• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.610-615
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• 2005

Visual servoing is the fusion of results from many elemental areas including high-speed image processing, kinematics, dynamics, control theory, and real-time computing. It has much in common with research into active vision and structure from motion, but is quite different from the often described use of vision in hierarchical task-level robot control systems. We present a new approach to visual feedback control using image-based visual servoing with the stereo vision in this paper. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using a binocular stereo vision. The stereo vision enables us to calculate an exact image Jacobian not only at around a desired location but also at the other locations. The suggested technique can guide a robot manipulator to the desired location without giving such priori knowledge as the relative distance to the desired location or the model of an object even if the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by the simulation and experimental results and compared with the case of conventional method for dual-arm robot made in Samsung Electronics Co., Ltd.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.4
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• pp.353-358
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• 2012

Human detection is a challenging task in many fields because it is difficult to detect humans due to their variable appearance and posture. Furthermore, it is also hard to track the detected human because of their dynamic and unpredictable behavior. The evaluation speed of method is also important as well as its accuracy. In this paper, we propose unified detection and tracking method for humans using Gaussian-PSO (Gaussian Particle Swarm Optimization) with the HOG (Histograms of Oriented Gradients) features to achieve a fast and accurate performance. Keeping the robustness of HOG features on human detection, we raise the process speed in detection and tracking so that it can be used for real-time applications. These advantages are given by a simple process which needs just one linear-SVM classifier with HOG features and Gaussian-PSO procedure for the both of detection and tracking.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.226-231
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• 1991

A graphic control language using function block diagram approach is designed and implemented, applicable to real-time control for continuous process automation system. The procedure implementing the control language is composed of three parts, editor, compiler, and executer. The editor generates the control algorithm file, which contains function block information in the text form, by menu-driven method on the color graphic screen. The compiler translates the contents of the control algorithm file to machine codes and their related data. Then, the executer generates a task that makes the machine codes executed at every sampling period in the target processor. The validity of the concept in its design and implementaion is assured by on-line simulation in the multi-function controller designed for continuous process automation.

• Journal of Korean Society for Quality Management
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• v.34 no.2
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• pp.129-135
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• 2006

In the advance of computer technology, it is possible to keep all the related informations for monitoring equipments in control and huge amount of real time manufacturing data in a data base. Thus, the statistical analysis of large data sets with hundreds of thousands observations and hundred of independent variables whose some of values are missing at many observations is needed even though it is a formidable computational task. A tree structured approach to classification is capable of screening important independent variables and their interactions. In a Six Sigma project handling large amount of manufacturing data, one of the goals is to screen vital few variables among trivial many variables. In this paper we have reviewed and summarized CART, C4.5 and CHAID algorithms and proposed a simple method of screening vital few variables by selecting common variables screened by all the three algorithms. Also how to develop a logistics regression model on a large data set is discussed and illustrated through a large finance data set collected by a credit bureau for th purpose of predicting the bankruptcy of the company.

• Korean Journal of Computational Design and Engineering
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• v.13 no.6
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• pp.429-439
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• 2008

With a remote operated manipulator system, the situation at a remote site can be rendered through remote visualized image to the operator. Then the operator can quickly realize situations and control the slave manipulator by operating a master input device based on the information of the virtual image. In this study, the remote operator visual support system (ROVSS) was developed for viewing support of a remote operator to perform the remote task effectively. A visual support model based on virtual environment was also inserted and used to fulfill the need of this study. The framework for the system was created by Windows API based on PC and the library of 3D graphic simulation tool such as ENVISION. To realize this system, an operation test environment for a limited operating site was constructed by using experimental robot operation. A 3D virtual environment was designed to provide accurate information about the rotation of robot manipulator, the location and distance of operation tool through the real time synchronization. In order to show the efficiency of the visual support, we conducted the experiments by four methods such as the direct view, the camera view, the virtual view and camera view plus virtual view. The experimental results show that the method of camera view plus virtual view has about 30% more efficiency than the method of camera view.

