• Journal of the Institute of Electronics Engineers of Korea SP
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• v.40 no.5
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• pp.312-321
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• 2003

In this paper, we implement robot which are ability to recognize obstacles and moving automatically to destination. we present two results in this paper; hardware implementation of image processing board and software implementation of visual feedback algorithm for a self-controlled robot. In the first part, the mobile robot depends on commands from a control board which is doing image processing part. We have studied the self controlled mobile robot system equipped with a CCD camera for a long time. This robot system consists of a image processing board implemented with DSPs, a stepping motor, a CCD camera. We will propose an algorithm in which commands are delivered for the robot to move in the planned path. The distance that the robot is supposed to move is calculated on the basis of the absolute coordinate and the coordinate of the target spot. And the image signal acquired by the CCD camera mounted on the robot is captured at every sampling time in order for the robot to automatically avoid the obstacle and finally to reach the destination. The image processing board consists of DSP (TMS320VC33), ADV611, SAA7111, ADV7l76A, CPLD(EPM7256ATC144), and SRAM memories. In the second part, the visual feedback control has two types of vision algorithms: obstacle avoidance and path planning. The first algorithm is cell, part of the image divided by blob analysis. We will do image preprocessing to improve the input image. This image preprocessing consists of filtering, edge detection, NOR converting, and threshold-ing. This major image processing includes labeling, segmentation, and pixel density calculation. In the second algorithm, after an image frame went through preprocessing (edge detection, converting, thresholding), the histogram is measured vertically (the y-axis direction). Then, the binary histogram of the image shows waveforms with only black and white variations. Here we use the fact that since obstacles appear as sectional diagrams as if they were walls, there is no variation in the histogram. The intensities of the line histogram are measured as vertically at intervals of 20 pixels. So, we can find uniform and nonuniform regions of the waveforms and define the period of uniform waveforms as an obstacle region. We can see that the algorithm is very useful for the robot to move avoiding obstacles.

• Cartoon and Animation Studies
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• s.46
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• pp.85-106
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• 2017

With the media's shift into the digital era in the 2000s, comic book publishers attempted a transition into the new medium by establishing a distribution structure using internet networks. But that effort shied from escaping the parallel-page reading structure of traditional comics. On the other hand, webtoons are showing divers changes by redesigning the structure of traditional sequential art media; they tend to separate and allot spaces according to the vertical scroll reading method of the internet browser and include animations, sound effects and background music. This trend is also in accordance with the preferences of modern readers. Modern society has complicated social structures with the development of various media; the public is therefore exposed to different stimuli and shows characteristics of differentiated perceptions. In other words, webtoons display more relevant and entertaining characteristics by inserting sounds and using moving texts and characters in specific frames, while traditional comics require an appreciation of withdrawal and immersion like other published media. Motions in webtoons are partially applied for dramatic tension or to create an effective expression of action. For example, hand-drawn animation is adopted to express motions by dividing motion images into many layers. Sounds are also utilized, such as background music with episode-related lyrics, melodies, ambient sounds and motion-related sound effects. In addition, webtoons provide readers with new amusement by giving tactile stimuli via the vibration of a smart phone. As stated above, the vertical direction, time-based nature of animation motions and tactile stimuli used in webtoons are differentiated from published comics. However, webtoons' utilization of innovative techniques hasn't yet reached its full potential. In addition to the fact that the software used for webtoon effects is operationally complex, this is a transitional phenomenon since there is still a lack of technical understanding of animation and sound application amongst the general public. For example, a sound might be programmed to play when a specific frame scrolls into view on the monitor, but the frame may be scrolled faster or slower than the author intended; in this case, sound can end before or after a reader sees the whole image. The motion of each frame is also programmed to start in a similar fashion. Therefore, a reader's scroll speed is related to the motion's speed. For this reason, motions might miss the intended timing and be unnatural because they are played out of context. Also, finished sound effects can disturb the concentration of readers. These problems come from a shortage of continuity; to solve these, naturally activated consecutive sounds or animations, like the simple rotation of joints when a character moves, is required.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.47 no.4
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• pp.79-89
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• 2010

