• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.6
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• pp.746-753
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• 2008

In this paper, we introduce the improved control method are communicated between a master and a slave robot in the teleoperation systems. When the master and slave robots are located in different places, time delay is unavoidable under the network environment and it is well known that the system can become unstable when even a small time delay exists in the communication channel. The time delay may cause instability in teleoperation systems especially if those systems include haptic feedback. This paper presents a control scheme based on the estimator with virtual master model in teleoperation systems over the network. As the behavior of virtual model is tracking the one of master model, the operator can control real master robot by manipulating the virtual robot. And LQG/LTR scheme was adopted for the compensation of un-modeled dynamics. The approach is based on virtual master model, which has been implemented on a robot over the network. Its performance is verified by the computer simulation and the experiment.

• Journal of Biosystems Engineering
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• v.32 no.3
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• pp.179-189
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• 2007

Most of the seeds of cucurbitaceous rootstock species used for grafting were mainly sown by hand. This study was carried out to develop an on-line discriminating algorithm of seed direction using machine vision and an automatic seeding system. The seeding system was composed of a supplying device, feeding device, machine vision system, reversing device, seeding device and system control section. Machine vision was composed of a color CCD camera, frame grabber, image inspection chamber, lighting and personal computer. The seed image was segmented into a region of seed part and background part using thresholding technique in which H value of HSI color coordinate system. A seed direction was discriminated by comparing position between the center of circumscribed rectangle to a seed and the center of seed image. It took about 49ms to identify and redirect seed. Line-up status of seed was good the more than 95% of a sowed seed. Seeding capacity of this system was shown to be 10,140 grains per hour, which is three times faster than that of a typical worker.

• Journal of Biosystems Engineering
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• v.31 no.6 s.119
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• pp.514-523
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• 2006

Production of green pepper has been increased due to customer's preference and a projected ten-year boom in the industry in Korea. This study was carried out to develop an automatic grading and sorting system for green pepper using machine vision. The system consisted of a feeding mechanism, segregation section, an image inspection chamber, image processing section, system control section, grading section, and discharging section. Green peppers were separated and transported using a bowl feeder with a vibrator and a belt conveyor, respectively. Images were taken using color CCD cameras and a color frame grabber. An on-line grading algorithm was developed using Visual C/C++. The green peppers could be graded into four classes by activating air nozzles located at the discharging section. Length and curvature of each green pepper were measured while removing a stem of it. The first derivative of thickness profile was used to remove a stem area of segmented image of the pepper. While pepper is moving at 0.45 m/s, the accuracy of grading sorting for large, medium and small pepper are 86.0%, 81.3% and 90.6% respectively. Sorting performance was 121 kg/hour, and about five times better than manual sorting. The developed system was also economically feasible to grade and sort green peppers showing the cost about 40% lower than that of manual operations.

• Journal of Biosystems Engineering
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• v.31 no.5 s.118
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• pp.436-442
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• 2006

This research was conducted to design and develop a wired monitoring system for judging if sick or dead layers (SDL) exist in multi-tier layers battery (MLB) by machine vision, and to analyze its performance. In this study, 20 Brown Leghorn (Hi-Brown) layers aged 37 weeks old, were used as the experimental animals. The intensity of concern paid by layers on feed was over 90% during 5 minutes and 30 seconds after providing feed, and normal layers (NL) had been standing to take feed for that period. Therefore, in this study, the optimal judging time was set by this test result. The wired monitoring system developed was consisted of a driving device for carrying machine vision systems, a control program, a RS232 to RS485 convertor, an automatic positioning system, and an image capture system. An image processing algorithm was developed to find SDL in MLB by the processes of binary processing, erosion, expansion, labeling, and reckoning central coordinate of the captured images. The optimal velocity for driving unit was set up as 0.13 m/s by the test results for wired monitoring system, and the proximity switch was controlled not to be operated for 1.0 second after first image captured. The wired monitoring system developed was tested to evaluate the remote monitoring performance at lab-scale laying hen house. Results showed that its judgement success.ate on normal cage (without SDL) was 87% and that on abnormal cage (with SDL) was 90%, respectively. Therefore, it would be concluded that the wired monitoring system developed in this study was well suited to the purpose of this study.

• KIPS Transactions on Computer and Communication Systems
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• v.9 no.11
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• pp.247-249
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• 2020

In the era of the 4th industrial revolution, the demand for convergence between ICT technologies is increasing in various fields. Accordingly, a new term that combines data, network, and artificial intelligence technology, DNA (Data, Network, AI) is in use. and has recently become a hot topic. DNA has various potential technology to be able to develop intelligent application in the real world. Therefore, this paper introduces the reviewed papers on the service image placement mechanism based on the logical fog network, the mobility support scheme based on machine learning for Industrial wireless sensor network, the prediction of the following BCI performance by means of spectral EEG characteristics, the warning classification method based on artificial neural network using topics of source code and natural language processing model for data visualization interaction with chatbot, related on DNA technology.

