• 제어로봇시스템학회논문지
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• 제7권9호
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• pp.790-797
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• 2001

A simple computer vision technology to measure the middle-ranged depth with a mono camera and a plain mirror is proposed. The proposed system is structured with the rotating mirror in front of the fixed mono camera. In contrast to the previous stereo vision system in which the disparity of the closer object is larger than that of the distant object, the pixel movement caused by the rotating mirror is bigger for the pixels of the distant object in the proposed system. Being inspired by such distinguished feature in the proposed system, the principle of the depth measurement based on the relation of the pixel movement and the distance of object is investigated. Also, the factors to influence the precision of the measurement are analysed. The benefits of the proposed system are low price and less chance of occlusion. The robustness for practical usage is an additional benefit of the proposed vision system.

• 대한전기학회논문지:시스템및제어부문D
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• 제52권11호
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• pp.626-633
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• 2003

Theoretical analysis of the depth measurement system with the use of a single camera and a rotating mirror has been done. A camera in front of a rotating mirror acquires a sequence of reflected images, from which depth information is extracted. For an object point at a longer distance, the corresponding pixel in the sequence of images moves at a higher speed. Depth measurement based on such pixel movement is investigated. Since the mirror rotates along an axis that is in parallel with the vertical axis of the image plane, the image of an object will only move horizontally. This eases the task of finding corresponding image points. In this paper, the principle of the depth measurement-based on the relation of the pixel movement speed and the depth of objects have been investigated. Also, necessary mathematics to implement the technique is derived and presented. The factors affecting the measurement precision have been studied. Analysis shows that the measurement error increases with the increase of depth. The rotational angle of the mirror between two image-takings also affects the measurement precision. Experimental results using the real camera-mirror setup are reported.

• 대한한의학원전학회지
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• 제28권1호
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• pp.71-95
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• 2015

Objectives : I'd like to introduce a Korean medical scientist, Lee Gyoojoon (李圭晙, 1855-1923)'s achievements about Huangdi's Internal Classic (黃帝內經, HIC) to examine the Section of Viscera and Bowels to inspect the Medical Classics (稽經藏府篇, SVBIM) of the Double grinded Medical Mirror (醫鑑重磨, DMM), which is a medical book published in 1922, his last studies. And I'd like to describe its meaning of medical history. Methods : For this, I compared the DMM with two primary texts, the representative medical books of Joseon dynasty, Treasured Mirror of Eastern Medicine (東醫寶鑑, TMEM) and Lee's former research result of HIC, Major Essentials of Huangdi's Internal Classic Plain Question (黃帝內經素問大要, MEHIC), in the aspects of the original text, annotation, editing, attached theses, and so on. Results : Lee Gyoojoon criticized the TMEM in two aspects. First, it was unfocused and miscellaneous, second, it intended to help Yin Qi (陰氣) and reduce Yang Qi (陽氣) so that it regards a prime mover, Yang Qi, as an enemy. In order to solve these problems he deleted miscellaneous articles and sort out the points to accord with the HIC. As a result, he had written the Section of SVBIM of the DMM in the form of revising the subtitles or refuting the contents of TMEM and quoted the partial texts of MEHIC to be written by the view of Supporting Yang Qi (扶陽). Conclusions : Lee Gyoojoon proposed the Supporting Yang Qi medicine to preserve the Heart fire (心火) based on his lifelong Neo-Confucianism (性理學) study. The Section of SVBIM of the DMM showed how to apply his medical theory, which is achieved by the study of the medical classic HIC to real clinical medicine through a medium of the TMEM. In addition, it could explain concretely how the Confucianists studied the medicine and how Confucianism can impact to the development of medical theory.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1994-1998
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• 2005

Characteristic analysis of the depth measurement system with a laser, a camera and a rotating mirror has been done and the parameter calibration technique for it has been proposed. In the proposed depth measurement system, the laser beam is reflected to the object by the rotating mirror and again the position of the laser beam is observed through the same mirror by the camera. The depth of the object pointed by the laser beam is computed depending on the pixel position on the CCD. There involved several number of internal and external parameters such as inter-pixel distance, focal length, position and orientation of the system components in the depth measurement error. In this paper, it is shown through the error sensitivity analysis of the parameters that the most important parameters in the sense of error sources are the angle of the laser beam and the inter pixel distance. The calibration techniques to minimize the effect of such major parameters are proposed.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 하계종합학술대회 논문집(4)
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• pp.291-294
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• 2002

A simple computer vision technology to measure the middle-ranged depth with mono camera and plain mirror is proposed The proposed system is structured wiか the rotating mirror in front of the fixed mono camera In contrast to the previous stereo vision system in which the disparity of the closer object is larger than that of the distant object, the pixel movement caused by the rotating mirror is bigger for the pixels of the distant object in the proposed system Being inspired by such feature in the proposed system the principle of the depth measurement based on the relation of the pixel movement and the distance of object have been investigated. Also, the factors to influence the precision of the measurement are analysed The benefits of the proposed system are low price and less chance of occlusion. The robustness for practical usage is an additional benefit of the proposed vision system.

