• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.8
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• pp.1231-1239
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• 2015

We developed a robot that has four limbs, each of which has the same kinematic structure and has 6 degrees of freedom. The robot is 600mm high and weighs 4.3kg. The robot can perform walking and manipulating task by using the four limbs selectively. The robot has three walking patterns. The first one is biped walking, which uses two rear limbs as legs and two front limbs as arms. The second one is biped walking with supporting arms, which is basically biped walking but uses two arms as supporting legs for increasing stability of the robot. The last one is quadruped walking, which uses all the four limbs as legs. When a task for the robot is given, the robot approaches the task point by selecting an appropriate walking pattern among three walking patterns and performs the task. The robot has many degrees of freedom and is a redundant system for a three dimensional task. We propose a redundancy resolution method, in which the robot’s translational move to the task point is modeled as a prismatic joint and optimal solutions are obtained by optimizing some performance criteria. Several simulations are performed for the validity of the proposed method.

• Journal of Communications and Networks
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• v.18 no.3
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• pp.502-512
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• 2016

The wireless carrier sense multiple access with collision detection (WCSMA/CD) and carrier sense multiple access with collision resolution (CSMA/CR) protocols are considered representative distributed collision detection protocols for fully connected dense wireless local area networks. These protocols identify collisions through additional short-sensing within a collision detection (CD) period after the start of data transmission. In this study, we analyze their throughput numerically and show that the throughput has a trade-off that accords with the length of the CD period. Consequently, we obtain the optimal length of the CD period that maximizes the throughput as a closed-form solution. Analysis and simulation results show that the throughput of distributed collision detection protocols is considerably improved when the optimal CD period is allocated according to the number of stations and the length of the transmitted packet.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.8 no.9
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• pp.3286-3301
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• 2014

Jung and Yoo proposed the first image interpolation-based reversible data hiding algorithm. Although their algorithm achieved superior interpolation results, the embedding capacity was insufficient. Lee and Huang proposed an improved algorithm to enhance the embedding capacity and the interpolation results. However, these algorithms present limitations to magnify the original image to any resolution and pixels in the boundary region of the magnified image are poorly manipulated. Furthermore, the capacity and the image quality can be improved further. This study modifies the pixel mapping scheme and adopts a bilinear interpolation to solve boundary artifacts. The modified reference pixel determination and an optimal pixel adjustment process can effectively enhance the embedding capacity and the image quality. The experimental results show our proposed algorithm achieves a higher embedding capacity under acceptable visual distortions, and can be applied to a magnified image at any resolution. Our proposed technique is feasible in reversible data hiding.

• Journal of Korea Society of Digital Industry and Information Management
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• v.10 no.4
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• pp.71-78
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• 2014

Method a target estimation in spatial are mobile wireless communication using network cell and GPS. It have much error that mobile wireless communication depend on cell size. GPS method can't find a target in shadow and inner area. In this paper, we estimate a target as direction of arrival method using adaptive array antenna system. Adaptive array antenna system can obtain desired signal to remove other signal This paper studied digital beamforming method in order to estimation a target. Proposed method is modified optimum weight and antenna error correction to estimation an optimal receive signal. Digital beamforming method decided a signal phase and amplitude from received signal on array antenna element. But if it is not to do error correction of received signal, system performance have decreased. Firstly, we proposed modified optimum weight in order to finding desired target. Secondly, we are error correction of antenna incident signals by optimal weight before digital beamforming method. Thirdly, throughly simulation, we showed that system performance of proposed method compare proposal method with general method. It have improved resolution of estimation target to good performance more proposed method than general method.

• Proceedings of the KSRS Conference
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• 1999.11a
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• pp.80-83
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• 1999

An efficient modeling and management of a large amount of surface data for a wide rage of geographic information play an important role in determining the functionality of 3D geographic information system. It has been put many efforts to design and manage an effective way to enhence the manipulation of the data by considering geometry type and data structures. Recently, DEM(Data Elevation Model) and TIN(Triangulated Irregular Network) are used for representing surface data. In this paper, we propose a 3D data processing method. The method utilizes the major properties of DEM and TIN, respectively. Furthermore, by approximating DEM with a TIN of an appropriate resolution, we can support a fast and realistic surface modeling. We implement the structure with the following 4 level stages. The first is an optimal resolution of DEM which represent all of wide range of geographic data. The second is the full resolution DEM which is a subarea of original data generated by user's selection in our implemeatation. The third is the TIN approximation of this data with a proper resolution determined by the relative position with the camera. And the last step is multi-resolution TIN data whose resolution is dynamically decided by considering which direction user take notice currently. Specially, the TIN of the last step is designed for realtime camera navigation. By using the structure we implemented realtime surface clipping, efficient approximation of height field and the locally detailed surface LOD(Level of Detail). We used the initial 10-meter sampling DEM data of Seoul, KOREA and implement the structure to the 3D Virtual GIS based on the Internet.