• Journal of Biosystems Engineering
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• v.21 no.3
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• pp.325-335
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• 1996

Visual features are crucial for monitoring the growth state, indexing the drying performance, and grading the quality of oak mushrooms. A computer vision system with neural net information processing technique was utilized to quantize quality factors of a dried oak mushrooms distributed over the cap and gill sides. In this paper, visual feature extraction algorithm were integrated with the neural net processing to deal with various fuzzy patterns of mushroom shapes and to compensate the fault sensitiveness of the crisp criteria and heuristic rules derived from the image processing results. The proposed algorithm improved the segmentation of the skin features of each side, the identification of cap and gill surfaces, the identification of stipe states and removal of the stipe, etc. And the visual characteristics of dried oak mushrooms were analyzed and primary visual features essential to tile quality evaluation were extracted and quantized. In this study, black and white gray images were captured and used for the algorithm development.

• Journal of the Korean Society of Marine Environment & Safety
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• v.11 no.1 s.22
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• pp.11-16
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• 2005

A ship can be considered as a large human-machine system and the interaction between worker and system affects the work performance and its efficiency. In the bridge if a ship, there exist many auditory signals as well as visual signals. However, only a few studies have been performed related to human recognition to alarm systems in the bridge. In this study, auditory icons and abstract sounds are compared to find more effective means if alarm systems. The study result shows that auditory icons are recognized faster than n abstract sounds. The result is expected to be use as a basic data for developing performance criteria q auditory display inside bridge and for designing integrated ship bridge alarm system.

• Proceedings of KOSOMES biannual meeting
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• 2005.05a
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• pp.7-12
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• 2005

A ship can be considered as a large human-machine system and the interaction between worker and system affects the work performed and its efficiency. Inside the bridge of a ship, there exist many auditory signals as well as visual signals. However, only a few studies have been performed related to human recognition to alarm systems in bridge. In this study, auditory icons and abstract sounds are compared to find more effective means of alarm systems. the study result shows tint auditory icons are recognized faster than abstract sounds. This result is expected to be used as a basic data for developing performance criteria of auditory display inside bridge and for designing integrated ship bridge alarm system.

• Journal of Biosystems Engineering
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• v.24 no.2
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• pp.159-166
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• 1999

A system to extract continuously the real 3-D geometric fearture information from 2-D image of an object, which is fed randomly via conveyor has been developed. Two sets of structured laser lightings were utilized. And the laser structured light projection image was acquired using the camera from the signal of the photo-sensor mounted on the conveyor. Camera coordinate calibration matrix was obtained, which transforms 2-D image coordinate information into 3-D world space coordinate using known 6 points. The maximum error after calibration showed 1.5 mm within the height range of 103mm. The correlation equation between the shift amount of the laser light and the height was generated. Height information estimated after correlation showed the maximum error of 0.4mm within the height range of 103mm. An interactive 3-D geometric feature extracting software was developed using Microsoft Visual C++ 4.0 under Windows system environment. Extracted 3-D geometric feature information was reconstructed into 3-D surface using MATLAB.

• 한국HCI학회:학술대회논문집
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• 2006.02a
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• pp.571-578
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• 2006

음성을 통한 사용자 간의 정보 교환 방법은 추가적인 훈련 과정이나 장비가 필요하지 않고 공간 제약이 거의 없기 때문에 노약자 등 사용자의 연령대에 관계없이 사용될 수 있다. 또한 음성 정보는 시각이나 촉각 등 다른 정보 수단과의 상호 작용으로 상승 효과를 유발할 수 있기 때문에 사람과 기계 사이의 인터페이스로 활용될 경우 정보 전달력을 높이면서 사용자 친화적인 서비스를 제공할 수 있다. 그러나 동일한 상황에서 동일한 유형의 음성 정보가 사용자에게 지속적으로 제공될 경우 표현상의 단조로움으로 인해 정보 전달력이 급감할 수 있는 문제점도 지니고 있다. 따라서 음성을 통한 정보 전달의 경우 동일 상황이라 하더라도 사용자의 행동 패턴, 심리 상태, 주변 환경 등에 따라 차별화된 문장 구조 및 어휘의 선택으로 긴장감을 유지시켜 줄 수 있어야 한다. 본 논문에서는 5 세 전후의 어린이를 대상으로 그들의 행동 패턴 분석에 기반하여 개별화된 음성 합성 결과를 제공하는 시스템을 제안한다. 이를 위해 유치원이라는 물리적 공간에서 어린이들의 주된 행동 패턴을 분석하고, 현직 유치원 교사를 대상으로 동일한 정보를 전달하는 조건을 통하여 어린이의 행동 패턴과 위치 정보, 연령 및 성격에 따른 발화 문장의 문장 구조와 어휘적 특성을 파악한다. 최종적으로, 개별화된 음성 합성 결과를 위해 유치원 공간을 시뮬레이션 하고 RFID 를 이용하여 어린이의 행동 패턴 및 위치 정보를 파악한다. 그리고 각 상황에 따라 분석된 발화문의 문장 구조와 어휘 특성을 반영하여 음성으로 합성될 문장의 문장 구조 및 어휘를 재구성하여 사용자 개별화된 음성 합성 결과를 생성한다. 이러한 결과를 통해 어린이의 행동 패턴이 발화문의 문장 구조 및 어휘에 미치는 영향에 대해서 살펴보고 재구성된 결과 발화문을 평가한다.