• 한국정밀공학회지
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• 제23권11호
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• pp.58-67
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• 2006

Due to the variety of signal processing and complicated mathematical analysis, it is not easy to accomplish 3D bin-picking with non-contact sensor. To solve this difficulties the reliable signal processing algorithm and a good sensing device has been recommended. In this research, 3D laser scanner and CCD camera is applied as a sensing device respectively. With these sensor we develop a two-step bin-picking method and reliable algorithm for the recognition of 3D bin object. In the proposed bin-picking, the problem is reduced to 2D intial recognition with CCD camera at first, and then 3D pose detection with a laser scanner. To get a good movement in the robot base frame, the hand eye calibration between robot's end effector and sensing device should be also carried out. In this paper, we examine auto-calibration technique in the sensor calibration step. A new thinning algorithm and constrained hough transform is also studied for the robustness in the real environment usage. From the experimental results, we could see the robust bin-picking operation under the non-aligned 3D hole object.

• 한국건강관리협회지
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• 제2권1호
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• pp.9-25
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• 2004

Along with a development of medical technology, a variety of tests, such as laboratory tests, x-ray and endoscopies are being used in health screening tests. As the tests determine the quality of health screening, test items of major health screening program in Korea. Most, of the health screening programmes focused upon detection of risk factors and diagnosis of life-style related diseases(diabetes, hypertension, cardiovascular diseases, hypercholesterolemia, overweight, drinking, smoking, cerebrovascular diseases, osteoporosis), cancers(stomach, cervix, lung, breast, liver, colon, prostate, ovary, pancreas, thyroid, esophagus), infections diseases(hepatitis, tuberculosis, sexually-transmitted diseases, parasites), chronic obstructive respiratory diseases, chronic renal diseases(bacteriuria, hematuria, proteinuria), anemia, glaucoma, hearing loss, Alzheimer disease, stress and earlypsychiatric diseases. The health screening tests were basic physical examination, basic laboratory tests( CBC, urinalysis, liver function tests, lipid tests, glucose, HbA1c, uric acid, electrolytes, serological tests(HBsAg, HBs-Ab, HCV-Ab, HIV-Ab, VDRL) EKG, x-ray(chest PA, CT) endoscopy(gastroscopy, colonoscopy), sonography (abdomen, thyroid, pelvis, breast), cytology(cervix), bone density, tumor markers(NMP22, alpha-FP, CEA, CA-19-9, CA125, PSA and eye tests. Advanced technologies, like CT, PET, MRI, MRI/Angio, molecular testing were widly used in hospital based health screening programmes. In summary, a variety of tests were untilized in health screening in Korea. Those tests were utilized by stages or according to sex and age in most of health screening programmes, however a few programs used tests excessvely disregarding health screening subjects.

• 제어로봇시스템학회논문지
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• 제15권11호
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• pp.1122-1129
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• 2009

Recently taping robot with smart recognition function have been studied in the coil manufacturing field. Due to the difficulty of 3D surface processing from the complicated working environment, it is not easy to accomplish smart tape attachment motion with non-contact sensor. To solve these problems the applicable surface recognition algorithm and a flexible sensing device has been recommended. In this research, the fusion method between 1D displacement and 3D laser scanner is applied for robust tape attachment about cold rolled coil. With these sensors we develop a two-step exploration and the smart algorithm for the awareness of non-aligned coil's information. In the proposed robot system for tape attachment, the problem is reduced to coil's radius searching with laser displacement sensor at first, and then position and orientation detection with 3D laser scanner. To get the movement at the robot's base frame, the hand-eye compensation between robot's end effector and sensing device should be also carried out respectively. In this paper, we examine the auto-coordinate transformation method in the calibration step for the real environment usage. From the experimental results, it was shown that the taping motion of robot had a robust under the non-aligned cold rolled coil.

