• 한국인터넷방송통신학회논문지
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• 제11권3호
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• pp.129-135
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• 2011

본 논문에서는 2D 동영상을 3D 입체영상으로 변환하기 위해서 머신러닝에 의한 학습기반의 객체분할과 객체의 optical flow를 활용하는 방법을 제안한다. 성공적인 3D 변환을 가능하게 하는 객체분할을 위해서, 객체의 칼라 및 텍스쳐 정보는 학습을 통해 반영하고 움직임이 있는 영역 위주로 객체분할을 수행할 수 있도록 optical flow를 도입한 새로운 에너지함수를 설계하도록 한다. 분할된 객체들에 대해 optical flow 크기에 따른 깊이맵을 추출하여 입체영상에 필요한 좌우 영상을 합성하여 생성하도록 한다. 제안한 기법으로 인해 효과적인 객체분할과 깊이맵을 생성하여 2D 동영상에서 3D 입체동영상으로 변환됨을 실험결과들이 보여준다.

• 로봇학회논문지
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• 제18권1호
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• pp.93-98
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• 2023

In this paper, the development of an autonomous electric vehicle for logistics with a robotic arm is introduced. The manual driving electric vehicle was converted into an electric vehicle platform capable of autonomous driving. For autonomous driving, an encoder is installed on the driving wheels, and an electronic power steering system is applied for automatic steering. The electric vehicle is equipped with a lidar sensor, a depth camera, and an ultrasonic sensor to recognize the surrounding environment, create a map, and recognize the vehicle location. The odometry was calculated using the bicycle motion model, and the map was created using the SLAM algorithm. To estimate the location of the platform based on the generated map, AMCL algorithm using Lidar was applied. A user interface was developed to create and modify a waypoint in order to move a predetermined place according to the logistics process. An A-star-based global path was generated to move to the destination, and a DWA-based local path was generated to trace the global path. The autonomous electric vehicle developed in this paper was tested and its utility was verified in a warehouse.

• 로봇학회논문지
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• 제3권3호
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• pp.194-202
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• 2008

This paper describes a new method for indoor environment mapping and localization with stereo camera. For environmental modeling, we directly use the depth and color information in image pixels as visual features. Furthermore, only the depth and color information at horizontal centerline in image is used, where optical axis passes through. The usefulness of this method is that we can easily build a measure between modeling and sensing data only on the horizontal centerline. That is because vertical working volume between model and sensing data can be changed according to robot motion. Therefore, we can build a map about indoor environment as compact and efficient representation. Also, based on such nodes and sensing data, we suggest a method for estimating mobile robot positioning with random sampling stochastic algorithm. With basic real experiments, we show that the proposed method can be an effective visual navigation algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.2033-2036
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• 2004

A novel approach to estimate the real time moving trajectory of an object is proposed in this paper. The object position is obtained from the image data of a CCD camera, while a state estimator predicts the linear and angular velocities of the moving object. To overcome the uncertainties and noises residing in the input data, a Kalman filter and neural networks are utilized. Since the Kalman filter needs to approximate a non-linear system into a linear model to estimate the states, there always exist errors as well as uncertainties again. To resolve this problem, the neural networks are adopted in this approach, which have high adaptability with the memory of the input-output relationship. Kohonen Network(Self-Organized Map) is selected to learn the motion trajectory since it is spatially oriented. The superiority of the proposed algorithm is demonstrated through the real experiments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1957-1962
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• 2003

In order to design the phantom of heart, we have developed the multi-dipole current source system. Such a one be clue to the various motion of heart. The magnetocardiograph (MCG) system for diagnosing the disease of the heart due to an analysis of the heart signal. The multidipole current source system be built by microprocessor. We use the shield room to obtain a good experimental result. Then the signal acquired is mixed with a background noise, through a filtering extracts a pure signal. The pure signal such a heart phantom is analyzed by an electromagnetic map.

• Journal of information and communication convergence engineering
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• 제12권3호
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• pp.193-197
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• 2014

Edges are a robust feature for object detection. In this paper, we present an edge-based background modeling method for the detection of moving objects. The edges in the image frames were mapped using robust Canny edge detector. Two edge maps were created and combined to calculate the ultimate moving-edge map. By selecting all the edge pixels of the current frame above the defined threshold of the ultimate moving edges, a temporary background-edge map was created. If the frequencies of the temporary background edge pixels for several frames were above the threshold, then those edge pixels were treated as background edge pixels. We conducted a performance comparison with previous works. The existing edge-based moving-object detection algorithms pose some difficulty due to the changes in background motion, object shape, illumination variation, and noises. The result of the performance evaluation shows that the proposed algorithm can detect moving objects efficiently in real-world scenarios.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1988년도 전기.전자공학 학술대회 논문집
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• pp.945-949
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• 1988

In this paper, collision avoidance of two robots working in a common workspace is described. The workspace for a two robot system is defined and classified. JCM (Joint Constraint Map) is designed which shows the region of joint values that must be avoided for collision free motion, and application of the JCM is studied.

• 한국CDE학회논문집
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• 제7권1호
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• pp.34-41
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• 2002

Five-axis NC machining, in general, is utilized in fabricating impellers, turbine blades, marine propellers that can be machined more effectively rather than three-axis machining. There have been many researches concerning tool interference avoidance, optimization of tool orientation. The C-space or Configuration-space was originated from the robotics area, which depicts interference-free joint-values in motion planning. In the paper we propose an optimizing scheme by which the maximum effective-radius of a face-milling cutter can be achieved for each CC(cutter-contact) point. Also the concept of a C-space for a CC point, the effective-radius map for 5-axis face-milling, and some illustrative examples of marine propeller machining, are presented.

• Journal of information and communication convergence engineering
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• 제19권3호
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• pp.188-197
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• 2021

In military operations, an accurate localization system is required to navigate soldiers to their destinations, even in non-GPS environments. The global positioning system is a commonly used localization method, but it is difficult to maintain the robustness of GPS-based localization against jamming of signals. In addition, GPS-based localization cannot provide important terrain information such as obstacles. With the widespread use of embedded sensors, sensor-based pedestrian tracking schemes have become an attractive option. However, because of noisy sensor readings, pedestrian tracking systems using motion sensors have a major drawback in that errors in the estimated displacement accumulate over time. We present a group-based standalone system that creates terrain maps automatically while also locating soldiers in mountainous terrain. The system estimates landmarks using inertial sensors and utilizes split group information to improve the robustness of map construction. The evaluation shows that our system successfully corrected and combined the drift error of the system localization without infrastructure.

• 천문학회보
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• 제43권2호
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• pp.40.2-40.2
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• 2018

NGC 5024 and NGC 5053 are among the most metal-poor globular clusters in the Milky Way. Both globular clusters are considered to be accreted from dwarf galaxies (like Sagittarius dwarf galaxy or Magellanic clouds), and common stellar envelope and tidal tails between globular clusters are also detected. We present a search for extra-tidal cluster member candidates around these globular clusters from APOGEE survey data. Using 20 chemical elements (e.g., Fe, C, Mg, Al) and radial velocities, t-distributed stochastic neighbour embedding (t-SNE), which identifies an optimal mapping of a high-dimensional space into fewer dimensions, was explored, and we find that globular cluster stars are well separated from the field stars in 2-dimensional map from t-SNE. We also find that some stars selected in t-SNE map are placed outside of the tidal radius of the clusters. The proper motion of stars outside tidal radius is also comparable to that of globular clusters, which suggest that these stars are tidally decoupled from the globular clusters. We manually measure chemical abundances for the clusters and extra-tidal stars, and discuss the association of extra-tidal stars with the clusters.