• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.2
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• pp.102-113
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• 2014

This paper suggests a novel hardware architecture of a real-time rectification which is to remove vertical parallax of an image occurred in the pre-processing stage of stereo matching. As an off-line step, Matlab Toolbox which was designed by J.Y Bouguet, was used to calculate calibration parameter of the image. Then, based on the Heikkila and Silven's algorithm, rectification hardware was designed. At this point, to enhance the precision of the rectified image, floating-point unit was generated by using Xilinx Core Generator. And, we confirmed that proposed hardware design had higher precision compared to other designs while having the ability to do rectification in real-time.

• Journal of the Korean Institute of Intelligent Systems
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• v.10 no.5
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• pp.506-512
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• 2000

In this paper, we propose a Fuzzy Classifier System(FCS) makes the classifier system be able to carry out the mapping from continuous inputs to outputs. The FCS is based on the fuzzy controller system combined with machine learning. Therefore the antecedent and consequent of a classifier in FCS are the same as those of a fuzzy rule. In this paper, the FCS modifies input message to fuzzified message and stores those in the message list. The FCS constructs rule-base through matching between messages of message list and classifiers of fuzzy classifier list. The FCS verifies the effectiveness of classifiers using Bucket Brigade algorithm. Also the FCS employs the Genetic Algorithms to generate new rules and modifY rules when performance of the system needs to be improved. Then the FCS finds the set of the effective rules. We will verifY the effectiveness of the poposed FCS by applying it to Autonomous Mobile Robot avoiding the obstacle and reaching the goal.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.37 no.9
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• pp.873-877
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• 2013

The application of inkjet technology has been broadening from home printers to manufacturing tools. Recently, there have been demands for high-resolution printing, especially in the field of printed electronics applications. To improve upon the conventional inkjet printing patterning method, electrohydrodynamic (EHD) inkjet technology has recently attracted attention because droplets smaller than the nozzle diameter can be ejected and materials with wider viscosity range can be used for jetting. In this study, an EHD jet printing system for fine patterning is presented. To print various patterns based on drop on demand printing, vector and raster printing algorithm are implanted in the printing software. Fine conductive patterns with line width of less than $7{\mu}m$ can be easily achieved via EHD jet using a nozzle with inner diameter of $8{\mu}m$.

• KIPS Transactions on Software and Data Engineering
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• v.6 no.4
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• pp.217-222
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• 2017

Recent studies for working robot in dangerous places have been carried out on large unmanned ground vehicles or 4-legged robots with the advantage of long working time, but it is difficult to apply in practical dangerous fields which require the real-time system with high locomotion and capability of delicate working. This research shows the collaborated docking system of drone and ground vehicles which combines image processing algorithm and laser sensors for effective detection of docking markers, and is finally capable of moving a long distance and doing very delicate works. We proposed the docking system of drone and ground vehicles with sensor fusion which also suggests two template matching methods appropriate for this application. The system showed 95% docking success rate in 50 docking attempts.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.6
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• pp.551-557
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• 2013

In intelligent robot research, hand gesture recognition has been an important issue. And techniques that recognize simple gestures are commercialized in smart phone, smart TV for swiping screen or volume control. For gesture recognition, robust hand detection is important and necessary but it is challenging because hand shape is complex and hard to be detected in cluttered background, variant illumination. In this paper, we propose efficient hand detection algorithm for detecting pointing hand for recognition of place where user pointed. To minimize false detections, ROIs are generated within the compact search region using skin color detection result. The ROIs are verified by HOG-SVM and pointing direction is computed by both detection results of head-shoulder and hand. In experiment, it is shown that proposed method shows good performance for hand detection.

• Journal of Engineering Education Research
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• v.13 no.6
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• pp.171-179
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• 2010

In this paper, we describe a case study of a new lab. project that improves efficiency for education and interest on learning in image processing and pattern recognition related subjects by using LEGO Mindstorms. In addition we verify the validity with analysis of the practical application. LEGO Mindstorms is already used in many educational institution of several countries since about 10 years ago and various case studies have been published. The use of LEGO Mindstorms is generally positive but the negative comments about this exist. The main cause of negative opinion is from unpredictability. The unpredictability from mainly analog characteristics of robot can degrade the effective learning. The describing lab. project suppresses occurrence of unpredictability by minimizing dependence on robots. Students can concentrate on learning the related algorithms by minimizing the learning content and further consideration.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.5
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• pp.1677-1684
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• 2010

Recently, due to the development of mobile phone and supply of smart phone, many contents have been developed. Especially, since the small-sized cameras are equiped in mobile devices, people are interested in the image based contents development, and it also becomes important part in their practical use. Among them, the character recognition system can be widely used in the applications such as blind people guidance systems, automatic robot navigation systems, automatic video retrieval and indexing systems, automatic text translation systems. Therefore, this paper proposes a system that is able to extract text area from the natural images captured by smart phone camera. The individual characters are recognized and result is output in voice. Text areas are extracted using Adaboost algorithm and individual characters are recognized using error back propagated neural network.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.8 no.5
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• pp.1690-1710
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• 2014

In this paper, we propose the rapid implementation of a 3-dimensional (3D) facial reconstruction from a single frontal face image and introduce a design for its application on a mobile device. The proposed system can effectively reconstruct human faces in 3D using an approach robust to lighting conditions, and a fast method based on a Canonical Correlation Analysis (CCA) algorithm to estimate the depth. The reconstruction system is built by first creating 3D facial mapping from a personal identity vector of a face image. This mapping is then applied to real-world images captured with a built-in camera on a mobile device to form the corresponding 3D depth information. Finally, the facial texture from the face image is extracted and added to the reconstruction results. Experiments with an Android phone show that the implementation of this system as an Android application performs well. The advantage of the proposed method is an easy 3D reconstruction of almost all facial images captured in the real world with a fast computation. This has been clearly demonstrated in the Android application, which requires only a short time to reconstruct the 3D depth map.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.8 no.3
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• pp.169-175
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• 2014

In this study, it is intended to provide a slip detector is an important function in the research on the slip control can be addressed uncontrollably path withdrawal might during driving of the power wheelchair, slip phenomenon occurs. By detecting and electric wheelchairs, the state of the motor during running, the detection of the slip, slip detection information calculated using an encoder that is connected to the left and right motor with six-axis IMU sensor for the electric wheelchair using an algorithm to calculate the slip ratio. Slip rate calculated in this way is used as control variable for improving the safety of the electric wheelchair. It was confirmed from the slip phenomenon of the path the proposed experiments slim detector proposed in this study. The maximum slip ratio detection zone during the experiment, can occur during turning of the electric wheelchair has been confirmed.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.46 no.2
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• pp.114-119
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• 2009

Sound source localization systems in service robot applications estimate the direction of a human voice. Time delay information obtained from a few separate microphones is widely used for the estimation of the sound direction. Correlation is computed in order to calculate the time delay between two signals. Inverse cosine is used when the position of the maximum correlation value is converted to an angle. Because of nonlinear characteristic of inverse cosine, the accuracy of the computed angle is varied depending on the position of the specific sound source. In this paper, we propose an efficient sound source localization system using angle division. By the proposed approach, the region from $0^{\circ}$ to $180^{\circ}$ is divided into three regions and we consider only one of the three regions. Thus considerable amount of computation time is saved. Also, the accuracy of the computed angle is improved since the selected region corresponds to the linear part of the inverse cosine function. By simulations, it is shown that the error of the proposed algorithm is only 31% of that of the conventional a roach.