• Parasites, Hosts and Diseases
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• 제45권1호
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• pp.65-68
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• 2007

The application of Giemsa technique to stain compressed diaphragm samples obtained from rodents experimentally infected with Trichinella spiralis is described. Diaphragm samples from rats heavily infected with 20 muscle larvae per gram of body weight(20 ML/gbw) were cut into several pieces and stained with Giemsa; on the other hand, whole diaphragms from slightly infected mice(1 ML/gbw) were also stained with Giemsa. Besides, muscle samples were also stained with Giemsa. Observation at 10 $\times$ magnification revealed that both ML and nurse cells(NC) look as bluish structures clearly contrasting with the pinkish color of the non-infected muscle fibers. NC in the diaphragms of mice could be easily observed at naked eye as blue points contrasting with the pink surrounding areas formed by the non-infected muscle fibers. Among NC observed in the diaphragms of rats infected with 20 ML/gbw, 4.4% was multiple infection. These findings were confirmed in sectioned and hematoxylin-eosin stained specimens. This data could be usefulness for a rapid diagnosis of trichinellosis in post-mortem mammals without magnification procedures.

• 비파괴검사학회지
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• 제35권3호
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• pp.206-214
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• 2015

In this study, low-velocity impact damage (LVID) in glass fiber reinforced plastic (GFRP) was investigated using pulse thermography (PT) and lock-in thermography (LIT) techniques. The main objective of this study was to evaluate the detection performance of each technique for LVID in GFRP. Unidirectional and cross-ply GFRPs were prepared with four energy levels using a drop weight impact machine and they were inspected from the impact side, which may be common in actual service conditions. When the impacted side was used for both inspection and thermal loading, results showed that the suggested techniques were able to identify the LVID which is barely visible to the naked eye. However, they also include limitations that depend on the GFRP thickness at the location of the delamination produced by the lowest impact energy of five joule.

• 로봇학회논문지
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• 제10권3호
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• pp.171-177
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• 2015

A telerobot offers a more engaging and enjoyable interaction with people at a distance by communicating via audio, video, expressive gestures, body pose and proxemics. To provide its potential benefits at a reasonable cost, this paper presents a telepresence robot system for video communication which can deliver speaker's head motion through its display stanchion. Head gestures such as nodding and head-shaking can give crucial information during conversation. We also can assume a speaker's eye-gaze, which is known as one of the key non-verbal signals for interaction, from his/her head pose. In order to develop an efficient head tracking method, a 3D cylinder-like head model is employed and the Harris corner detector is combined with the Lucas-Kanade optical flow that is known to be suitable for extracting 3D motion information of the model. Especially, a skin color-based face detection algorithm is proposed to achieve robust performance upon variant directions while maintaining reasonable computational cost. The performance of the proposed head tracking algorithm is verified through the experiments using BU's standard data sets. A design of robot platform is also described as well as the design of supporting systems such as video transmission and robot control interfaces.

• 인터넷정보학회논문지
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• 제5권5호
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• pp.79-91
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• 2004

본 논문에서는 음영합성 기법과 얼굴 인식 기술 중 특징추출 기법을 이용한 아바타 얼굴 자동생성 시스템을 제안한다. 제안하는 시스템은 사진으로부터 얼굴의 특징정보를 추출하여 사람의 얼굴과 유사한 아바타 얼굴을 자동으로 생성해 주는 시스템이며, 음영을 사진으로부터 추출하여 이를 각 이목구비 이미지와 합성하여 생성한다. 따라서 실사형에 좀 더 근접한 얼굴을 생성할 수 있다. 본 논문은 새로운 눈동자 추출 기법과 각 이목구비별 특징정보 추출 방법 그리고. 검색시간을 줄이기 위한 분류 방법, 유사도 계산에 의한 이미지 검색방법, 최종적으로 사진으로부터 음영을 추출하여 검색된 이목구비와 합성, 실사형 아바타 얼굴을 생성하는 방법을 제안한다.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 2011년도 하계학술대회
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• pp.428-429
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• 2011

