• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.130-134
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• 1992

The ability of a robot system to comply to an environment via the control of tool-environment interaction force is of vital for the successful task accomplishment in many robot application. This paper presents the implementation of external force control for two dimensional contour following task using a commercial robot system. Force accommodation is used since a constraint imposed in our work is not to modify the commercial robot system. A linear, decoupled model of two dimensional contour following system in the discrete time domain is derived first. Then the experimental verification of linear control is obtained using a PUMA 560 manipulator with standard Unimation controller, Astek FS6-120A six axis wrist force sensor attached externally to the arm and LSI-11173 microcomputer. Experimentally obtained data shows that the RMS contact force error is 0.8246 N when following the straight edge and 2.3768 N when following 40 mm radius curved contour.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.31B no.5
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• pp.95-107
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• 1994

A new efficient contour following algorithm for connected-component labeling processing is proposed. The basic idea of the algorithm is that the total number of downward chain codes is the same as one of upward chain codes along the closed contour. If the chain code direction is upward, then region start mark is assigned at the chain code departure pixel and if the chain code is downward, then region end mark is assigned at the chain code arrival pixel. The proposed algorithm extracts directly the contour information from only the current direction information of chain. This makes the algorithm simple and fast and requires less memory with comparison to the conventional algorithms.The proposed contour following algorithm can be applied to the various kind of image processing such as region filling, restoration and region feature extraction.

• The Journal of Korea Robotics Society
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• v.8 no.3
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• pp.206-216
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• 2013

We investigate the role of contact location information on the perception of local features during contour following in a virtual environment. An absolute identification experiment is conducted under force-alone and force-plus-contact-location conditions to investigate the effect of the contact location information. The results show that the participants identify the local features significantly better in terms of higher information transfer for the force-plus-contact-location condition, while no significant difference was found for measures of the efficacy of contour following between the two conditions. Further data analyses indicate that the improved identification of local features with contact location information is due to the improved identification of small surface features.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.394-396
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• 2005

In this paper, we propose an adaptive tracking control method of a mobile manipulator for contour following with a kinematic model to have several unknown dimension parameters. Moreover, we will use the decentralized control method to design two independent controllers for two subsystems. The proposed controllers in this paper are based on the Lyapunov function in order to guarantee the stability of whole system for contour following task. The updated laws are also designed to estimated the unknown dimension parameters. Finally, the simulation results are presented to show the validity of the proposed controllers in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.135-139
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• 1992

Control of tool-environment interaction force to comply the robot system to an environment is of vital in many automated process. This paper presents the implementation of an adaptive force control with commercial robot system in two dimensional contour following task. A model reference adaptive control system, combined with the linear compensators, is implemented. That is, a use of adaptive control is to provide an auxiliary control system so that the contour following performance can be improved from that of using linear control system only. Hyperstability is used to derive the adaptive control law. Experimental verification of the proposed control system is obtained using PUMA 560 robot system. Data obtained experimentally shows that the use of additional adaptive control system improves the contour following performance about 30% in RMS contact force errors upon that of the system controlled by the linear compensators only.

• Journal of Fashion Business
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• v.10 no.4
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• pp.29-44
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• 2006

This study was aimed at giving help to the people intending to change hair fashion feeling for making their own hair style design and also providing the academic guide line to the cosmetic circles for developing new hair design and promoting sales by producing hair styles following the results from the statistical analysis based on the theoretical study on the face contour groups & hair fashion feeling groups. The researching methods were composed of following 3 steps ; prior theoretical research, statistical analysis, and hair style production. At first, the prior theoretical research was accomplished by analysis of literatures, magazines and internet sites about face contour, total & hair fashion feelings, hair style productions. Second, the prior statistical analysis were done about hairstyle images & their charateristics based on fashion feelings, and characteristics of fashion feeling group. And the third, hair style productions were done coordinated by face contours(oval, circle, long, square, reverse triangle) and hair fashion feelings(natural, sexy, sophisticate, ethnic, romantic pretty, elegance, sporty, avant garde) following the statistical results. But owing to the limitations to change hair length and color, these changes are modified by wigs and photoshop 7.0 program. So we could know there was no confirmed hair fashion feeling of one's best, but one could change one's hair fashion feeling and express one's beauty if one could adjust one's hair styles properly to one's face contour. This study would be very helpful to the people trying to change their own hair fashion feeling and be useful to the cosmetic circles for developing new design and promoting sales by comprehending hair design market and also be valuable to develop the methodology of 3 step research.

