• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2058-2060
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• 2003

본 논문에서는 이동로봇의 실시간 영상처 리와 장애물 검출을 위한 알고리즘를 제시하였다. 단일 비젼 시스템을 사용하여 복도의 경계선을 추출하기 위하여 개선된 허프 트랜스폼 알고리즘을 적용하고 많은 연산량을 수행하기 위한 방법으로 레이져 포인터를 이용한 장애물 검출을 한다. 레이져 포인터의 레이져 빔이 장애물에 반사되어지는 정도를 영상처리를 통해 처리한 후 장애물의 유무를 판단하게 된다. 실험을 통하여 제시한 알고리즘의 우수성을 확인하였다.

• Computational Structural Engineering
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• v.9 no.1
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• pp.93-99
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• 1996

In the particular situations where the crack is terminated at an interface of two materials, the order of stress singularity depends on the elastic constants which specify the properties of two materials. A multidomain boundary element technique is used to solve a crack normal to bimaterial interface. A correct order of shape function is used for displacement by using the isoparametric elements by shifting adequately the side nodes adjacent to this crack tip. A shape function containing the same order of singularity as that in the interface crack is also used for the interpolation of traction. Numerical testing of a binaterial with a crack normal to the interface is carried out with three-node elements. The results obtained are compared with the previous solutions.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.2 s.314
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• pp.1-9
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• 2007

In this paper, new results for perturbation bounds for unified decentralized systems by a unified approach using $\delta$ (defined as a shift operator at unified approach) are presented. Robust stability analysis of unified decentralized system is investigated by new robust stability bound under system uncertainties. New unified stability bounds are developed based on the unified Lyapunov matrix equation. It is shown that the system maintains its stability when new unified bounds are applied. Numerical example is presented to illustrate the proposed analysis.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.6 no.8
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• pp.1365-1373
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• 2002

In this paper, we present two types of vision algorithm that mobile robot has CCD camera. for obstacle avoidance. This is simple algorithm that compare with grey level from input images. Also, The mobile robot depend on image processing and move command from PC host. we has been studied self controlled mobile robot system with CCD camera. This system consists of digital signal processor, step motor, RF module and CCD camera. we used wireless RF module for movable command transmitting between robot and host PC. This robot go straight until recognize obstacle from input image that preprocessed by edge detection, converting, thresholding. And it could avoid the obstacle when recognize obstacle by line histogram intensity. Host PC measurement wave from various line histogram each 20 pixel. This histogram is (x, y) value of pixel. For example, first line histogram intensity wave from (0, 0) to (0, 197) and last wave from (280, 0) to (2n, 197. So we find uniform wave region and nonuniform wave region. The period of uniform wave is obstacle region. we guess that algorithm is very useful about moving robot for obstacle avoidance.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.11
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• pp.1463-1471
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• 2012

In this study, a 3-axis camera system design is proposed for application to an existing 2-axis surveillance robot. A camera-image-based target-tracking algorithm for this robot has also been proposed. The algorithm has been validated using a virtual simulation. In the algorithm, the heading direction vector of the camera system in the mobile surveillance robot is obtained by the position error between the center of the view finder and the center of the object in the camera image. By using the heading direction vector of the camera system, the desired pan and tilt angles for target-tracking and the desired roll angle for the stabilization of the camera image are obtained through inverse kinematics. The algorithm has been validated using a virtual simulation model based on MATLAB and ADAMS by checking the corresponding movement of the robot to the target motion and the virtual image error of the view finder.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1263-1264
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• 2007

자계 유도 고상결정화(FESPC)를 이용하여 제작한 다결정실리콘(poly-Si) 박막 트랜지스터(TFT)는 비정질 실리콘 박막 트랜지스터(a-Si:H TFT)보다 뛰어난 전기적 특성과 우수한 안정성을 지닌다. $V_{DS}$ = -0.1 V에서 채널 폭과 길이가 각각 $5\;{\mu}m$, $7\;{\mu}m$인 P형 TFT의 이동도(${\mu}$)와 문턱 전압($V_{TH}$)은 각각 $31.98\;cm^2$/Vs, -6.14 V 이다. FESPC TFT는 일반 poly-Si TFT에 비해 채널 내 결정 경계 숫자가 많아서 상대적으로 열악한 특성을 가진다. 채널 길이 $5\;{\mu}m$인 TFT의 $V_{TH}$는 채널 길이 $18\;{\mu}m$ 소자의 $V_{TH}$보다 1.36V 작지만, 일반적으로 큰 값이다. 이 현상은 채널에 다수의 결정 경계가 존재하고, 수평 전계가 크기 때문이다. 수평 전계가 증가하면, 결정 경계의 전위 장벽 높이가 감소하게 되는데, 이는 DIGBL 효과이다. ${\mu}$의 증가에 따라서, 드레인 전류가 증가하고 $V_{TH}$은 감소한다. 활성화 에너지($E_a$)는 드레인 전압과 결정 경계의 수에 따라 변하는데, 드레인 전압이 크거나 결정 경계의 수가 감소하면 $E_a$는 감소한다. $E_a$가 감소하면 $V_{TH}$가 감소한다. 유리기판 위의 FESPC를 이용한 P형 poly-Si TFT의 $V_{TH}$는 채널의 길이와 $V_{DS}$에 영향을 받는다. 증가한 수평 전계가 결정 경계에서 에너지 장벽을 낮추는 효과를 일으키기 때문이다.

