functions, and can be deformed to a certain contour form which would converge to the minimum energy states by the forces produced from energy differences. By using point algorithm we could have more speedy convergence time because the Brent's method gives the solution to find the local minima fast. The snake algorithm may be applied to sequential image frames to track objects in the images by these characteristics of speedy convergence and robust edge detection ability.

• 제어로봇시스템학회논문지
• /
• 제11권4호
• /
• pp.304-313
• /
• 2005

The robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, robot need to recognize his position and direction for intelligent performance in an unknown environment. And the mobile robots may navigate by means of a number of monitoring systems such as the sonar-sensing system or the visual-sensing system. Notice that in the conventional fusion schemes, the measurement is dependent on the current data sets only. Therefore, more of sensors are required to measure a certain physical parameter or to improve the accuracy of the measurement. However, in this research, instead of adding more sensors to the system, the temporal sequence of the data sets are stored and utilized for the accurate measurement. As a general approach of sensor fusion, a UT -Based Sensor Fusion(UTSF) scheme using Unscented Transformation(UT) is proposed for either joint or disjoint data structure and applied to the landmark identification for mobile robot navigation. Theoretical basis is illustrated by examples and the effectiveness is proved through the simulations and experiments. The newly proposed, UT-Based UTSF scheme is applied to the navigation of a mobile robot in an unstructured environment as well as structured environment, and its performance is verified by the computer simulation and the experiment.