• 제어로봇시스템학회논문지
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• 제13권9호
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• pp.896-902
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• 2007

This paper proposes a vision-based kinematic control method for mobile robots with camera-on-board. In the previous literature on the control of mobile robots using camera vision information, the forward velocity is set to be a constant, and only the rotational velocity of the robot is controlled. More efficient motion, however, is needed by controlling the forward velocity, depending on the position in the corridor. Thus, both forward and rotational velocities are controlled in the proposed method such that the mobile robots can move faster when the comer of the corridor is far away, and it slows down as it approaches the dead end of the corridor. In this way, the smooth turning motion along the corridor is possible. To this end, visual information using the camera is used to obtain the perspective lines and the distance from the current robot position to the dead end. Then, the vanishing point and the pseudo desired position are obtained, and the forward and rotational velocities are controlled by the LOS(Line Of Sight) guidance law. Both numerical and experimental results are included to demonstrate the validity of the proposed method.

• 한국음향학회지
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• 제18권2호
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• pp.66-76
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• 1999

본 논문은 스테레오 카메라를 대응점 문제가 발생하지 않을 만큼 병진 및 전진 이동시켜 고속으로 양안 시차 정보를 획득할 수 있다는 것을 제안한다. 병진 이동하는 스테레오 비전에 있어서 오차가 없고 신뢰성이 높은 시차 정보를 획득할 수 있다는 것과 전진 이동하는 스테레오 비전에 있어서는 통상의 스테레오 비전으로는 검출할 수 없는 수평성분을 획득할 수 있다는 것을 나타낸다. 또한 좌우 화상사이의 대응을 미리 한정하기 때문에 한정하지 않을 때에 비해 대응점이 밝고 작게 되므로 고속으로 스테레오 비전을 행할 수 있다. 그러나 전진 이동하는 스테레오 비전에 있어서 화상중심 부근과 폐색영역이 일치하면 바른 양안 시차 정보를 얻을 수 없는 문제가 있다.

• International Journal of Automotive Technology
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• 제8권4호
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• pp.493-504
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• 2007

This paper proposes a stereo vision-based forward obstacle detection and distance measurement method. In general, stereo vision-based obstacle detection methods in automotive applications can be classified into two categories: IPM (Inverse Perspective Mapping)-based and disparity histogram-based. The existing disparity histogram-based method was developed for stop-and-go applications. The proposed method extends the scope of the disparity histogram-based method to highway applications by 1) replacing the fixed rectangular ROI (Region Of Interest) with the traveling lane-based ROI, and 2) replacing the peak detection with a constant threshold with peak detection using the threshold-line and peakness evaluation. In order to increase the true positive rate while decreasing the false positive rate, multiple candidate peaks were generated and then verified by the edge feature correlation method. By testing the proposed method with images captured on the highway, it was shown that the proposed method was able to overcome problems in previous implementations while being applied successfully to highway collision warning/avoidance conditions, In addition, comparisons with laser radar showed that vision sensors with a wider FOV (Field Of View) provided faster responses to cutting-in vehicles. Finally, we integrated the proposed method into a longitudinal collision avoidance system. Experimental results showed that activated braking by risk assessment using the state of the ego-vehicle and measuring the distance to upcoming obstacles could successfully prevent collisions.

• 전기학회논문지
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• 제62권6호
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• pp.852-862
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• 2013

This paper proposes a target tracking control method for wheeled mobile robots with nonholonomic constraints by using a backstepping-like feedback linearization. For the target tracking, we apply a vision system to mobile robots to obtain the relative posture information between the mobile robot and the target. The robots do not use the sensors to obtain the velocity information in this paper and therefore assumed the unknown velocities of both mobile robot and target. Instead, the proposed method uses only the maximum velocity information of the mobile robot and target. First, the pseudo command for the forward linear velocity and the heading direction angle are designed based on the kinematics by using the obtained image information. Then, the actual control inputs are designed to make the actual forward linear velocity and the heading direction angle follow the pseudo commands. Through simulations and experiments for the mobile robot we have confirmed that the proposed control method is able to track target even when the velocity sensors are not used at all.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2001년도 하계종합학술대회 논문집(5)
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• pp.127-130
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• 2001

In this paper, we describes a method of estimating traveling direction of a autonomous vehicle. For the development of autonomous vehicle, it is important to detect road lane and to reckon traveling direction. The object of a propose algorithm is to perform lane detection in real-time for standalone vision system. And we calculate efficent traveling direction to find steering angie for lateral control system. Therefore autonomous vehicle go forward the center of lane by adjusting the current steering angle using traveling direction.