Recently, distributed video coding (DVC) has been actively studied for low complexity video encoder. The complexity of the encoder in DVC is much simpler than that of traditional video coding schemes such as H.264/AVC, but the complexity of the decoder in DVC increases. In this paper, we propose the Region-Of-Interest (ROI) based DVC with low decoding complexity. The proposed scheme uses the ROI, the region the motion of objects is quickly moving as the input of the Wyner-Ziv (WZ) encoder instead of the whole WZ frame. In this case, the complexity of encoder and decoder is reduced, and the bite rate decreases. Experimental results show that the proposed scheme obtain 0.95 dB as the maximum PSNR gain in Hall Monitor sequence and 1.87 dB in Salesman sequence. Moreover, the complexity of encoder and decoder in the proposed scheme is significantly reduced by 73.7% and 63.3% over the traditional DVC scheme, respectively. In addition, we employ the layered belief propagation (LBP) algorithm whose decoding convergence speed is 1.73 times faster than belief propagation algorithm as the Low-Density Parity-Check (LDPC) decoder for low decoding complexity.

• Journal of the Korean Society for Marine Environment & Energy
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• v.16 no.1
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• pp.1-8
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• 2013

This study focuses on a ship detection and tracking method using Frequency Modulated Continuous Wave (FMCW) radar used for horizontal surveillance. In general, FMCW radar can play an important role in maritime surveillance, because it has many advantages such as low warm-up time, low power consumption, and its all weather performance. In this paper, we introduce an effective method for data and signal processing of ship's detecting and tracking using the X-band radar. Ships information was extracted using an image-based processing method such as the land masking and morphological filtering with a threshold for a cycle data merged from raw data (spoke data). After that, ships was tracked using search-window that is ship's expected rectangle area in the next frame considering expected maximum speed (19 kts) and interval time (5 sec). By using this method, the tracking results for most of the moving object tracking was successful and those results were compared with AIS (Automatic Identification System) for ships position. Therefore, it can be said that the practical application of this detection and tracking method using FMCW radar improve the maritime safety as well as expand the surveillance coverage cost-effectively. Algorithm improvements are required for an enhancement of small ship detection and tracking technique in the future.

• Journal of Broadcast Engineering
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• v.19 no.6
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• pp.798-809
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• 2014

Video stabilization is performed to remove unexpected shaky and irregular motion from a video. It is often used as preprocessing for robust feature tracking and matching in video. Typical video stabilization algorithms are developed to compensate motion from surveillance video or outdoor recordings that are captured by a hand-help camera. However, since the vehicle video contains rapid change of motion and local features, typical video stabilization algorithms are hard to be applied as it is. In this paper, we propose a novel approach to compensate shaky and irregular motion in vehicle video using linear regression model and vertical projection histogram matching. Towards this goal, we perform vertical projection histogram matching at each sub region of an input frame, and then we generate linear regression model to extract vertical translation and rotation parameters with estimated regional vertical movement vector. Multiple binarization with sub-region analysis for generating the linear regression model is effective to typical recording environments where occur rapid change of motion and local features. We demonstrated the effectiveness of our approach on blackbox videos and showed that employing the linear regression model achieved robust estimation of motion parameters and generated stabilized video in full automatic manner.

• Journal of Biomedical Engineering Research
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• v.19 no.6
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• pp.571-575
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• 1998

One of the most significant features of diagnostic ultrasonic instruments is to provide real time information of the soft tissues movements. Echocardiogram has been widely used for diagnosis of heart diseases since it is able to show real time images of heart valves and walls. However, the currently used ultrasonic images are deteriorated due to presence of speckle noises and image dropout. Therefore, it is very important to develop a new technique which can enhance ultrasonic images. In this study, a technique which extracts enhanced binary images in echocardiograms was proposed. For this purpose, a digital moving image file was made from analog echocardiogram, then it was stored as 8-bit gray-level for each frame. For an efficient image processing, the region containing the heat septum and tricuspid valve was selected as the region of interest(ROI). Image enhancement filters and morphology filters were used to reduce speckle noises in the images. The proposed procedure in this paper resulted in binary images with enhanced contour compared to those form the conventional threshold technique and original image processing technique which can be further implemented for the quantitative analysis of the left ventricular wall motion in echocardiogram by easy detection of the heart wall contours.

