• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1848-1851
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• 1997

This paper presents the development of depth detection algorithm for the 3D Endoscopic Data using a stereo matchod and depth calcuation.

• 한국산업정보학회논문지
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• 제21권1호
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• pp.35-42
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• 2016

재생되는 동영상에서 정지, 재생, 캡쳐, 확대, 축소 등의 다양한 이벤트 제공은 스마트폰과 같은 작은 크기의 모니터에서 가능하다. 그러나, 모니터의 크기가 커지게 되면, 터치 인식에 대한 비용이 증가하게 되어, 터치를 통한 이벤트 제공은 사실상 불가능하다. 본 논문에서는 저렴하게 깊이 정보로 터치를 인식하고, 단일 및 다중 터치로 토글, 핀치-인/아웃 등의 다양한 이벤트를 부여하는 영상 이벤트 제어시스템을 제안한다. 깊이 카메라로부터 얻어진 깊이 정보로 터치된 위치와 터치 경로를 찾고, 터치 제스처 종류를 파악한다. 이러한 터치 인터페이스 알고리즘은 소형 싱글보드 시스템에서 구현하고, UART 통신을 통해 제스처 정보를 전송함으로써 영상 이벤트를 제어할 수 있다. 모의실험을 바탕으로 대형 스크린에서 제안한 깊이 터치 방법으로 다양한 영상 이벤트를 제어할 수 있음을 보인다.

• International Journal of Ocean System Engineering
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• 제3권1호
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• pp.16-21
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• 2013

This paper presents a design of fuzzy PD depth controller for the autonomous underwater vehicle entitled KAUV-1. The vehicle is shaped like a torpedo with light weight and small size and used for marine exploration and monitoring. The KAUV-1 has a unique ducted propeller located at aft end with yawing actuation acting as a rudder. For depth control, the KAUV-1 uses a mass shifter mechanism to change its center of gravity, consequently, can control pitch angle and depth of the vehicle. A design of classical PD depth controller for the KAUV-1 was presented and analyzed. However, it has inherent drawback of gains, which is their values are fixed. Meanwhile, in different operation modes, vehicle dynamics might have different effects on the behavior of the vehicle. In this reason, control gains need to be appropriately changed according to vehicle operating states for better performance. This paper presents a self-tuning gain for depth controller using the fuzzy logic method which is based on the classical PD controller. The self-tuning gains are outputs of fuzzy logic blocks. The performance of the self-tuning gain controller is simulated using Matlab/Simulink and is compared with that of the classical PD controller.

• 치위생과학회지
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• 제19권3호
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• pp.154-161
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• 2019

Background: The market for vitamin drinks is expanding both in Korea and worldwide. However, it was difficult to find studies regarding the possibility of tooth erosion induction due to vitamin drinks. The purpose of the present in vitro study was to evaluate the effect of tooth erosion caused by a few commercial vitamin beverages on bovine teeth enamel in terms of erosion depth and fluorescence loss. Methods: Three experimental groups (vitamin drinks), a positive control group (Coca-Cola), and a negative control group (mineral water) were established. Each group consisted of 5 specimens obtained from sound bovine teeth. The pH and titratable acidity of beverages were measured. Specimens were immersed in the beverages and artificial saliva for 6 and 18 hours, respectively. This cycle was repeated for 5 days. The depth of the tooth loss caused by tooth erosion (erosion depth) and maximum loss of fluorescence (Max ${\Delta}F$) were measured using the microscope and quantified light-induced fluorescence-digital, respectively. For the statistical analysis, the Kruskal-Wallis test and ANOVA were used to compare the erosion depth and Max ${\Delta}F$ of the enamel surfaces. In addition, Spearman correlations were estimated. Results: The pH of the three vitamin beverages ranged from 2.65 to 3.01, which is similar to that of the positive control group. All beverages, except mineral water, had sugar and acidic ingredients. Vitamin drinks and the positive control, Coca-Cola, caused tooth erosion lesions, and showed significant differences in erosion depth compared to mineral water (p<0.05). The vitamin beverages with low pH were associated with high erosion depth and Max ${\Delta}F$. Conclusion: Vitamin drinks have the potential to cause tooth erosion.