• 대한물리의학회지
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• 제8권4호
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• pp.601-608
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• 2013

PURPOSE: The purpose of this study was to investigate the effect of distance between trunk and desk on forward head posture and muscle activity of neck and shoulder muscles during computer work. METHODS: Twenty subjects who have healthy conditions were asked to perform computer work in two conditions (distance between trunk and desk was 0 and 15 cm). Forward head angle was analyzed with a SIMI motion analysis system. Surface electromyography recorded the upper trapezius and splenius capitis muscles. The significance of differences in distance between trunk and desk (0cm and 15cm) was tested by paired t-test. The alpha level was set at .05. RESULTS: The results showed that the change of forward head angle was significantly higher during the computer work when the distance between trunk and desk was 15cm than 0cm. The muscle activity of upper trapezius and splenius capitis was also significantly higher during the computer work when the distance between trunk and desk was 15cm than 0cm. CONCLUSION: Our study suggest that the distance between trunk and desk was should minimized for prevention of forward head posture during computer work.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2009년도 제40회 하계학술대회
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• pp.965_966
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• 2009

In this paper, a new soft-switching Two-switch Forward converter topology has been proposed. Compared with conventional two-switch forward converter, the proposed converter employs an auxiliary switch and a clamp capacitor to instead of two reset diodes, not only its duty cycle can exceed 0.5 to achieve wide range input voltage, but also soft switching can be achieved for all switches. Especially, voltage stress across main switches can be clamped at $1/2V_{in}$, voltage stress across auxiliary switch can be clamped at $V_{in}$. In addition, due to clamp capacitor series with the transformer, duty ratio can be extended with equation $V_o=\frac{V_{in}(1-D}D{N}$. Therefore, as a kind of better cost-effective approach, it is very attractive for high input, wide range and high efficiency application.

• 한국수학교육학회지시리즈B:순수및응용수학
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• 제12권4호
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• pp.275-287
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• 2005

Geometric invariants are basic tools for geometric processing and computer vision. In this paper, we give a linear approximation for the differentiation of the binormal vector field of a space curve by using the forward and backward differences of discrete binormal vectors. Two kind of discrete torsion, say, back-ward torsion $T_b$ and forward torsion $T_f$ can be defined by the dot product of the (backward and forward) discrete differentiation of binormal vectors that are linear approximations of torsion. Using Frenet formula and Taylor series expansion, we give error estimations for the discrete torsions. We also give numerical tests for a curve. Notably the average of $T_b$ and $T_f$ looks more stable in errors.

• 한국정보통신학회논문지
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• 제25권7호
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• pp.962-970
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• 2021

대부분의 자동차 사고는 졸음운전과 같은 운전자의 부주의로 인해 발생한다. 전방 추돌 경보 시스템 (FCWS)은 전방 차량으로부터 추돌 위험을 감지하여 운전자에게 사전에 경고함으로써 사고의 위험을 현저하게 줄여준다. 본 논문은 주행 안전을 위한 저전력 임베디드 기반 FCWS를 소개한다. 단일 카메라로부터 전방 차량에 대해 검출, 추적, 거리를 계산하고 현재 차량의 속도 정보를 통해 충돌시간 (TTC)을 계산한다. 또한 저성능 임베디드 시스템에서 실시간으로 동작하기 위해 높고 낮은 수준의 프로그램 최적화 기법을 소개한다. 이 시스템은 임베디드 시스템에서 사전에 취득해둔 주행 영상을 통해서 테스트 하였다. 최적화 기법을 사용한 결과는 이전에 최적화를 하지 않은 프로세스 보다 실행 시간이 약 170배 향상되었다.

• 한국항공우주학회지
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• 제34권5호
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• pp.107-116
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• 2006

본 논문은 저속통제기 야시조명계통 개발에 관한 논문이다. 현대전에서는 야간특수작전수행과 조종사 임무 극대화를 위하여 야시조명계통을 항공기에 적용하는 추세이다. 국내 최초로 야시조명계통이 적용된 저속통제기는 적지에서 저고도로 비행하며 주/야간 적 지형 및 적군들의 이동 등에 관한 정보를 획득하는 전술통제기이다. 저속통제기 야시조명계통 개발을 통하여 국내 최초로 적용된 이 분야의 개발 요구도 설정, 개발규격 정립, 시스템 개발 및 시험평가체계 구축을 성공적으로 완수하여 적기에 군 사용가 판정을 획득하였다.