• Journal of the Korean Society of Marine Environment & Safety
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• v.23 no.4
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• pp.415-420
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• 2017

In this paper, an algorithm for object counting via a conveyor system using machine vision is suggested. Object counting systems using image processing have been applied in a variety of industries for such purposes as measuring floating populations and traffic volume, etc. The methods of object counting mainly used involve template matching and machine learning for detecting and tracking. However, operational time for these methods should be short for detecting objects on quickly moving conveyor belts. To provide this characteristic, this algorithm for image processing is a region-based method. In this experiment, we counted young abalone shells that are similar in shape, size and color. We applied a characteristic conveyor system that operated in one direction. It obtained information on objects in the region of interest by comparing a second frame that continuously changed according to the information obtained with reference to objects in the first region. Objects were counted if the information between the first and second images matched. This count was exact when young shells were evenly spaced without overlap and missed objects were calculated using size information when objects moved without extra space. The proposed algorithm can be applied for various object counting controls on conveyor systems.

• Resources Recycling
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• v.22 no.2
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• pp.62-70
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• 2013

Electric arc furnace slag is made in ironworks during steel refining, it is been increasing chemical and physical resistibility using ageing method of unstable state of melting steel slag for using concrete's fine aggregates. Which is been changing stable molecular structure of aggregates, it restrains moving of ion and molecule. In Korea, KS F 4571 has been prepared for using the electric arc furnace slag to concrete aggregates. In this study, Electric arc furnace slag is used in the PMC(Polymer Modified Concrete) which is applied a bridge pavement of rehabilitation, largely. In that case, this study evaluates the structural safety about increasing the specific weight. The 4-type bridges(RC slab bridge, RC rigid-frame bridge, PSC Beam bridge, Steel box girder bridge) pavement's increasing the total dead load is in 1 ~ 2%. Design moments in a load combination are increased less then 2%. safety factor is decreased less than 3%. Therefore, the structural safety has no problem for applying the electric arc furnace slag within PMC in bridge.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.5 no.1
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• pp.17-25
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• 2011

This paper aims to find the optimal control gain for enhancing the convenience of electric walking frames and design a control algorithm. With the recent advances in medical technology, there has been a rapid increase in the aging population and a variety of mobile walking frames have been developed for improvement of the quality of life. However, the manual walking frames of such mobile aids don't have any electric motor which helps facilitate elderly users' walking and thus are not efficient enough for the old people of weak strength to use especially when moving on uneven surfaces such as slopes or thresholds. The types of electric walking frames have been developed to overcome such inefficiency. Electric walking frames require users' control operations for motor driving unlike manual frames. Therefore, when they are not properly handled, it causes considerable inconvenience to their users. The present study compared the electric walking frames with manual ones in terms of operational convenience and attempted to improve the user convenience of walking frames varying the control value for user convenience based on certain standards. This paper presented a haptic sensor designed to recognize the will to walk and measure the degree of convenience and proposed a control algorithm for improvement of convenience. For user convenience, this paper evaluated the relative convenience of walking frames in view of changing differences between the center of vehicle (COV) and the center of position (COP). With the employment of an electric walking frame and a new measuring method, all the processes were experimentally tested and validated.

• The Journal of the Korea Contents Association
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• v.14 no.3
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• pp.103-112
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• 2014

Oh, hein-kuhn is a representative portrait photographer in Korea. His works, , , , which treated portraits of women are a bit different from those of the past that described the appearance of characters. The artist expressed the figure of inner side that conflicts and feels uneasy between 'family and society' and 'child and woman' along with the look of character. That is, he included specific aura which the whole of aunts and girls' group radiates by showing similar photos repeatedly, that we can be aware of 'aunt' and 'girl' by seeing them. The important technique of Oh, hein-kuhn's Portrait Photograph is 'repetition' of image. The artist delivers the meaning of the photo by looking at the character upright in the front and showing photos with similar frame repeatedly. Such form and content of the work as this might feel a bit boring, since it's very simple just like identification picture. However, the photos in the frames which do not move in the fixed position can deliver the meaning of work more clearly rather than the image which expresses flowing time and moving space, we can grasp the message that the artist intends to deliver rather quickly. In the environment of photograph production mainly with image transformation, Oh, hein-kuhn's works of authentic original work method definitely stand forth. Through the portraits of aunts and girls, the artist tells an aspect of our society and we reconfirm the reality through the portraits made by him.