• Journal of Periodontal and Implant Science
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• v.54 no.2
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• pp.108-121
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• 2024

Purpose: The aim of this study was to compare changes in soft and hard tissue and the histologic composition following early implant placement in sites with alveolar ridge preservation or spontaneous healing (SH), as well as implant performance up to 1 year after crown insertion. Methods: Thirty-five patients with either intact buccal bone plates or dehiscence of up to 50% following single-tooth extraction of incisors, canines, or premolars were included in the study. They were randomly assigned to undergo one of three procedures: deproteinized bovine bone mineral with 10% collagen (DBBM-C) covered by a collagen matrix (DBBM-C/CM), DBBM-C alone, or SH. At 8 weeks, implant placement was carried out, and cone-beam computed tomography scans and impressions were obtained for profilometric analysis. Patients were followed up after the final crown insertion and again at 1 year post-procedure. Results: Within the first 8 weeks following tooth extraction, the median height of the buccal soft tissue contour changed by -2.11 mm for the DBBM-C/CM group, -1.62 mm for the DBBM-C group, and -1.93 mm for the SH group. The corresponding height of the buccal mineralized tissue changed by -0.27 mm for the DBBM-C/CM group, -2.73 mm for the DBBM-C group, and -1.48 mm for the SH group. The median contour changes between crown insertion and 1 year were -0.19 mm in the DBBM-C/CM group, -0.09 mm in the DBBM-C group, and -0.29 mm in the SH group. Conclusions: Major vertical and horizontal ridge contour changes occurred, irrespective of the treatment modality, up to 8 weeks following tooth extraction. The DBBM-C/CM preserved more mineralized tissue throughout this period, despite a substantial reduction in the overall contour. All 3 protocols led to stable tissues for up to 1 year.

• Proceedings of the KIEE Conference
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• 1995.07b
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• pp.934-936
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• 1995

To get a good result of the feature-based stereo matching, contour of buildings must be extracted exactly. In this paper, an algorithm that extracts contour of flat top buildings exactly is proposed. The Algorithm is composed of three steps. One is to find corner points of 4 types in whole image and another is to extract exact lines between coners by edge following technique, the third is to extract exact contour of buildings using binding structures. We have a good result in extracting contour of buildings.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2012.10a
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• pp.874-877
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• 2012

This paper proposes the new method based on contour following method with directional angle to segment the cell into the nuclei. The object image was the Thyroid Gland cell image that was diagnosed as normal and abnormal(two types of abnormal : follicular neoplastic cell, and papillary neoplastic cell), respectively. The nuclei were successfully diagnosed as normal and abnormal. this paper, improved method of digital image analysis required in basic medical science for diagnosis of cells was proposed. The object image was the Thyroid Gland cell image with difference of chromatin patterns. To segment the cell nucleus from background, the region segmentation algorithm by edge tracing was proposed. And feature parameter was obtained from discrete Fourier transformation of image. After construct a feature sample group of each cells, experiment of discrimination was executed with any verification cells. As a result of experiment using features proposed in this paper, get a better segmentation rate(70-90%) than previously reported papers, and this method give shape to get objectivity and fixed quantity in diagnosis of cells. The methods described in this paper be used immediately for discrimination of neoplastic cells.

• The Journal of the Korean dental association
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• v.21 no.5 s.168
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• pp.415-423
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• 1983

A total of 202 full coverage crowns from 31 patients was investigated to find out the relationships between crown contour and gingival response. Every experimental crown has its contralateral natural tooth for its control group. Gingival Index and buccolingual width of the crowns were measured on both experimental and control group. Following conclusions were obtained from the study. 1. Most of the crown restorations were overcontoured and the increments were servere at cervical and height of contour area. 2. Height of contour and contact point of the restored crown were located near cervical area. Besides, most crowns had narrow embrasure with wide contact area. 3. Gingival Index around crown restorations was significantly larger than that of control group. 4. the interrelationship between Gingival Index and restored material or restored period was not verified at 5% significant level. 5. When grouping the artificial crowns into overcontoured, normal contoured, and undercontoured group by their width increment, the gingival inflammation was the severest in the overcontoured group and the mildest in the undercontoured group.