• IEIE Transactions on Smart Processing and Computing
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• 제1권1호
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• pp.1-7
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• 2012

This paper presents a system used to automatically recognize the road traffic control gestures of police officers. In this approach,the control gestures of traffic police officers are captured in the form of depth images.A human skeleton is then constructed using a kinematic model. The feature vector describing a traffic control gesture is built from the relative angles found amongst the joints of the constructed human skeleton. We utilize Support Vector Machines (SVMs) to perform the gesture recognition. Experiments show that our proposed method is robust and efficient and is suitable for real-time application. We also present a testbed system based on the SVMs trained data for real-time traffic gesture recognition.

• Journal of Biosystems Engineering
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• 제14권2호
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• pp.94-103
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• 1989

This study was intended to develop the automatic feeding depth control system of the head-feed combine which could feed the rice head into threshing unit at the optimal depth regardless of plant height and uneven ground surface. In the control system, one-board microcomputer was used for the controller instead of conventional electric circuits. Field test of the combine equipped with the control system was conducted to evaluate its overall performance. It was also investigated how the location and time delay of rice head sensor affect the system performance.

• 한국항해학회지
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• 제3권2호
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• pp.21-30
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• 1979

Echo sounder and Doppler sonar are to theultra-sonic transducers for measuring the depth and the ship's speed respectively. To measure the depth and speed with a single transducer, it is required to control the ultra-sonic beam to optional direction. In the past, the direction of the transducer itself is varied, but such a method provoked much problems in the mechanical design of the equipment. This paper deals with the method to control beam direciton by the phase control of the plural arrangement of transducers, and the results are studied by a computer simulation. The remarkable results of the study is condensed as follows; 1. The greater the interval of arrangement between transducers, the sharper the radiation pattern is, but in this case, the level of undesired sidelobe is also increased. 2. The control of radiation pattern up to 60 degree can be achieved by an adequate arrangement of more than 10 transducers. 3. It is shown that a simultaneous measurement of both depth and speed can be achieved by alternating directivity of the pulse by the method proposed in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.86-89
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• 1992

One of the most difficult problems in depth control for underwater vehicle is the effect of seaway disturbance. One component of the seaway forces is of large magnitude with a relatively narrow-band, first order component. The other component is generaly of somewhat smaller magnitude, second order component. Since the magnitude of the first order component is generally much greater than the compensating force that can be generating by the planes, it is undesirable for the controller to generate a control command. In this paper, we disigned adaptive notch filtering system using filter bank structure. Energies of each band-passed signal are obtained by MA(Moving Average) method and compared to produce center frequency. By adapting this parameter to notch filter, 1st order seaway disturbance can be removed, which lead to the improvement of automatic depth control system.

• Journal of Biosystems Engineering
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• 제33권1호
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• pp.7-13
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• 2008

The tillage depth control system is one of the most salient control system of tractor implements. A contact-type height sensor was developed to measure ground clearance for the tillage depth control. The height sensor was fabricated in this study, and its efficacy in a tillage depth control system was evaluated. Experiments were conducted in order to determine both static and dynamic detection characteristics of the height sensor using soil bin system on the sampled soil (sandy loam, sand, clay loam). The results of the static detection characteristics showed that in the case, sandy loam soil despite and clay loam soil at a wet basis moisture content of 30%, large measurement errors were observed a due to penetration of a plastic puck into the sampled soil. The results of the dynamic detection characteristics showed that the height sensor detected the distance from the ground of sandy loam soil despite the uneven nature of the ground surface and the changes in traveling speed $1km/h{\sim}5km/h$ at a wet basis moisture content of 10%.

• 한국항해항만학회지
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• 제32권6호
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• pp.447-452
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• 2008

본 연구에서는 만타형 수중운동체의 수평 및 수직 방향에 대한 자동제어 및 충돌회피 시스템을 확립하였다. PID 제어이론, 퍼지 추론 등이 적용되었으며, 시뮬레이션에 사용된 6자유도 운동 방정식은 이론계산과 구속모형 시험에 의하여 확립하였다. PID제어에 의한 심도제어 결과가 제시되었으며, UUV의 충돌 위험도는 가상 소나 시스템을 이용한 퍼지 추론으로 추정하였다. 이를 이용하여 만타형 수중운동체의 심도제어 시스템 및 충돌회피 시뮬레이션 시스템이 개발되었다.