• 정보학연구
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• 제5권1호
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• pp.133-142
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• 2002

본 논문에서는 linear window operator의 효율적인 구현 방안을 제안하였다. 블록 상태 공간함수를 이용하여 computational primitive를 찾아내고 이를 이용하여 프로세사의 datapath의 구현에 사용함으로서 효율적인 linear window operator의 구현을 가능하게 하였다. 또한 linear window operator의 실시간 처리를 위하여 데이터 분할 기법을 사용한 다중 프로세서 구조를 제안하였다. 블록의 크기에 따른 성능 분석을 통하여 제시된 프로세서 및 다중 프로세서의 성능이 우수함을 보였다.

• 로봇학회논문지
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• 제8권1호
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• pp.20-28
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• 2013

Large workspace and strong grasping force are required when a robot manipulates big and/or heavy objects. In that situation, bimanual manipulation is more useful than unimanual manipulation. However, the control of both hands to manipulate an object requires a more complex model compared to unimanual manipulation. Learning by human demonstration is a useful technique for a robot to learn a model. In this paper, we propose an imitation learning method of bimanual object manipulation by human demonstrations. For robust imitation of bimanual object manipulation, movement trajectories of two hands are encoded as a movement trajectory of the object and a force trajectory to grasp the object. The movement trajectory of the object is modeled by using the framework of dynamic movement primitives, which represent demonstrated movements with a set of goal-directed dynamic equations. The force trajectory to grasp an object is also modeled as a dynamic equation with an adjustable force term. These equations have an adjustable force term, where locally weighted regression and multiple linear regression methods are employed, to imitate complex non-linear movements of human demonstrations. In order to show the effectiveness our proposed method, a movement skill of pick-and-place in simulation environment is shown.

• 대한의용생체공학회:학술대회논문집
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• 대한의용생체공학회 1991년도 춘계학술대회
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• pp.56-60
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• 1991

This paper describes an algorithm that recognizing the QRS complex using attribute grammar interpreter. This System extracts primitives and their attributes by linear approximation and then evaluated by attribute grammar interpreter.

• ETRI Journal
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• 제29권4호
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• pp.411-420
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• 2007

The steady evolution of mapping technology is leading to an increasing availability of multi-sensory geo-spatial datasets, such as data acquired by single-head frame cameras, multi-head frame cameras, line cameras, and light detection and ranging systems, at a reasonable cost. The complementary nature of the data collected by these systems makes their integration to obtain a complete description of the object space. However, such integration is only possible after accurate co-registration of the collected data to a common reference frame. The registration can be carried out reliably through a triangulation procedure which considers the characteristics of the involved data. This paper introduces algorithms for a multi-primitive and multi-sensory triangulation environment, which is geared towards taking advantage of the complementary characteristics of spatial data available from the above mentioned sensors. The triangulation procedure ensures the alignment of involved data to a common reference frame. The devised methodologies are tested and proven efficient through experiments using real multi-sensory data.

• Korean Journal of Geomatics
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• 제5권1호
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• pp.7-19
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• 2005

Photogrammetric mapping procedures have gone through major developments due to significant improvements in its underlying technologies. The availability of GPS/INS systems greatly assist in direct geo-referencing of the acquired imagery. Still, photogrammetric datasets taken without the aid of positioning and navigation systems need control information for the purpose of surface reconstruction. Point features were, and still are, the primary source of control for the photogrammetric triangulation although other higher-order features are available and can be used. LIDAR systems supply dense geometric surface information in the form of three dimensional coordinates with respect to certain reference system. Considering the accuracy improvement of LIDAR systems in the recent years, LIDAR data is considered a viable supply of photogrammetric control. To exploit LIDAR data, new challenges are poised concerning the representation and reference system by which both the photogrammetric and LIDAR datasets are described. In this paper, registration methodologies will be devised for the purpose of integrating the LIDAR data into the photogrammetric triangulation. Such registration methodologies have to deal with three issues: registration primitives, transformation parameters, and similarity measures. Two methodologies will be introduced that utilize straight-line and areal features derived from both datasets as the registration primitives. The first methodology directly incorporates the LIDAR lines as control information in the photogrammetric triangulation, while in the second methodology, LIDAR patches are used to produce and align the photogrammetric model. Also, camera self-calibration experiments were conducted on simulated and real data to test the feasibility of using LIDAR patches for this purpose.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2007년도 Proceedings of ISRS 2007
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• pp.14-17
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• 2007

To make use of surveying data obtained from different sensors and different techniques in a common reference frame, it is a pre-requite step to register them in a common coordinate system. For this purpose, we have developed a methodology to register IKONOS-2 Satellite Imagery using ALS data. To achieve this, conjugate features from these data should be extracted in advance. In the study, linear features are chosen as conjugate features because they can be accurately extracted from man-made structures in urban area, and more easily than point features from ALS data. Then, observation equations are established from similarity measurements of the extracted features. During the process, considering the characteristics of systematic errors in IKONOS-2 satellite imagery, the transformation function were selected and used. In addition, we also analyzed how the number of linear features and their spatial distribution used as control features affect the accuracy of registration. Finally, the results were evaluated statistically and the results clearly demonstrated that the proposed algorithms are appropriate to register these data.

