• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.346-349
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• 2004

The teleoperation system applies all of the industrial fields due to the development of the network infrastructure. It is one of the indispensable elements for controlling the robot at a remote sight and monitoring the limit or unknown environment. The common teleoperation robot system is what has the visual module to supply the network system and realistic UI to the existed robot system. Therefore, remarked that the fusion between modules and transmission of visual data the remarked the important element to improve the robot application in the various environments. Delay of development time by robot platform and noneffective communication among developers are also problem to approach. In this paper we propose the independent teleoperation system. The main application language is JAVA in this system, which is applied JAVA API like JNI and JMF to construct the effective teleoperation system. The system has the both side communication system between sever and client as a basic structure. The visual data that is attached the robot at a remote sight is captured by JMF API and then is transmitted to the web browser called client by RTR protocol. JNI is used to connect between JAVA and the lower part application (sensor fusion, motion control.) of the robot programmed by various Native languages. The proposed system is the application that can perform the elements, for instance transmission of visual data, the fusion of various native application modules and the effective network communication, with any platform.

• Journal of Korean Library and Information Science Society
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• v.31 no.1
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• pp.229-258
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• 2000

The growth of digital image an video archives is increasing the need for tools that efficiently search through large amount of visual dta. Retrieval of visual data is important issue in multimedia database. We are using contented-based visual data retrieval method for efficient retrieval of visual data. In this paper, we introduced fundamental techniques using characteristic values of image data and indexing techniques required for content-based visual retrieval. In addition we introduced content-based visual retrieval system for use of digital library.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.88.3-88
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• 2001

In this paper, an on-line multi-sensor visual inspection technique for seamless steel pipe´s straightness is developed. The basic principle of the visual measuring method is detailed. The modeling of visual sensor, measurement system and data processing are presented. In order to test the accuracy of the multi-sensor visual inspection, an experiment inspecting the straightness of a 1500mm long seamless steel pipe is made. The experiment results show that the visual inspection technique can achieve on-line measurement and offers high precision and stability.

• Proceedings of the Korea Society of Design Studies Conference
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• 2004.05a
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• pp.184-185
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• 2004

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.800-803
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• 2004

This paper presents a wavelet-based digital watermarking technique for still images. The digital watermarking considering human visual system (HVS) to increase the robustness and perceptual invisibility of digital watermark. The watermarking embedding is modified discrete wavelet transform (DWT) coefficients of the subbands of the images. The human visual system is number of factors that effect the noise sensitivity of human eyes that is considered to increase the robustness and perceptual invisibility of digital watermark. The watermark detection is blind watermark ( original image is not required ). Experimental results successful against attacks by image processing such as add noise, cropping, filtering, JPEG and JPEG2000 compression.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.3
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• pp.112-121
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• 2002

This paper describes a new bike system for the postural balance rehabilitation training. Virtual environment and three dimensional graphic model is designed with CAD tools such as 3D Studio Max and World Up. For the real time bike simulation, the optimized WorldToolKit graphic library is embedded with the dynamic geometry generation method, multi-thread method, and portal generation method. In this experiment, 20 normal adults were tested to investigate the influencing factors of balancing posture. We evaluated the system by measuring the parameters such as path deviation, driving velocity, COP(center for pressure), and average weight shift. Also, we investigated the usefulness of visual feedback information by weight shift. The results showed that continuous visual feedback by weight shift was more effective than no visual feedback in the postural balance control It is concluded this system might be applied to clinical use as a new postural balance training system.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.25-29
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• 1997

In this thesis, we construct the microrobot succor system and navigate the real-time path planning and visual tracking of each robot. The system consists robots, vision system and a host computer. Because the robots are free-ranging mobile robot, it is needed to make and gallow the path. The path is planned and controlled by a host computer, ie. Supervisory control system. In path planning, we suggest a cost function which consists of three terms. One is the smoothness of the path, another is the total distance or time, and the last one is to avoid obstacles. To minimize the cost function, we choose the parametric cubic spline and update the coefficients in real time. We perform the simulation for the path planing and obstacle avoidance and real experiment for visual tracking

• Proceedings of the IEEK Conference
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• 1999.06a
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• pp.763-768
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• 1999

The space variant imaging system which mimics the human beings visual system has some merits such as wide field-of-view, the low computational cost and the high accuracy in matching of correspondence points of stereo images. In this presentation, a visual servoing system based on the space variant imaging technique is proposed for the control of the rehabilitation robot arm. The position information of an object obtained by space variant imaging techniques is used for the visual servoing. According to the empirical data, the degree of correlation extracted by the space variant imaging technique is more accurate than that of the space invariant imaging technique.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.1
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• pp.42-46
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• 2012

A simple and accurate depth estimation algorithm for an IBVS (Image-Based Visual Servoing) is presented. Specifically, this algorithm is useful for under-actuated systems such as visual-guided quadrotor UAVs (Unmanned Aerial Vehicles). Since the image of a marker changes with changing pitch and roll angles of quadrotor, it is difficult to estimate depth. The proposed algorithm compensates a shape of the marker, so that the system acquire more accurate depth information without complicated processes. Also, the roll and pitch channels are decoupled so that the IBVS algorithm can be used in an under-actuated quadrotor system.

• Journal of the Korean Institute of Telematics and Electronics T
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• v.36T no.2
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• pp.42-47
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• 1999

This paper suggests a model of a visual information system for factory automation. The model is composed of a visual processing system with client-server model and RPC(Remote Procedure Calling); a main server for controlling the whole factory automation process; and a processing server which processes the visual information only. To verify its efficiency, the suggested model is realized on the bill recognition system.