• Journal of the Korean Society of Industry Convergence
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• v.17 no.2
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• pp.54-60
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• 2014

The equipment of SCARA robot in processing and assembly lines has rapidly increased. In order to achieve high productivity and flexibility, it becomes very important to develop the visual feedback control system with Off-Line Programming System(OLPS). We can save much efforts and time in adjusting robots to newly defined workcells by using OLPS. A proposed visual calibration scheme is based on position-based visual feedback. The calibration program firstly generates predicted images of objects in an assumed end-effector position. The process to generate predicted images consists of projection to screen-coordinates, visible range test, and construction of simple silhouette figures. Then, camera images acquired are compared with predicted ones for updating position and orientation data. Computation of error is very simple because the scheme is based on perspective projection, which can be also expanded to experimental results. Computation time can be extremely reduced because the proposed method does not requirethe precise calculation of tree-dimensional object data and image Jacobian.

• Journal of the Korean Institute of Rural Architecture
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• v.16 no.2
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• pp.19-26
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• 2014

This study aims on the direction of rehabilitation in rural area through the case analysis and policy of Eco-Quartier in France. At this object, this study was preceded with 3 main contents. Firstly, after examined the changes and policy on the rural area in Korea, it has analysed about the problems and changes on the rural residential environment in Korea. Secondly, it has researched about the various methods relative to the rural area development project, the issue on the sustainable development strategy in rural area and the changes of rural ares in France. Lastly, regarding precedent studies, it has analysed the projects in rural area which has selected through the policy of Eco-Quartier in France. The policy and criterions for Eco-Quartier in France, which was examined by this study, has been achieved through reasonable procedure from the superior concepts to detail planning and the guidelines for the project of rural area. This is expected to use as the basic criterions for the sustainable development and planning orientation of rural area in Korea.

• BMB Reports
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• v.29 no.1
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• pp.38-44
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• 1996

Taq DNA polymerase from Thermus aquaticus has been shown to be very useful in the polymerase chain reaction method, which is being used for amplifying DNA. Not only does Taq DNA polymerase have high commercial value commercial value for the polymerase chain reaction application, but it is also important in studying DNA replication, because it is apparently an homologue to E. coli DNA polymerase I, which has long been used for DNA replication study (Lawyer et ai., 1993). The crystal structure determination of Taq DNA polymerase was initiated. An X-ray diffraction pattern breaks down a crystal structure into discrete sine waves in a Fourier series. The original shape of a crystal object in terms of electron density may be represented as the sum of those sine waves with varying amplitudes and phases in three dimensions. The molecular replacement method was initially employed to provide phase information for the structure of Taq DNA polymerase. The rotation search using the program MERLOT resulted in a solution peak with 5.4 r.m.s. PC-refinement of the X-PLOR program verified the result and also optimized the orientation angles. Next, the translation search using the X-PLOR program resulted in a unique solution peak with 7.35 r.m.s. In addition, the translation search indicated $P3_121$ to be the true space group out of two possible ones. The phase information from the molecular replacement was useful in the MIR phasing experiment.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2006.05a
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• pp.348-353
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• 2006

Autonomous and intelligent resource model (AIR-model) defines a building-block of complex systems to pursue value creation by means of diverse resources, referred to as an AIR-unit, and presents a collaboration model with the AIR-units. An AIR-unit represents a piece of resources, such as machines, labor, raw materials, and other assets, considered individually by a complex system as means to accomplish given tasks. It is defined with its own service capability and a goal, and pursues achieving the goal by means of the capability. Moreover, an Air-unit is equipped with autonomy and intelligence, whereby it makes a decision on its course of action on its own initiative. Air-units collaborate on system operations with each other through goal-oriented negotiations. In this research, distinctive features of the AIR-model are addressed and described in detail. Principal components of the AIR-model are also designed via object-oriented modeling techniques. A prototype system based on the AIR-model is finally presented as an embodiment tool of a fractal manufacturing system (FrMS).

