• Journal of the Korean Society for Precision Engineering
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• v.19 no.11
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• pp.54-64
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• 2002

This paper deals with the problem of synthesis of stable and optimal grasps with unknown objects by 3-finger hand. Previous robot grasp research has mainly analyzed with either unknown objects 2-dimensionally by vision sensor or known objects, such as cylindrical objects, 3-dimensionally. As extending the previous work, in this study we propose an algorithm to analyze grasp of unknown objects 3-dimensionally by using vision sensor. This is archived by two steps. The first step is to make a 3-dimensional geometrical model for unknown objects by using stereo matching. The second step is to find the optimal grasping points. In this step, we choose the 3-finger hand which has the characteristic of multi-finger hand and is easy to model. To find the optimal grasping points, genetic algorithm is employed and objective function minimizes the admissible force of finger tip applied to the objects. The algorithm is verified by computer simulation by which optimal grasping points of known objects with different angle are checked.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1994.04a
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• pp.527-534
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• 1994

This paper presents a Bin-Picking method in which robot recognizes the positions and orientations of unoccluded objects at the top of jumbled objects placed in a bin, and picks up the unoccluded objects one by one from the jumble. A method using feasible region, painting, and hierarchical test is introduced for recognizing the unoccluded objects from the jumbled objects. The 3D information is obtained using the bipartite-matching method which finds the least difference of 3D by comparing vertexes of one camera with vertexes of the other camera, then hypothesis and test are done. The working order of unoccluded objects is made based on 3D, position, and orientation information. The robot picks up the unoccluded objects from the jumbled objects according to the working order. This all process continues to the empty bin.

• The Journal of Korean Physical Therapy
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• v.14 no.2
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• pp.98-106
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• 2002

To understand the trends in research in the fields of physical therapy, all issues of the Journal of Korean Society of Physical Therapy were reviewed from volume 1 in 1989 to volume 13, number 2 in 2001 in regard to research themes, research objects, and research designs. The number of articles dramatically increased in recent years. Although exercise physiology, biomechanics, and therapeutic exercise were major subjects of interest, alternative treatment modalities such as massage, taping, acupuncture were fields of increasing interests. There were also increasing interests in medical engineering and basic science. Cerebrovascular accidents, elderly people, sportsmen were research objects of increasing frequency. In regard to research designs, experimental research designs such as randomized controlled designs and nonequivalent controlled designs were increasingly adopted in clinical research.

• Korean Journal of Child Studies
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• v.7 no.1
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• pp.25-47
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• 1986

The present research is a study of the feared objects of children between 7 and 12 years of age. The data consisted of the replies to a questionnaire by 802 children and their mothers in Chun Chon City and Chunsung and Wonsung Counties plus. The questionnaire was divided into parts: 6 questions were designed to be answered by the children and 22 by their mothers. The children were asked about their feared objects, feared places, and feared colors, whereas their mothers about their own feared objects plus the backgrounds of their children's fear-objects. Frequency, percentage, and $X^2$-test were applied to the statistical analysis. The results were as follows: 1. Ghost (Kuishin), Devil (Toggaebi), and animals turned out to be the main feared objects of children. 2. Children's feared objects were same regardless of differentiating ages and regional backgrounds. Sex was the only factor which caused any differences. Girls were more sensitive to the animals as their feared objects. 3. Red and black proved to be the most frequently feared colors for all children. 4. Children's feared objects were influenced by the feared objects of their parents, grand parents and sisters and brothers. 5. Children's feared objects were related to the fairy tales and stories they have been told by their mothers.

• Journal of Conservation Science
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• v.5 no.2 s.6
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• pp.35-44
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• 1996

We propose a new method to remove salts that have permeated into excavated metal objects. This method cleans the excavated metal objects by using high temperature, high pressure deoxvgenated water containing inhibitors for corrosion of metals. The method greatly reduces the washing time compared with previous methods. Waste water from the method does not need treatment, nor do chemicals need to be removed from the metal objects. Furthermore, this method is applicable to some kind of metals(for example iron objects, bronze objects). We measured quantitatively the soluble salts dissolved from actual metal objects and found that there was a large difference between soluble chloride ions and sulfate ions.