• 제어로봇시스템학회논문지
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• 제12권4호
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• pp.395-399
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• 2006

A method to recognize unpaved road region using a 3D depth measurement system is proposed for mobile robots. For autonomous maneuvering of mobile robots, recognition of obstacles or recognition of road region is the essential task. In this paper, the 3D depth measurement system which is composed of a rotating mirror, a line laser and mono-camera is employed to detect depth, where the laser light is reflected by the mirror and projected to the scene objects whose locations are to be determined. The obtained depth information is converted into an image. Such depth images of the road region represent even and plane while that of off-road region is irregular or textured. Therefore, the problem falls into a texture identification problem. Road region is detected employing a simple spatial differentiation technique to detect the plain textured area. Identification results of the diverse situation of unpaved trail are included in this paper.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2008년도 춘계학술대회 논문집 센서 박막재료연구회 및 광주 전남지부
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• pp.6-9
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• 2008

A 3D depth measurement system is proposed for mobile vehicles. Depth measurement system which is composed of a rotating mirror, a line laser and mono-camera is employed to detect depth, where the laser light is reflected by the mirror and projected to- the scene objects whose locations are to be determined. The obtained depth information is converted into an image. Such depth images of the road region represent even and plane while that of off-road region is irregular or textured. Road region is detected employing a simple spatial differentiation technique to detect the plain textured area. Identification results of the diverse situation of Non-linear trail are included in this paper.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2007년도 하계학술대회 논문집 Vol.8
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• pp.517-518
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• 2007

A method to recognize unpaved road region using a 3D depth measurement system is proposed for mobile robots. For autonomous maneuvering of mobile robots, recognition of obstacles or recognition of road region is the essential task. In this paper, the 3D depth measurement system which is composed of a rotating mirror, a line laser and mono-camera is employed to detect depth, where the laser light is reflected by the mirror and projected to the scene objects whose locations are to be determined. The obtained depth information is converted into an image. Such depth images of the road region represent even and plane while that of off-road region is irregular or textured. Therefore, the problem falls into a texture identification problem. Road region is detected employing a simple spatial differentiation technique to detect the plain textured area. Identification results of the diverse situation of Nonlinear trail are included in this paper.

• 헤리티지:역사와 과학
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• 제55권2호
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• pp.24-48
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• 2022

탑에서 발견된 동경은 단순 공양품으로 여겨져 동경 연구에서도 크게 관심 받지 못했다. 그리고 탑 내 봉안 동경 연구는 오월국 탑에서 발견된 선각불상문경에 집중되어 있어, 탑 내 봉안 동경에 대한 전반적 특징을 알기 어려웠다. 그렇기에 본고는 오대~송대 시기 많은 탑들에서 발견된 동경이 목적을 갖고 봉안되었을 것으로 생각했으며, 이를 파악하기 위해 봉안 위치와 방식에 중점을 두었다. 오대 오월국시기에 탑 내 동경을 봉안하는 사례가 증가했고, 동경은 단순한 공양품이 아닌 목적을 갖고 불교와 관련된 도상이나 명문이 새겨져 있는 봉안품이었다. 이는 동경의 사용 목적이 변화했음을 보여주는 것으로 송대까지 영향을 끼친다. 송대는 오월국의 영향이 꾸준히 이어지면서도 송대 문화와 사회 분위기로 인해 동경 봉안 양상도 변화한다. 봉안된 동경의 종류는 소문경이 다수를 차지하며, 당대 동경도 꾸준히 사용되었다. 소문경은 오월국의 영향으로 선각불상문과 같은 도상과 명문을 새기기 용이했기에 적극적으로 사용했다. 또한 당대 동경은 송대 방고동기에 대한 관심과 황제의 영향으로 인해 귀하게 여겨져 탑을 조성할 때 당경을 공양품으로 봉안한 것으로 추정된다. 오대~송대 탑 내 동경 봉안은 그 방식에서 변화가 있었다. 당대 지궁 바닥이나 철함 내 놓아두던 동경은 의도적으로 벽에 붙이거나 천장에 매달아 놓았다. 이 방식을 크게 두가지로 구분하여 벽이나 천장에 감입하는 방식(감입경: 嵌入鏡)과 천장에 매달아 놓는 방식(현경: 懸鏡)으로 분류했다. 천장에 매달아 놓는 방식으로는 대표적으로 하북 정지사탑(靜志寺塔)이 있으며, 천장에 감입한 예로는 하남(河南) 복승사탑(福勝寺塔)이 있다. 이렇게 동경을 천장에 매달고 감입하는 방식은 중국 묘실과의 관련성이 높다. 송대 묘실은 넓고 높은 구조를 갖고 있어, 벽사용 동경을 이용해 묘실을 지키고자했다. 그렇기에 높은 곳에 동경을 두어 묘실을 비추게 했으며, 이는 앞서 언급한 두가지 방식으로 이루어졌다. 탑 역시 지궁이 넓고 높아짐에 따라 지궁의 중요한 부분을 지키고, 내부를 밝게 비추고자 했다. 따라서 오대~송대 탑 내 동경 봉안방식은 당시 묘실에 동경을 봉안하던 방식을 차용했던 것으로 생각되며, 이후 섬서(陝西) 묘각사탑(妙覺寺塔)과 같이 적극적으로 설계 때부터 감입을 고려하여 동경을 놓을 자리를 마련해 놓은 예도 등장하게 된다.

• 대한한의진단학회지
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• 제24권1호
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• pp.29-52
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• 2020

Objectives In this study, we tried to analyze the expression status and diagnostic application of the disease according to the characteristics of Six Qi. Methods Suwenxuanjiyuanbingshi (Exploration to Mysterious Pathogenesis and Etiology Based on the Plain Questions, 1152), Shoushibaoyuan (Longevity and Life Preservation, 1615), Dongeuibogam (Treasured Mirror of Eastern Medicine, 1613) and two modern works on Six Qi were analyzed for this study. Results Some substrate characteristics presenting Six Qi were extracted from original literatures. Also, we found that the characteristics of Six Qi can be applied to clinical trials by presenting them as three criteria as wind, humidity, and temperature. Conclusions This study suggests.