• Journal of the Institute of Electronics Engineers of Korea CI
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• v.49 no.3
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• pp.27-33
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• 2012

Tele-presence and tele-operation techniques are used to build up an immersive scene and control environment for the distant user. This paper presents a novel tele-presence system using the camera tracking based on planar homography. In the first step, the user wears the HMD(head mounted display) with the camera and his/her head motion is estimated. From the panoramic image by the omni-directional camera mounted on the mobile robot, a viewing image by the user is generated and displayed through HMD. The homography of 3D plane with markers is used to obtain the head motion of the user. For the performance evaluation, the camera tracking results by ARToolkit and the homography based method are compared with the really measured positions of the camera.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.13 no.1
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• pp.243-249
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• 2013

In waste repository environment, we can process the waste history efficiently for reuse by recording the history trajectory of the vehicle which loaded waste and the dumping position of the waste vehicle. By mapping the unloaded waste to 3D and by extracting the dumping point, a new method was implemented so as to record the final dumping position and the waste content under various experiments. In this paper, we developed the algorithm which tracking the vehicle and deciding the moment of dumping in landfills. We first trace the position of vehicle using the difference image between current image and background image and then we decide the stop point from the shape of vehicle route and detect the dumping point by comparing the dumping image with the image that vehicle is stopping. From the camera parameters, The transform method between screen coordinate and real coordinate of landfills is proposed.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.6 no.8
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• pp.1374-1380
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• 2002

Recently, the use of Robot increase little by little for the purpose of developing a welding quality and productivity in the welding part. It is more important to contact the seam for arc welding before moving a welding robot. There are two types of method to contact the seam namely contact and non-contact type largely. In this paper, image processing sensor(a kind of non-contact sensor) is concerned to track the seam by using laser diode and CCD camera. A structured laser diode's light illuminated on the weld groove and the reflected shape is introduced by CCD camera. The image board captures this image and software analyzes this image. The robot is moved and welded exactly as acquired image X-Y data is changed with robot's X-Y value. Also, most of seam tracking are considered by changing the program simply in case of the different weld groove of plane surface.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2001.05a
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• pp.460-464
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• 2001

Recently, the use of Robot increase little by little for the purpose of developing a welding quality and productivity in the arc welding part. It is more important to contact the seam for arc welding before moving a welding robot. There are two types of method to contact the seam namely contact and noncontact type largely In this paper, image processing sensor(a kind of non-contact sensor) is concerned to track the seam by using laser diode and CCD camera. A structured laser diode's light illuminated on the weld groove and the reflected shape is introduced by CCD camera. The image board captures this image and software analyzes this image. The robot is moved and welded exactly as acquired image X-Y data is changed with robot's X-Y value. Also, most of seam tracking are considered by changing the program simply in case of the different weld prove of plane surface.

• Journal of Korean Society of Steel Construction
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• v.21 no.6
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• pp.563-574
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• 2009

This paper briefly describes the fundamental strategies--path-tracing, pin-pointing, and path-switching--in the computational elastic bifurcation theory of geometrically non-linear single-load-parameter conservative elastic spatial structures. The stability points in the non-linear elasticity may be classified into limit points and bifurcation points. For the limit points, the path tracing scheme that successively computes the regular equilibrium points on the equilibrium path, and the pinpointing scheme that precisely locates the singular equilibrium points were sufficient for the computational stability analysis. For the bifurcation points, however, a specific procedure for path-switching was also necessary to detect the branching paths to be traced in the post-buckling region. After the introduction, a general theory of elastic stability based on the energy concept was given. Then path tracing, an indirect method of detecting multiple bifurcation points, and path switching strategies were described. Next, some numerical examples of bifurcation analysis were carried out for a trussed stardome, and a pin-supported plane circular arch was described. Finally, concluding remarks were given.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.9
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• pp.807-813
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• 2016

Recently, a spherical pendulum attached to an end-effector of a robot manipulator has been frequently used for a test bed of residual vibration suppression control in a multi-dimensional motion. However, there was no automatic tracking system to detect the current bob position on-line, and there was inconvenience to not be able to store the bob position in real time and plot the trajectory. In this study, we developed a two-dimensional, real-time bob-detecting system using a digital USB camera, of which the key is hardware component design and software C programming for fast image processing and interfacing. The developed system was applied to residual vibration suppression control of a two-dimensional spherical pendulum that is attached at the end-effector of a two degree-of-freedom SCARA robot, and the effectiveness of the developed system has been demonstrated.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.42 no.4 s.304
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• pp.21-30
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• 2005