• 한국지구물리탐사학회:학술대회논문집
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• 2003.11a
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• pp.170-175
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• 2003

Ground and rock mass considered in tunnelling have characteristics such as uncertainty, heterogeneity and structural complexity because they have been formed undergoing various geological events for a long period. So, it is difficult for engineers to predict behaviors of rock mass in tunneling. In the paper the authors describe the development of an integrated expert system prototype for site investigation, design and construction in tunnelling and introduce the case applying this system to the tunnel construction site under construction. Geostructure Research Group in Korea Institute of Construction Technology (KICT) has developed the system during the past 4 years. The system mainly consists of several modules which is related to the design, construction and management of tunnelling. The test site, Neung-dong tunnel is located in Ulsan, Korea. The geology map shows it may confront big fault zone whose width is over kilometres. With the networking system of ITIS, various information of face mapping, monitoring and other construction task can be transmitted into the database and GIS Server at real time. And necessary analyses can be carried out with the modules equipped in the system.

• Progress in Superconductivity and Cryogenics
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• v.17 no.4
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• pp.38-42
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• 2015

In terms of food safety,mixture of contaminants in food is a serious problem for not only consumers but also manufacturers. In general, the target size of the metallic contaminant to be removed is 0.5 mm. However, it is a difficult task for manufacturers to achieve this target, because of lower system sensitivity. Therefore, we developed a food contaminant detection system based on high-Tc RF superconducting quantum interference devices (SQUIDs), which are highly sensitive magnetic sensors. This study aims to improve the signal to noise ratio (SNR) of the system and detect a 0.5 mm diameter steel ball. Using a real time digital signal processing technique along with analog band-pass filters, we improved the SNR of the system. Owing to the improved SNR, a steel ball with a diameter as small as 0.3 mm, with stand-off distance of 117 mm was successfully detected. These results suggest that the proposed system is a promising candidate for the detection of metallic contaminants in food products.

• Journal of Advanced Navigation Technology
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• v.15 no.4
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• pp.646-654
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• 2011

Recently, the task in which the number of people of the emergency medical technician whom it boards the ambulance is unreasonably insufficient and in which the fire fighter one person gets in the ambulance and which transfers the patient comes into question often. When the emergency patient is generated, it has to transfer to the special hospital in which above anything else, the measure which is quick and exact is needed and where there is the medical device which is suitable for particularly, the patient. This paper implementations the emergency medical system by the smart phone. The implemented system monitors the heart beat of the patient the monitoring among the patient transport with the real-time type. It can grasp the medical history information of the patient, and etc. in the past. And the system provides the emergency hospital which the patient requires and the pre-hospital phase provides the environment in which the disposition which is quick and efficient is possible to the emergency patient.

• The KIPS Transactions:PartB
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• v.12B no.5 s.101
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• pp.535-542
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• 2005

Amplified Collaboration Environment(ACE) is a display-rich project room that enables distributed teams to intensively work together to solve a complex problem. This paper presents reviews of some most important shared workspace models in real-time collaboration systems. It then describes a set of iterative design studies of evaluation the shared workspace for ACEs. The study involved small groups of users in two ACEs performed a collaborative visualization and analysis task while varying the display technology configuration. The goal of this study was to enhance intensive collaborative work in ACEs. The results showed that the participants benefited from the ability to see others' work over the high-resolution shared workspace, which helped enhance group awareness and performance.

• Journal of Information Processing Systems
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• v.14 no.5
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• pp.1136-1149
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• 2018

With the increasing of urban electricity demand, making the most use of the power cable carrying capacity has become an important task in power grid system. Contrary to the rated ampacity obtained under extremely conservative conditions, this paper presents the various steady value of cable ampacity by using the changing surrounding parameters under operation, which is based on cable ampacity calculation equation under the IEC-60287 standard. To some degree, the cable ampacity analysis of actual surroundings improves the transmission capacity of cables. This paper reveals the factors that influence cable ampacity such as insulating layer thickness, allowable long-term conductor temperature, the ambient temperature, soil thermal resistance coefficient, and so on, then gives the class of the influence of these parameters on the ampacity, which plays a great role in accurately calculating the real-time ampacity and improving the utilization rate of cable in the complex external environment condition. Furthermore, the transient thermal rating of the cable is analyzed in this paper, and temperature variation of the conductor under different overload conditions is discussed, which provides effective information for the operation and control of the system.