• 한국정보통신설비학회:학술대회논문집
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• 2009.08a
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• pp.86-87
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• 2009

LED backlight for LCD TV is a great alternative to CCFL backlight due to its low power consumption and flexible arrangement. Various LED backlight configurations are being used to control the backlight locally in order to achieve both power efficiency and high contrast. However, the relatively small spatial resolution of the backlight system results in showing artifacts of backlight control that is acknowledgeable to human vision. Moreover, such artifacts get worse between temporal frames. In this paper we present a method of decreasing such temporal artifacts with a Human Visual System(HVS) approach to minimize distortion caused by local backlight dimming.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.685-688
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• 1996

In debureing process. Human experts who have long experenc in performing deburring tasks can manipulate tools efficiently and adapt the tool motions according to the state of the process based on their skills. However, human experts have difficulties in describing linguistically their control schemes and strategies because teey don't aware the detailed process in interpreting wensory information and adapting tool motion. Therefore, it is important to develop a mean of understanding the skills and acquiring the control schemes so that the robot can perform the same skillful motion as the human experts. In this paper, an expert's skill model is developed so that it can be transferred effectively from the expertt to the robot. Skills are represented by a mapping which is generated by using a neural network. Expert's skill shows that the robot is able to associate a correct control strategy with process characteristics which is acquired from a vision image in a similar manner to a human expert's

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.9
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• pp.803-812
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• 2000

In this paper we introduce a model based centralized hierarchical controller for cooperative team of soccerplaying multiple mobile robots. The hierarchical controller is composed of high-level and low-level controllers. Using the coordinates information of objects from the vision are simple models of multiple mobile tobots on the playground. Subsequently, the high level controller selects and action model corresponding to the perceived state transition model and generates subgoal and goal-velocity, from which the low level controller generates trajectory of each wheel velocity of the robot. This two layered simplicity. The feasubility of the control strategy has been demonstrated in an implementation for real soccer games at a MiroSot league.

• Proceedings of the KIEE Conference
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• 1999.07g
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• pp.2995-2997
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• 1999

Recently, real-time visual tracking control for a robot manipulator is performed by using a vision feedback sensor information. In this paper, the optical flow is computed based on the eye-in-hand robot configuration. The image jacobian is employed to calculate the rotation and translation velocity of a 3D moving object. LQG visual controller generates the real-time visual trajectory. In order to improving the visual tracking performance. VSC controller is employed to control the robot manipulator. Simulation results show a better visual tracking performance than other method.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.6 no.3
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• pp.210-216
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• 2006

In the rule based modeling, data partitioning plays crucial role be cause partitioned sub data set implies particular information of the given data set or system. In this paper, we present an empirical study result of the data pattern estimation to find underlying data patterns of the given data. Presented method performs crisp type clustering with given n number of data samples by means of the sequential agglomerative hierarchical nested model (SAHN). In each sequence, the average value of the sum of all inter-distance between centroid and data point. In the sequel, compute the derivation of the weighted average distance to observe a pattern distribution. For the final step, after overall clustering process is completed, weighted average distance value is applied to estimate range of the number of clusters in given dataset. The proposed estimation method and its result are considered with the use of FCM demo data set in MATLAB fuzzy logic toolbox and Box and Jenkins's gas furnace data.

• Advances in robotics research
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• v.2 no.2
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• pp.113-127
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• 2018

Robotics and automation are rapidly growing in the industries replacing human labor. The idea of robots replacing humans is positively influencing the business thereby increasing its scope of research. This paper discusses the development of an experimental platform controlled by a robotic arm through Robot Operating System (ROS). ROS is an open source platform over an existing operating system providing various types of robots with advanced capabilities from an operating system to low-level control. We aim in this work to control a 7-DOF manipulator arm (Robai Cyton Gamma 300) equipped with an external vision camera system through ROS and demonstrate the task of balancing a ball on a plate-type end effector. In order to perform feedback control of the balancing task, the ball is designed to be tracked using a camera (Sony PlayStation Eye) through a tracking algorithm written in C++ using OpenCV libraries. The joint actuators of the robot are servo motors (Dynamixel) and these motors are directly controlled through a low-level control algorithm. To simplify the control, the system is modeled such that the plate has two-axis linearized motion. The developed system along with the proposed approaches could be used for more complicated tasks requiring more number of joint control as well as for a testbed for students to learn ROS with control theories in robotics.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.5
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• pp.525-530
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• 2016