• 한국통신학회논문지
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• 제25권4B호
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• pp.734-742
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• 2000

기존의 거리영상을 이용한 모델베이스기반 3차원 물체인식에서는 주로 거리영상 분할과정을 통한 면정합이나 그래프매칭 등의 방법을 이용하였으나, 이러한 방법은 인간의 인식체계와는 동떨어져 있는 경우가 대부분이다. 본 논문에서는 인간의 인식체계와 유사한 체적기반의 수퍼쿼드릭(superquadric) 물체표현과 이를 확장한 물체인식과정을 보인다. 먼저 3차원 물체에 대한 체적특성을 수퍼쿼드릭 계수를 이용한 부품기반 수퍼쿼드릭 모델(PBSM ; part-based superquadirc model) 로 기술하며, 면 특성 및 체적소간의 접합관계 등을 함께 이용하여 물체의 일부 가려짐이나 시점에 의한 비선형적인 형상변화(nonlinear shape change)에도 강건하도록 한다. 입력되는 물체로부터 추출된 수퍼쿼드릭 계수와 모델물체의 계수들간의 매칭을 거쳐 인식에 이른다. 본 논문에서는 실험결과를 통하여 이러한 병합된 방법이 임의의 기계조립 부품의 위치와 자세를 판정하고 인식하는데 유용함을 입증하였다.

• 한국정보과학회논문지:시스템및이론
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• 제27권3호
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• pp.235-244
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• 2000

본 논문에서는 단층 촬영 영상(tomographic cross-section image)에 포함되어 있는 볼륨 정보를 표현하기 위한 새로운 방법을 제안하였다. 이 방법은 큐베릴 공간을 셀 공간으로 변환하고 경계셀들을 추출하여 볼륨을 재구성하는 방법이다 셀 경계 표현은 이러한 경계셀들과 이들의 지지 복셀들의 구조에 의해 표현되어 지는데, 항상 볼륨 정보를 정확하게 표현해낼 수 있다. 이 표현에서부터 가시화등의 작업에 필요한 표면모델을 추출하기 위해 19개의 모델링 원형을 제안하고 체적형, 표면형 그리고 선형으로 분류하였으며， 이들로부터 3차원 표면을 표 참조방식으로 빠르게 추출할 수 있는 알고리즘을 제안하였다. 제안된 방법의 장점은 기존에 제안된 마칭 큐브나 PVP알고리즘 등에서 흔히 발생하는 표면생성시의 모호성문제가 전혀 발생하지 않으며, 마칭 큐브 알고리즘에서 발생하는 표면의 크랙문제도 완전히 해결된다는 장점이 있다. 또한 알고리즘이 표 참조방식을 취하므로 하드웨어화 하기가 매우 용이하여 고속의 모델링이 필요한 분야에 매우 적합한 방법이다.

• 한국CDE학회논문집
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• 제2권1호
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• pp.60-67
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• 1997

CAD systems offer a variety of techniques for designing and rendering models of static 3D objects and even of mechanisms, but relatively few tools exist for interactively specifying arbitrary movements of rigid bodies through space. Such tools are essential, not only for artistic animation, but also, for planning and demonstrating assembly and disassembly procedure of manufactured products. A rigid body motion is a continuous mapping from the time domain to a set of positions. To relieve the designers from the burden of specifying this mapping in abstract mathematical terms, combinations of simple rigid motion primitives, such as linear translations or constant axis rotations, are often used. These simple motions are planar and thus ill-suited for approximating arbitrary motions in 3D-space. Instead, we propose the screw motion primitive, a special combination of linear translations and constant axis rotations, which has a simple geometric representation that can be automatically and unambiguously computed from the starting and ending positions of the moving body. Although, any two positions may be interpolated by an infinity of motions, we chose the screw motion for its relative generality and its computational advantages. The paper covers original algorithms for computing the screw motions from interpolated positions and envelopes of swept regions to predict collisions.

• International journal of advanced smart convergence
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• 제8권2호
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• pp.155-161
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• 2019

We introduces a mobile robot that can navigate on a power transmission line arranged in bundled conductors. The designs of the proposed robot are performed for navigation on bundled conductors, and the navigation method for bundled conductors and obstacle avoidance are presented. The robot consists of 13 degrees of freedom (DOF) with a symmetrical structure for the left and right parts, including the four wheel joints. The navigation method is designed using a combination of three motion primitives such as linear motion of counterbalancing box, linear motion of robot arm, and rotational motion of wheel part. To examine the performance of the proposed robot, navigation simulations are conducted using $ADAMS^{TM}$. The robot navigations were simulated on obstacle environments that consisted of two- and four-conductor bundles. Based on the simulation results, the performance of the proposed robot was reviewed through the analysis of the trajectories of end-effectors. We confirmed that the proposed robot was capable of achieving optimal navigation on bundled conductors that included obstacles.