• 한국멀티미디어학회논문지
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• 제9권8호
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• pp.1067-1075
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• 2006

본 논문에서는 손동작 인식을 위한 개선된 손동작 움직임 표현방법을 제안한다. 제안된 방법은 다양하고 통일된 손동작 움직임을 인식하기 위해서 수화(한글수화) 시 사용되는 손동작에 적용시킨 표현방법이다. 수화 특히, 한글수화(KSL)는 수화소(Cheremes)라는 요소들, 즉, 손의 이동 방향, 손가락모양, 손의 위치 등의 조합에 의해 단어 또는 문장이 완성되어 의미 있는 수화가 완성된다. 본 논문에서는 한글 수화에서 이용되는 수화소(Cheremes)를 5개의 수화소 즉, 손의 이동방향(HMO),손가락모양(FS), 손의 방향(H0), 손의 위치(HP) 및 사용하는 손의 수(HN)로 분류, 표현한다. 손의 이동방향(HMO)은 수화에서 단어 또는 문장을 표현하는데 사용되는 방향을 고려하여 17개의 방향성분으로 표현한다. 손가락 모양(FS)은 수화동작에서 사용되는 손가락의 모양에 따라 17개의 성분으로 표현할 수 있으며, 또한, 손의 바닥을 이용하는지 손등을 이용하는지에 따라 손의 방향(HO)이 2가지 특징으로 표현된다. 손의 현재 위치(HP)는 수화동작에서 손이 놓이는 위치를 의미하며, 머리영역에서 가슴영역까지 전체 8개의 영역으로 나뉘어 표현한다. 마지막으로 사용하는 손의수는 수화동작에서 손 하나만을 사용하는지 양쪽 모두를 사용하는 지를 나타내는 것으로, 2가지 특징으로 표현한다. 제안된 손동작 표현방법을 한글수화의 단어 및 문장 모두에 적용한 결과 모든 KSL이 제안된 표현방법으로 완벽하게 표현됨을 보였다.

• International Journal of Aeronautical and Space Sciences
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• 제11권1호
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• pp.31-40
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• 2010

For weapon cueing and Head-Mounted Display (HMD), it is essential to continuously estimate the motion of the helmet. The problem of estimating and predicting the position and orientation of the helmet is approached by fusing measurements from inertial sensors and stereo vision system. The sensor fusion approach in this paper is based on nonlinear filtering, especially expended Kalman filter(EKF). To reduce the computation time and improve the performance in vision processing, we separate the structure estimation and motion estimation. The structure estimation tracks the features which are the part of helmet model structure in the scene and the motion estimation filter estimates the position and orientation of the helmet. This algorithm is tested with using synthetic and real data. And the results show that the result of sensor fusion is successful.

• The Journal of Asian Finance, Economics and Business
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• 제8권2호
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• pp.231-241
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• 2021

The purpose of this study is to apply Structural equation modeling (SEM) analysis with Generalized Structured Component Analysis (GSCA) and translate the effect of Spiritual Marketing and Entrepreneurial Orientation on Sustainable Competitive Advantage with Marketing Capabilities as Mediation, especially for General BBM marketing at PT. Pertamina (Persero). The quantitative approach in this study uses a survey method by taking samples from the population. The survey was conducted by distributing questionnaires to respondents. Data analysis was performed using SEM and analyzed using the GSCA model. The population of this study consisted of 3,207 workers in central and regional marketing offices (Marketing Operation Region (MOR) spread throughout Indonesia. Therefore, a sample of 356 respondents was taken according to the Slovin formula. Spiritual marketing and entrepreneurial orientation directly influence the ability to improve Innovation which directly influences sustainable competitive advantage. Therefore, to develop a sustainable competitive advantage in marketing Pertamina's General BBM, it is necessary to implement spiritual marketing and improve entrepreneurial orientation. The novelty in this study lies in the unprecedented research on the role and position of spiritual marketing towards marketing capabilities and sustainable competitive advantage, combined with entrepreneurial orientation variables.

• 전자공학회논문지B
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• 제31B권9호
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• pp.112-123
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• 1994

In this paper, inspection and subpixed alignment algorithms of SMD's (Surface Mounting Devices) using fuzzy morphology are proposed. First, camera calibration is performed and then the inspection algorithm detects defects such as lead bending and breaking using the ruler generated by fuzy morphology. The SMD having no defects is tested whether it is mounted in the specified position or not. The proposed subpixel alignment algorithm detects accurately orientation and position using subpixel interpolation. It consists of two parts: preprocessing and main processing steps, in which corner points and coarse orientation of a SMD are detected, and interpolation is used to obtain final parameters with wubpixel accuracy. The computer simulation shows that the proposed algorithms give more accurate parameters, and they can be applied to fast and accurate automatic surface mounting systems.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 D
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• pp.1929-1930
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• 2006

Human like robot arm posture for grasping by considering the shape of the target object is quite a challenge in the field of robotics. In this paper, an optimized grasp posture with respect to the shape of the object considering the wrist joint angle and elbow elevation angle, in order to verify that the grasp posture is human like has been proposed. Given a target object, the candidates for grasp are computed by the method described in this paper. For each candidate, the closed loop inverse kinematics has been solved for the corresponding hand position and orientation. From the obtained joint angles through inverse kinematics, the elbow elevation angle has been computed and compared with the elbow elevation angle obtained through human movement data by the characteristic equation. After considering all the candidates, the hand position and orientation with minimum wrist joint and difference in elbow elevation angles has been utilized as the optimized grasp posture. Simulation results are presented.