• Journal of the Optical Society of Korea
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• v.19 no.1
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• pp.55-62
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• 2015

In this study we demonstrate ultrahigh-resolution spectral domain optical coherence tomography (UHR SD-OCT) with a linear-wavenumber (k) spectrometer, to accelerate signal processing and to display two-dimensional (2-D) images in real time. First, we performed a numerical simulation to find the optimal parameters for the linear-k spectrometer to achieve ultrahigh axial resolution, such as the number of grooves in a grating, the material for a dispersive prism, and the rotational angle between the grating and the dispersive prism. We found that a grating with 1200 grooves and an F2 equilateral prism at a rotational angle of $26.07^{\circ}$, in combination with a lens of focal length 85.1 mm, are suitable for UHR SD-OCT with the imaging depth range (limited by spectrometer resolution) set at 2.0 mm. As guided by the simulation results, we constructed the linear-k spectrometer needed to implement a UHR SD-OCT. The actual imaging depth range was measured to be approximately 2.1 mm, and axial resolution of $3.8{\mu}m$ in air was achieved, corresponding to $2.8{\mu}m$ in tissue (n = 1.35). The sensitivity was -91 dB with -10 dB roll-off at 1.5 mm depth. We demonstrated a 128.2 fps acquisition rate for OCT images with 800 lines/frame, by taking advantage of NVIDIA's compute unified device architecture (CUDA) technology, which allowed for real-time signal processing compatible with the speed of the spectrometer's data acquisition.

• Proceedings of the Korean Association of Geographic Inforamtion Studies Conference
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• 1999.12a
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• pp.66-71
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• 1999

For given 3D geographic data which is usually of DEM(Data Elevation Model) format, we have to represent and manipulate the data in various ways. For example, we have to draw a part of them in drawing canvas. To do this we give users a way of selecting area they want to visualize. And we have to give a base tool for users to select the local area which can be chosen for some geographic operation. In this paper, we propose a 3D data processing method for representation and manipulation. The method utilizes the major properties of DEM and TIN(Triangular Irregular Network), respectively. Furthermore, by approximating DEM with a TIN of an appropriate resolution, we can support a fast and realistic surface modeling. We implement the structure with the following 4 level stages. The first is an optimal resolution of DEM which represent all of wide range of geographic data. The second is the full resolution DEM which is a subarea of original data generated by user's selection in our implemeatation. The third is the TIN approximation of this data with a proper resolution determined by the relative position with the camera. And the last step is multi-resolution TIN data whose resolution is dynamically decided by considering which direction user take notice currently. Specialty, the TIN of the last step is designed for realtime camera navigation. By using the structure we implemented realtime surface clipping, efficient approximation of height field and the locally detailed surface LOD(Level of Detail). We used the initial 10-meter sampling DEM data of Seoul, KOREA and implement the structure to the 3D Virtual GIS based on the Internet.

• Korean Journal of Remote Sensing
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• v.23 no.5
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• pp.409-420
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• 2007

Since 1988, pine wilt disease has spread over rapidly in Korea. It is not easy to detect the damaged pine trees by pine wilt disease from conventional remote sensing skills. Thus, many possibilities were investigated to detect the damaged pines using various kinds of remote sensing data including high spatial resolution satellite image of 2000/2003 IKONOS and 2005 QuickBird, aerial photos, and digital airborne data, too. Time series of B&W aerial photos at the scale of 1:6,000 were used to validate the results. A local maximum filtering was adapted to determine whether the damaged pines could be detected or not at the tree level from high resolution satellite images, and to locate the damaged trees. Several enhancement methods such as NDVI and image transformations were examined to find out the optimal detection method. Considering the mean crown radius of pine trees, local maximum filter with 3 pixels in radius was adapted to detect the damaged trees on IKONOS image. CIR images of 50 cm resolution were taken by PKNU-3(REDLAKE MS4000) sensor. The simulated CIR images with resolutions of 1 m, 2 m, and 4 m were generated to test the possibility of tree detection both in a stereo and a single mode. In conclusion, in order to detect the pine tree damaged by pine wilt disease at a tree level from satellite image, a spatial resolution might be less than 1 m in a single mode and/or 1 m in a stereo mode.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.22 no.4
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• pp.868-878
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• 1998

There are recently increasing needs for precision XYZ-stage in the fields of nanotechnology, specially in AFMs(Atomic Force Microscope) and STMs(Scanning Tunneling Microscope). Force measurements are made in the AFM by monitoring the deflection of a flexible element (usually a cantilever) in response to the interaction force between the probe tip and the sample and controlling the force neasyred constant topography can be obtained. The power of the STM is based on the strong distance dependence of the tunneling current in the vacuum chamber and the current is a feedback for the tip to trace the surface topography. Therefore, it is required for XYZ-stage to position samples with nanometer resolution, without any crosscouples and any parasitic motion and with fast response. Nanometer resolution is essential to investigate topography with reasonable shape. No crosscouples and parasitic motion is essential to investigate topography without any shape distortion. Fast response is essential to investigate topography without any undesirable interaction between the probe tip and sample surface ; sample scratch. To satisfy these requirements, this paper presents a novel XYZ-stage concept, it is actuated by PZT and has a monolithic flexible body that is made symmetric as possible to guide the motion of the moving body linearly. PZT actuators have a very fast response and infinite resolution. Due to the monolithic structure, this XYZ-stage has no crosscouples and by symmetry it has no parasitic motion. Analytical modeling of this XYZ-stage and its verification by FEM modeling are performed and optimal design that is to maximize 1st natural frequencies of the stage is also presented and with that design values stage is manufactured.

• Journal of Broadcast Engineering
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• v.24 no.7
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• pp.1237-1245
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• 2019

Most of the blind are low vision blinds due to injury or disease. As their vision decreases, they are experiencing inconvenience in their normal life and forgetting their memories with their family. The purpose of this study is to use Lithophane printing technology to help their normal life and to remember their family. Also, the manufactured 3D plates are to study the conditions that can be optimal understood through the tactile sense of low vision blind. When the low vision blind person understood the 3D plates, they chose three parameters that affect their tactile sense. And by comparing their tactile sense, the optimal condition results were found. This paper was concluded with (1) the round form that perceived as 3D objects, (2) the thin thickness similar to Braille, and (3) the high resolution that can be expressed in detail.