3D 디스플레이 장치는 디스플레이 장치의 시점 수에 따라 다시점 디스플레이 장치 및 스테레오 디스플레이 장치로 구분할 수 있다. 스테레오 디스플레이 장치는 좌우 두 개의 영상을 디스플레이 방식에 따라 영상포맷을 변경하여 디스플레이에 보여지고 다시점 디스플레이는 두 개 이상의 영상 데이터를 포함하는 것으로 구분할 수 있다. 영상의 화질문제로 인하여 최근 3DTV는 스테레오 방식을 사용하고 있으며 대기업에서 양산하고 있는 기술이다. 스테레오 방식에서는 개인용 단말의 경우 사용자의 위치 및 눈의 위치에 따라 깊이감을 달리 보여주는 장치가 개발되고 있어 이에 대한 연구를 진행하였다. 이와같은 기술의 흐름에 맞춰 3D 디스플레이 장치를 위한 눈 추적 알고리즘을 구현하였다. 본 논문에는 카메라에서 입력되는 영상에서 얼굴영역을 Haar training 방법을 통하여 추출하였으며 PCA 방법을 통하여 눈 영역을 추출하였다. 알고리즘의 복잡도로 인하여 연산량을 줄이기 위하여 Downsampling 방법을 활용하여 연산량을 약 26% 감소시켰다. 본 연구 결과를 통하여 얼굴 및 눈 추적 알고리즘 구현시 최적화를 위하여 필요한 프로세스를 예측할 수 있다.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 2014년도 추계학술대회
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• pp.41-44
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• 2014

본 논문은 안드로이드 스마트 폰 환경에서 정중앙 블록과 주변 블록들 간의 블록 대비도를 이용해 눈썹을 검출한 후, 눈썹과 눈 간의 기하학적 특성을 이용해 눈의 위치를 찾는 눈 검출 방법에 관한 것이다. 제안된 방법은 Haar-like 특징과 AdaBoost 알고리즘 그리고 적응형 템플릿 정합을 이용해 입력 영상에서 얼굴 영역을 검출한 후, 이를 이용해 좌측 및 우측 눈썹과 눈 탐색 영역을 산정한다. 눈썹 영역의 Integral Image에서 눈썹에 해당하는 부분이 주변 블록들에 비해 상대적으로 어둡다는 특성을 이용해 눈썹을 추출한다. 이와 동시에 각 눈 탐색 영역의 Integral Image에서 동공 블록이 나머지 주변 블록들에 비해 상대적으로 어둡고 대칭성이 양호하다는 특성을 이용해 눈 후보 영역들을 추출한 후 최대 블록 대비도를 갖는 블록의 중심화소를 동공 후보점으로 삼는다. 이후 눈의 위치는 항상 눈썹 하단에 위치하며 그 떨어진 정도가 사람마다 크게 다르지 않다는 기하학적 특성을 이용해 눈 후보 영역에서 나온 동공 후보 점들을 검증한다. 제안된 방법은 거리 및 조명 변화 그리고 안경 착용에 강인한 것이 장점이다. 눈썹을 먼저 찾은 후 기하학적 특성을 이용해 좌우 동공 후보점 쌍의 적합성을 검증함으로써 안경과 눈을 효과적으로 구분할 수 있고 눈이 감겨 동공이 가려진 상태에도 감긴 눈의 위치를 검출할 수 있다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.191-195
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• 2003

The formation degree of sustain (ITO pattern) decides quality of PDP (plasma display panel). For this reason. it makes efforts in search defects more than 30 ${\mu}{\textrm}{m}$. Now, the existing inspection process is dependent upon naked eye or SEM equipment in off-line PDP manufacturing process. In this study developed prototype inspection system of PDP ITO glass. This system creates information that detects and sorts kind of defect automatically. Design ed inspection technology adopts line-scan method by slip-beam formation for the minimum of inspection time and image processing algorithm is embodied in detection ability of developed system. Designed algorithm had to make good use of kernel matrix which draws up an approach to geometry. A characteristic of area-shaped defects, as pin hole, substance, protrusion et al, are extracted from blob analysis method. Defects, as open, short, spots, et al, are distinguished by line type inspection algorithm. In experiment results, we could have ensured ability of inspection that can be detected with reliability of up to 95% in about 60 seconds