• Journal of the Korean Institute of Rural Architecture
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• v.12 no.2
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• pp.31-38
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• 2010

This study aims to present the basic criterions about the planning of local residential area in the middle or small city with an analysis of several samples in Paris, where is currently realizing many various housing projects and residential area development, especially theirs development methods, form and composition of theses samples and residential areas. At this object, this study was preceded with 3 main contents. Firstly, it has examined the development method, procedure and development samples, which is the precedence step for the organization of dwelling zone. Secondly, after presenting the criterions analysis of residential area's samples as drew the concept related with the presented residential area planning in corresponded cases, it has analyzed about the practical planning factors applied at each samples. Lastly, regarding precedent studies, it has examined the relation between planning factors and theory factors. The residential development in Paris, which was examined by this study, has been achieved through reasonable procedure from the superior concepts to detail planning and concept design for the project and the analysis result like this is expected to use as the basic criterions for the development and planning orientation of local residential area in Korea.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.25 no.6_1
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• pp.529-536
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• 2007

Registration between image and object space is a fundamental step in photogrammetry and computer vision. Along with rapid development of sensors - multi/hyper spectral sensor, laser scanning sensor, radar sensor etc., the needs for registration between different sensors are ever increasing. There are two important considerations on different sensor registration. They are sensor invariant feature extraction and correspondence between them. Since point to point correspondence does not exist in image and laser scanning data, it is necessary to have higher entities for extraction and correspondence. This leads to modify first, existing mathematical and geometrical model which was suitable for point measurement to line measurements, second, matching scheme. In this research, linear feature is selected for sensor invariant features and matching entity. Linear features are incorporated into mathematical equation in the form of extended collinearity equation for registration problem known as photo resection which calculates exterior orientation parameters. The other emphasis is on the scheme of finding matched entities in the aide of RANSAC (RANdom SAmple Consensus) in the absence of correspondences. To relieve computational load which is a common problem in sampling theorem, deterministic sampling technique and selecting 4 line features from 4 sectors are applied.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.11 no.2
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• pp.41-47
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• 2007

A fine segmentation algorithm is proposed for extracting objects in an image, which have both weak boundaries and highly non-convex shapes. The image has simple background colors or simple object colors. Two concepts, geometric attraction-driven flow (GADF) and edge-regions are combined to detect boundaries of objects in a sub-pixel resolution. The main strategy to segment the boundaries is to construct initial curves close to objects by using edge-regions and then to make a curve evolution in GADF. Since the initial curves are close to objects regardless of shapes, highly non-convex shapes are easily detected and dependence on initial curves in boundary-based segmentation algorithms is naturally removed. Weak boundaries are also detected because the orientation of GADF is obtained regardless of the strength of boundaries. For a fine segmentation, we additionally propose a local region competition algorithm to detect perceptible boundaries which are used for the extraction of objects without visual loss of detailed shapes. We have successfully accomplished the fine segmentation of objects from images taken in the studio and aphids from images of soybean leaves.

• ETRI Journal
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• v.33 no.4
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• pp.506-516
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• 2011

In this paper, we develop a registration method to eliminate the geometric inconsistency between the stereo-images and light detection and ranging (LIDAR) data obtained by an airborne multisensor system. This method consists of three steps: registration primitive extraction, correspondence establishment, and exterior orientation parameter (EOP) adjustment. As the primitives, we employ object points and linked edges from the stereo-images and planar patches and intersection edges from the LIDAR data. After extracting these primitives, we establish the correspondence between them, being classified into vertical and horizontal groups. These corresponding pairs are simultaneously incorporated as stochastic constraints into aerial triangulation based on the bundle block adjustment. Finally, the EOPs of the images are adjusted to minimize the inconsistency. The results from the application of our method to real data demonstrate that the inconsistency between both data sets is significantly reduced from the range of 0.5 m to 2 m to less than 0.05 m. Hence, the results show that the proposed method is useful for the data fusion of aerial images and LIDAR data.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.5
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• pp.488-495
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• 2009

This paper presents a fast feature extraction method for autonomous mobile robots utilizing parallel processing and based on OpenMP, SSE (Streaming SIMD Extension) and CUDA programming. In the first step on CPU version, the algorithms and codes are optimized and then implemented by parallel processing. The parallel algorithms are debugged to maintain the same level of performance and the process for extracting key points and obtaining dominant orientation with respect to key points is parallelized. After extraction, a parallel descriptor via SSE instructions is constructed. And the GPU version also implemented by parallel processing using CUDA based on the SIFT. The GPU-Parallel descriptor achieves an acceleration up to five times compared with the CPU-Parallel descriptor, but it shows the lower performance than CPU version. CPU version also speed-up the four and half times compared with the original SIFT while maintaining robust performance.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2017.10a
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• pp.166-169
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• 2017

Currently, studies using Deep Learning are actively carried out showing good results in many fields. A template matching method is mainly used to recognize parts mounted on PCB(Printed Circuit Board). However, template matching should have multiple templates depending on the shape, orientation and brightness. And it takes long time to perform matching because it searches for the entire image. And there is also a disadvantage that the recognition rate is considerably low. In this paper, we use the Faster-RCNN method for recognizing PCB components as machine learning for classifying several objects in one image. This method performs better than the template matching method, execution time and recognition.