• Fashion & Textile Research Journal
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• v.19 no.5
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• pp.535-546
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• 2017

This study considers direction types and formative characteristics by analyzing natural objets in contemporary fashion window display. The research methods are both literature review and content analysis based on images of contemporary fashion window display. The conclusions of this study are as follows. First, the direction types of natural objets in contemporary fashion window display expand objective outlines by maximizing the morphological form of objects. Second, a rhythmic sense expressed through a gradual repetition of patterns or a sequential arrangement of natural objects. Third, it represents a reversal of image accomplished through a modification of material on the natural objects. Fourth, a new space is created by transforming two dimensional forms of natural objects. The first formative characteristic of natural objects in contemporary fashion window display is exaggeration. This is expressed through either the expansion of the external volume, the collapsed form of natural objects, or the distortion of external colors. Second, it is a dynamics. This makes it possible to recall the dynamic image of the integration of the observer with a priori thinking by systematically sequencing objects or inducing a specific motion. Third, it is an abstraction. This provides an opportunity for the observer to find in a natural beauty by exchanging physical form or reinterpreting characteristic points. Fourth, it concerns eclecticism characteristic that objects created through the mutual fusion of heterogeneous elements indicates an aesthetic inspiration in a limited space by diverting conventional thinking toward natural objects with expansion of consciousness on formative arts.

• ETRI Journal
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• v.39 no.4
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• pp.502-513
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• 2017

For video understanding, namely analyzing who did what in a video, actions along with objects are primary elements. Most studies on actions have handled recognition problems for a well-trimmed video and focused on enhancing their classification performance. However, action detection, including localization as well as recognition, is required because, in general, actions intersect in time and space. In addition, most studies have not considered extensibility for a newly added action that has been previously trained. Therefore, proposed in this paper is an extensible hierarchical method for detecting generic actions, which combine object movements and spatial relations between two objects, and inherited actions, which are determined by the related objects through an ontology and rule based methodology. The hierarchical design of the method enables it to detect any interactive actions based on the spatial relations between two objects. The method using object information achieves an F-measure of 90.27%. Moreover, this paper describes the extensibility of the method for a new action contained in a video from a video domain that is different from the dataset used.

• 보존과학연구
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• s.16
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• pp.59-111
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• 1995

Chemical composion and crystal form of Corrosion products found on archaeological iron objects were analyzed using X-ray fluorescence analysis, micro-X-ray powder diffraction analysis and ion chromatographic technique. The nature and behavior of the corrosion products were studied in order to aid in the conservation and restoration of burial iron objects. Twenty-two samples analyzed in this study were collected from iron object found in Korea and Japan. The corrosion products of iron objects from burial mounds contain $\alpha$-FeOOH, $\beta$-FeOOH, $\gamma$-FeOOH, $Fe_3O_4$and amorphous iron hydroxides. The content of $\alpha$-HeOOH is the greatest. Because, Ageing for long period should change the amorphous iron hydroxides is considerably less than that in usual atmospheric corrosion products. The concentration of chlorine and sulfine is remarkably variable ($Cl^-$ : 100- 30,000ppm, $SO_4^-2$ : 20-10,000ppm),but the reasons are unclear. The presence of generally high concentrations of chlorine and sulfine the corrosion products of iron objects seem to be influenced by the marine climatic condition. The presence of high chlorine and sulfine concentrations in the corrosion products of iron objects seem to be influenced by the marine burial environments.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.16 no.8
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• pp.2688-2703
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• 2022

Research on the advanced detection of harmful objects in airport cargo for passenger safety against terrorism has increased recently. However, because associated studies are primarily focused on the detection of relatively large objects, research on the detection of small objects is lacking, and the detection performance for small objects has remained considerably low. Here, we verified the limitations of existing research on object detection and developed a new model called the Small Hazardous Object detection enhanced and reconstructed Model based on the You Only Look Once version 5 (YOLOv5) algorithm to overcome these limitations. We also examined the performance of the proposed model through different experiments based on YOLOv5, a recently launched object detection model. The detection performance of our model was found to be enhanced by 0.3 in terms of the mean average precision (mAP) index and 1.1 in terms of mAP (.5:.95) with respect to the YOLOv5 model. The proposed model is especially useful for the detection of small objects of different types in overlapping environments where objects of different sizes are densely packed. The contributions of the study are reconstructed layers for the Small Hazardous Object detection enhanced and reconstructed Model based on YOLOv5 and the non-requirement of data preprocessing for immediate industrial application without any performance degradation.

• The Journal of Korea Robotics Society
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• v.9 no.4
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• pp.232-241
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• 2014

This paper proposes an underwater localization algorithm using probabilistic object recognition. It is organized as follows; 1) recognizing artificial objects using imaging sonar, and 2) localizing the recognized objects and the vehicle using EKF(Extended Kalman Filter) based SLAM. For this purpose, we develop artificial landmarks to be recognized even under the unstable sonar images induced by noise. Moreover, a probabilistic recognition framework is proposed. In this way, the distance and bearing of the recognized artificial landmarks are acquired to perform the localization of the underwater vehicle. Using the recognized objects, EKF-based SLAM is carried out and results in a path of the underwater vehicle and the location of landmarks. The proposed localization algorithm is verified by experiments in a basin.