• 한국컴퓨터정보학회논문지
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• 제21권6호
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• pp.71-76
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• 2016

In this paper, we propose the mobile visual inspection information system using DGPS and portable range finder for levee safety inspection. Instead of existing visual inspection management method that is stored hand-written data, this system is designed to manage directly the visual inspection information using mobile devices in the field of levee. And through extracting accurate DGPS coordinates information about damage location of levee, this system is developed to ensure efficiency for the main task arising from the levee site such as inspection, maintenance and reinforcement. Furthermore, when damage has occurred at the point that inspector is not able to approach, this system can record the damage site data correctly, by converting data such as position, orientation and height of the damage point into the World Geodetic System coordinates. The position, orientation and height data was extracted automatically through the DGPS and portable range finder. And by applying the augmented reality method, this system was implemented for inspector to revisit the point of damage easily in order to perform the management, maintenance and reinforcement of the levee later.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2000년도 추계학술대회논문집
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• pp.219-225
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• 2000

The major movement block of the containers have range between apron and designation points on yard in container terminal. The yard tractor operated by human takes charge of its movement in conventional container terminal. In automated container terminal, AGV(Automated Guided Vehicle) has charge of the yard tractor's role and the navigation path is ordered from upper level control system. The automated container terminal facilities must have the docking system to guide landing line to have high speed travelling and precision positioning. The general method for docking system uses the vision system with CCD camera, infra red, and laser. This paper describes the detection of AGV's position and orientation using laser slit beam to develop docking system.

• 비파괴검사학회지
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• 제10권1호
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• pp.10-17
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• 1990

Recently, object recognition ultrasonic sensor is being used with automatization of industrial machine. Points which characterize the object can be deleted by measuring the propagation time of ultrasonic impulse and azimuth which gives its maximum amplitude, and from these points shape, position and orientation of the object are deduced. A new measuring method is adopted, where the distance to the object is calculated by sound reflection time which is measured from O-cross point of sound wave, and azimuth is measured by angle indicating maximum amplitude. The measuring accuracy of 1.0mm for distance and $0.5-2^{\circ}$ for azimuth have been accomplished. By rotational scanning of sensor the characteristic point of an object can be known and it gives the information of its shape, position and orientation. Experimental results showed that the object of some complicated shape can be recognized, which suggest its applicability to robot.

• 대한지리학회지
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• 제50권1호
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• pp.37-52
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• 2015

이 연구의 목적은 도시민의 공간 정향 특성을 밝혀보려는 것이다. 주요 분석 자료는 지난 10여 년 간(2005-2014)에 걸쳐 인천 연수구 일대에서 수집된 110개의 약도이다. 구체적인 연구 내용은 도시민의 공간 정향 요소 및 정향 체제에서 나타나는 특성을 분석하는 것이다. 연구 결과, 정향 요소 면에서 볼 때 도시민의 공간 정향에는 통로, 결절, 지구, 랜드마크를 비롯하여 언어 단서 등 모두 5개의 정향 요소가 동원되고 있었다. 정향 체제의 특성은 정위(定位) 및 지향(指向) 면에서 살펴보았다. 정위의 경우 다시 기준 축(軸)과 정치(定置) 분포로 나누어 분석해 본 결과, 도시민의 공간 정향에서는 대로에 기반한 횡축 의존성이 뚜렷하였고 좌표 체계상 중앙부 정치 선호 경향이 상대적으로 짙었다. 지향의 경우 다시 상방위(上方位)와 조망(眺望) 시각으로 나누어 살펴본 결과, 도시민의 공간 정향에서는 북상향적 특성이 우세하게 나타났고 외심적 조망이 상대적으로 더 높은 비중을 차지하였다. 결론적으로 도시민은 5대 정향 요소를 동원하여 수평축을 정위 축으로 삼아 좌표 체계상 중앙부에 자신을 정치시키면서 외심적 조망 시각을 통해 북상향을 지향하는 방식으로 공간 정향을 이루는 경향이 높은 것을 확인할 수 있었다.

• 로봇학회논문지
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• 제6권4호
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• pp.344-352
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• 2011

A mobile manipulator is a system with a robotic manipulator mounted on top of a mobile base. It has both indoor and outdoor applications for transporting or transferring materials. When a user gives commands, they are usually at high levels such as "move the object to the table," or "tidy the room." By intelligently decomposing these complex commands into several subtasks, the mobile manipulator can perform the tasks with a greater efficiency. One of the crucial subtasks for these commands is the pick-and-place task. For the mobile manipulator, selection of a good base position and orientation is essential to accomplishing this task. This paper presents an algorithm that determines one of the position and orientation of a mobile manipulator in order to complete the pick-and-place task without human intervention. Its effectiveness are shown for a mobile manipulator with 9 degrees-of-freedom in simulation.