In this paper, we proposed an image shaking index to evaluate the remote controllability of vision based unmanned vehicles. To analyze the usefulness of the proposed image-shaking index, we perform subjective tests using a virtual unmanned vehicle driving simulator. The developed driving simulator consists of a real-time multibody dynamic software of the unmanned vehicle, a motion simulator, and a driver console. We perform dynamic simulations to obtain the motion of the unmanned vehicle running on the various road surfaces such as ISO roughness level A~E roads. The motion of the vehicle body is reflected in the motion simulator. Then, to enable remote control operation, we offer to operators the image data that was measured using the camera sensor on the simulator. We verify the usefulness of the proposed image-shaking index compared with subjective index provided by operators.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.1
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• pp.24-30
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• 2016

The accuracy of small and low-cost CCD cameras is insufficient to provide data for precisely tracking unmanned aerial vehicles (UAVs). This study shows how a quad rotor UAV can hover on a human targeted tracking object by using data from a CCD camera rather than imprecise GPS data. To realize this, quadcopter UAVs need to recognize their position and posture in known environments as well as unknown environments. Moreover, it is necessary for their localization to occur naturally. It is desirable for UAVs to estimate their position by solving uncertainty for quadcopter UAV hovering, as this is one of the most important problems. In this paper, we describe a method for determining the altitude of a quadcopter UAV using image information of a moving object like a walking human. This method combines the observed position from GPS sensors and the estimated position from images captured by a fixed camera to localize a UAV. Using the a priori known path of a quadcopter UAV in the world coordinates and a perspective camera model, we derive the geometric constraint equations that represent the relation between image frame coordinates for a moving object and the estimated quadcopter UAV's altitude. Since the equations are based on the geometric constraint equation, measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the quadcopter UAV. The Kalman filter scheme is applied for this method. Its performance is verified by a computer simulation and experiments.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.10
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• pp.2180-2188
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• 2009

This paper is study on real-time hand gesture recognition system based on vision for intelligent robot control. We are proposed a recognition system using PCA and BP algorithm. Recognition of hand gestures consists of two steps which are preprocessing step using PCA algorithm and classification step using BP algorithm. The PCA algorithm is a technique used to reduce multidimensional data sets to lower dimensions for effective analysis. In our simulation, the PCA is applied to calculate feature projection vectors for the image of a given hand. The BP algorithm is capable of doing parallel distributed processing and expedite processing since it take parallel structure. The BP algorithm recognized in real time hand gestures by self learning of trained eigen hand gesture. The proposed PCA and BP algorithm show improvement on the recognition compared to PCA algorithm.

• The Korean Journal of Vision Science
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• v.20 no.4
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• pp.513-521
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• 2018

Purpose : : In this study, we made dopamine-functionalized hydrogels containing a cross-linked hyaluronic acid (HA) network and investigated their antioxidant activities. Methods : In the first step, we made poly hydroxyethyl methacrylate(p(HEMA))-based hydrogels post-modified with an interpenetrating polymer network(IPN) structure composed of HA polymers and a p(HEMA) network. The subsequent functionalization with dopamine via an amide coupling reaction resulted in the antioxidant hydrogels. Their antioxidant activities were evaluated using 2,2'-azino-bis-(3-ethylbenzothiazoline-6-sulfonic acid) and 2,2-diphenyl-1-picrylhydrazyl radical scavenging assays. Results : The dopamine-modified hydrogels exhibited significant antioxidant activities, when compared to unmodified control. The presence of the HA-IPN structure improved the surface wettability of the hydrogel while dopamine-conjugated IPN hydrogel did not demonstrate the significant difference compared to hydrogel control. Dopamine-modified hydrogels exhibited high transmittance (>88%). Conclusion : The results demonstrate that the development of antioxidant hydrogels based on dopamine-conjugated HA-IPN structures may help develop ophthalmic and biomedical materials.