In this paper, we propose lane detection and trackinB algerian using B-Snake as robust algorithm. One of chief virtues of Lane detection algorithm using B-Snake is that it is possible to specify a wider range of lane structure because B-Spline conform an arbitrary shape by control point set and that it doesn't use any camera parameter. Using a robust algorithm called CHVEP, we find the vanishing point, width of lane and mid-line of lane because of the perspective parallel line and then we can detect the both side of lane mark using B-snake. To demonstrate that this algorithm is robust against noise, shadow and illumination variations in road image, we tested this algorithm about various image divided by weather-fine, rainy and cloudy day. The percentage of correct lane detection is over 95$\%$.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.21 no.3
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• pp.201-210
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• 2021

This paper introduces the futsal video analysis system consisting of an analysis program using object tracking technology and a web server that visualizes and provides analyzed data. In this paper, small and medium-sized organizations and amateur players are unable to provide game analysis services, so they propose a system that can solve this problem through this paper. Existing analytical systems use special devices or high-cost cameras, making them difficult for users to use. Thus, in this paper, a system is designed and developed to analyze the competitors' competitions and visualize the data using flat images only. Track an object and calculate the accumulated values to obtain the distance per pixel of the object and extract speed-related data and distance-based data based on it. Converts extracted data to graphs and images through a visualization library, making it convenient to use through web pages. Through this analysis system, we improve the problems of the existing analysis system and make data-based scientific and efficient analysis available.

• The Korean Journal of Nuclear Medicine
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• v.33 no.1
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• pp.65-75
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• 1999

Purpose: The aim of this study is to demonstrate the feasibility of 2-[fluorine-18] fluoro-2-deoxy-D-glucose (F-18-FDG) whole body scan (FDG W/B Scan) using dual-head gamma camera equipped with ultra high energy collimator in patients with various cancers, and compare the results with those of coincidence imaging. Materials and Methods: Phantom studies of planar imaging with ultra high energy and coincidence tomography (FDG CoDe PET) were performed. Fourteen patients with known or suspected malignancy were examined. F-18-FDG whole body scan was performed using dual-head gamma camera with high energy (511 keV) collimators and regional FDG CoDe PET immediately followed it Radiological, clinical follow up and histologic results were correlated with F-18-FDG findings. Results: Planar phantom study showed 13.1 mm spatial resolution at 10 cm with a sensitivity of 2638 cpm/MBq/ml. In coincidence PET, spatial resolution was 7.49 mm and sensitivity was 5351 cpm/MBq/ml. Eight out of 14 patients showed hypermetabolic sites in primary or metastatic tumors in FDG CoDe PET. The lesions showing no hypermetabolic uptake of FDG in both methods were all less than 1 cm except one lesion of 2 cm sized metastatic lymph node. The metastatic lymph nodes of positive FDG uptake were more than 1.5 cm in size or conglomerated lesions of lymph nodes less than 1cm in size. FDG W/B scan showed similar results but had additional false positive and false negative cases. FDG W/B scan could not visualize liver metastasis in one case that showed multiple metastatic sites in FDG CoDe PET. Conclusion: FDG W/B scan with specially designed collimators depicted some cancers and their metastatic sites, although it had a limitation in image quality compared to that of FDG CoDe PET. This study suggests that F-18-FDG positron imaging using dual-head gamma camera is feasible in oncology and helpful if it should be more available by regional distribution of FDG.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1880-1881
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• 2011

본 논문에서는 2차원 평면상을 주행하는 이동 로봇의 목표물에 대한 상대 위치 및 방향각을 측정하는 방법에 대하여 제안한다. 측정을 위해 사용되는 센서는 스테레오 카메라로, 이동 로봇은 3DOF의 특징을 갖고 있으므로 두 개의 점을 이용하여 상대 위치 및 방향각을 측정하는 방법을 제안한다. 상대 위치를 측정하는 과정에서 외란에 의한 위치 오차가 발생하게 되며, 이에 대한 대책으로 칼만 필터를 적용하여 더욱 강건한 상대 위치 추정을 한다. 마지막으로 MATLAB을 이용한 시뮬레이션을 통하여 외란이 존재하는 환경 하에서 제안된 시스템의 성능을 확인한다.