• Journal of Korea Multimedia Society
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• v.9 no.5
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• pp.529-541
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• 2006

In this paper, we propose a semi-automatic segmentation method which can be used to generate video object plane (VOP) for object based coding scheme and multimedia authoring environment. Semi-automatic segmentation can be considered as a user-assisted segmentation technique. A user can initially mark objects of interest around the object boundaries and then the selected objects are continuously separated from the un selected areas through time evolution in the image sequences. The proposed segmentation method consists of two processing steps: partially manual intra-frame segmentation and fully automatic inter-frame segmentation. The intra-frame segmentation incorporates user-assistance to define the meaningful complete visual object of interest to be segmentation and decides precise object boundary. The inter-frame segmentation involves boundary and region tracking to obtain temporal coherence of moving object based on the object boundary information of previous frame. The proposed method shows stable and efficient results that could be suitable for many digital video applications such as multimedia contents authoring, content based coding and indexing. Based on this result, we have developed objects based video editing system with several convenient editing functions.

• Journal of the Korean Geotechnical Society
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• v.27 no.10
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• pp.105-116
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• 2011

No analytical solution exists for evaluating in-situ hydraulic conductivity of vertical cutoff walls by analyzing slug test results. Recently, an analytical solution to interpret slug tests has been proposed for a partially penetrated well in an aquifer. However, this analytical solution cannot be directly applied to the cutoff wall because the solution has been developed exclusively for an infinite aquifer instead of a narrow cutoff wall. To consider the cutoff wall boundary conditions, the analytical solution has been modified in this study to take into account the narrow boundaries by introducing the imaginary well theory. Two boundary conditions are considered according to the existence of filter cakes: constant head boundary and no flux boundary. Generalized steady-state shape factors are presented for each geometric condition, which can be used for evaluating the in-situ hydraulic conductivity of cutoff walls. The constant head boundary condition provides higher shape factors and no flux boundary condition provides lower shape factors than the infinite aquifer, which enables to adjust the in-situ hydraulic conductivity of the cutoff wall. The hydraulic conductivities calculated from the analytical solution in this paper give about 1.2~1.7 times higher than those from the Bouwer and Rice method, one of the semi-empirical formulas. Considering the compressibility of the backfill material, the analytical solution developed in this study was proved to correspond to the case of incompressible backfill materials.

• The Korean Journal of Nuclear Medicine
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• v.32 no.5
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• pp.414-424
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• 1998

Purpose: Cross-modality coregistration of positron emission tomography (PET) and magnetic resonance imaging (MR) could enhance the clinical information. In this study we propose a refined technique to improve the robustness of registration, and to implement more realistic visualization of the coregistered images. Materials and Methods: Using the sinogram of PET emission scan, we extracted the robust head boundary and used boundary-enhanced PET to coregister PET with MR. The pixels having 10% of maximum pixel value were considered as the boundary of sinogram. Boundary pixel values were exchanged with maximum value of sinogram. One hundred eighty boundary points were extracted at intervals of about 2 degree using simple threshold method from each slice of MR images. Best affined transformation between the two point sets was performed using least square fitting which should minimize the sum of Euclidean distance between the point sets. We reduced calculation time using pre-defined distance map. Finally we developed an automatic coregistration program using this boundary detection and surface matching technique. We designed a new weighted normalization technique to display the coregistered PET and MR images simultaneously. Results: Using our newly developed method, robust extraction of head boundary was possible and spatial registration was successfully performed. Mean displacement error was less than 2.0 mm. In visualization of coregistered images using weighted normalization method, structures shown in MR image could be realistically represented. Conclusion: Our refined technique could practically enhance the performance of automated three dimensional coregistration.

• Journal of the Korea Society of Computer and Information
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• v.18 no.5
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• pp.35-42
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• 2013

Shot boundary detection is an essential step for efficient browsing, sorting, and classification of video data. Robust shot detection method should overcome the disturbances caused by pixel brightness and object movement between frames. In this paper, two shot boundary detection methods are presented to address these problem by using segmentation, object movement, and pixel brightness. The first method is based on the histogram that reflects object movements and the morphological dilation operation that considers pixel brightness. The second method uses the pixel brightness information of segmented and whole blocks between frames. Experiments on digitized video data of National Archive of Korea show that the proposed methods outperforms the existing pixel-based and histogram-based methods.