• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.6
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• pp.258-266
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• 2002

This paper proposes the methodology of the image processing algorithm that estimates the pose of the inner-pipe crawling robot. The inner-pipe crawling robot is usually equipped with a lighting device and a camera on its head for monitoring and inspection purpose of defects on the pipe wall and/or the maintenance operation. The proposed methodology is using these devices without introducing the extra sensors and is based on the fact that the position and the intensity of the reflected light from the inner wall of the pipe vary with the robot posture and the camera. The proposed algorithm is divided into two parts, estimating the translation and rotation angle of the camera, followed by the actual pose estimation of the robot . Based on the fact that the vanishing point of the reflected light moves into the opposite direction from the camera rotation, the camera rotation angle can be estimated. And, based on the fact that the most bright parts of the reflected light moves into the same direction with the camera translation, the camera position most bright parts of the reflected light moves into the same direction with the camera translation, the camera position can be obtained. To investigate the performance of the algorithm, the algorithm is applied to a sewage maintenance robot.

• Journal of Biomedical Engineering Research
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• v.39 no.6
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• pp.278-283
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• 2018

Nowdays, many people suffer from the neck pain due to forward head posture(FHP) and text neck(TN). To assess the severity of the FHP and TN the craniovertebral angle(CVA) is used in clinincs. However, it is difficult to monitor the neck posture using the CVA in daily life. We propose a new method using the cervical flexion angle(CFA) obtained from a wearable sensor to monitor neck posture in daily life. 15 participants were requested to pose FHP and TN. The CFA from the wearable sensor was compared with the CVA observed from a 3D motion camera system to analyze their correlation. The determination coefficients between CFA and CVA were 0.80 in TN and 0.57 in FHP, and 0.69 in TN and FHP. From the monitoring the neck posture while using laptop computer for 20 minutes, this wearable sensor can estimate the CVA with the mean squared error of 2.1 degree.

• Journal of KIISE:Computing Practices and Letters
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• v.16 no.4
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• pp.502-506
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• 2010

An augmented book is an application that augments such multimedia elements as virtual 3D objects generated by computer graphics, movie clips, or sound clips to a real book using AR technologies. It is intended to bring additional education and entertainment effects to users. For augmented books, this paper proposes an adaptive keyframe-based page tracking method to estimate the camera's 6 DOF pose in real-time after recognizing a page and performing wide-baseline keypoint matching. For a page tracking, proposed method in this paper chooses a proper keyframe and performs a tracking in two step of coarse-to-fine stage. As a result, the proposed method in this paper guarantees a robust tracking to view-point and illumination variations and real-time.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.47 no.6
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• pp.39-47
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• 2010

A research of image-based articulated pose estimation has some problems such as detection of human feature, precise pose estimation, and real-time performance. In particular, various methods are currently presented for recovering many joints of human body. We propose the novel numerical inverse kinematics improved with the UKF(unscented Kalman filter) in order to estimate the human pose in real-time. An existing numerical inverse kinematics is required many iterations for solving the optimal estimation and has some problems such as the singularity of jacobian matrix and a local minima. To solve these problems, we combine the UKF as a tool for optimal state estimation with the numerical inverse kinematics. Combining the solution of the numerical inverse kinematics with the sampling based UKF provides the stability and rapid convergence to optimal estimate. In order to estimate the human pose, we extract the interesting human body using both background subtraction and skin color detection algorithm. We localize its 3D position with the camera geometry. Next, through we use the UKF based numerical inverse kinematics, we generate the intermediate joints that are not detect from the images. Proposed method complements the defect of numerical inverse kinematics such as a computational complexity and an accuracy of estimation.

• Journal of the Korea Concrete Institute
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• v.24 no.6
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• pp.727-735
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• 2012

Recently, a high-strength strand of 2400 MPa was developed using domestic technologies. In 2011, KS D 7002 was revised to cover the newly developed high-strength strands to support their practical usage. Presently, however, discussions and evaluations are not sufficient on the mechanical properties of the strands and their performance in structural members. Also, there were no detailed reviews on the need to revise the current design code for practical use of the high-strength strands. In this study, flexural behavior of a member with the high-strength strands was estimated through sectional analysis and a review and comparison of the domestic and foreign design codes were conducted considering the analysis results. Also, the need for the revision of the design code was discussed. Such discussion especially focused on the estimation of the stress in strand, which related with various issues such as determination methods for yield point of strands, time-dependent loss of prestressing force, estimation of stress in strand at member failure, and net strain limit for ductile failure of member. The discussion revealed that some parts in the design code need a revision and the further studies are required.

• Korean Journal of Heritage: History & Science
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• v.56 no.2
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• pp.80-98
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• 2023

In the late Joseon Dynasty, when the bride would ride a palanquin when she went to live with her in-laws, it was a custom to cover the palanquin with tiger skin to ward off misfortunes that may come her way. The higher classes used tiger skin or leopard skin for this purpose, but the common people had to substitute this expensive item with a tiger pattern painted on a blanket. Such blankets were called hotanja, hogu, hoguyok and the like. The term "hotanja" is a pure Korean word. It is not known when the cover for the bridal palanquin was first used, but it was popular from the end of the 19^th century and then gradually disappeared. This is due to the introduction of new Western style weddings that eliminated the need for a bridal palanquin. The tiger print blanket was used not only to cover the bride's palanquin but also to cover a table or floor during the wedding ceremony. This study ran a material analysis on nine pieces of tiger print blankets. All of the blanket artifacts examined in this study had an outer cover and a lining made of fabric that used cotton thread for the warp and wool thread for the weft. Two kinds of wool were found in the weft thread in the outer covers: fat-tailed sheep hair from China and goat hair for carpets from the Hebei province, China. Records show that "blankets with painted tiger patterns" were imported from Russia, and the imported blankets were from Russia and China. The outer cover can be categorized into six types, and the lining into three types depending on the weave and direction of the thread twist. The hem facing can be divided into four types. The lining and outer cover use the full width of the fabric, which was woven in wide widths of 135 cm or wider. The tiger pattern on the blanket was made by stenciling. The stencil design of the body and tail of the tiger were placed on a red blanket to be painted in white, and then the background color of the tiger, which is yellow, would be painted over the white, and then black stripes would be added. The pattern of the tiger varies, which shows that the blankets were made by various craftspeople. The pattern of the tiger print blanket is usually of a tiger lying down, but there were tiger print blankets with a tiger standing up. The pattern of the tiger grew smaller over time, and flower patterns were added in the background. Decorative elements were gradually added to the tiger print blanket patterns, but its function as a palanquin cover became lost. By taking the features of tiger print blankets into consideration, it can be assumed that there are imported pieces among the remaining pieces, and were produced in various places because it was popular at that time.