• The Journal of Korea Robotics Society
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• v.7 no.4
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• pp.259-266
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• 2012

In these days, researches about underwater robots have been actively in progress for the purposes of ocean detection and resource exploration. Unlike general underwater robots such as ROV(Remotely Operated Vehicle) and AUV(Autonomous Underwater Vehicle) which have propellers, an articulated underwater robot which is called Crabster has been being developed in KORDI(Korea Ocean Research & Development Institute) with many cooperation organizations since 2010. The robot is expected to be able to walk and swim under the sea with its legs. Among many researching fields of this project, we are focusing on a swimming section. In order to find effective swimming locomotion for the robot, we approached this subject in terms of Biomimetics. As a model of optimized swimming organism in nature, diving beetles were chosen. In the paper, swimming motions of diving beetles were analyzed in viewpoint of robotics for applying them into the swimming motion of the robot. After modeling the kinematics of diving beetle through robotics engineering technique, we obtained swimming patterns of the one of living diving beetles, and then compared them with calculated optimal swimming patterns of a robot leg. As the first trial to compare the locomotion data of legs of the diving beetle with a robot leg, we have sorted two representative swimming patterns such as forwarding and turning. Experimental environment has been set up to get the motion data of diving beetles. The experimental equipment consists of a transparent aquarium and a high speed camera. Various swimming motions of diving beetles were recorded with the camera. After classifying swimming patterns of the diving beetle, we can get angular data of each joint on hind legs by image processing software, Image J. The data were applied to an optimized algorithm for swimming of a robot leg which was designed by robotics engineering technique. Through this procedure, simulated results which show trajectories of a robot leg were compared with trajectories of a leg of a diving beetle in desired directions. As a result, we confirmed considerable similarity in the result of trajectory and joint angles comparison.

• Journal of the Society of Naval Architects of Korea
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• v.43 no.4 s.148
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• pp.422-430
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• 2006

The horn and movable parts around the gap of the conventional semi-spade rudder are visualized by high speed CCD camera with the frame rate of 4000 fps (frame per second) to study the unsteady cavity pattern on the rudder surface and gap. In addition, the pressure measurements are conducted on the rudder surface and inside the gap to find out the characteristics of the flow behavior. The rudder without propeller wake is tested at the range of $1.0{\leq}{\sigma}_v\;1.6$ and at the rudder deflection angle of $-8{\leq}{\theta}{\leq}10^{\circ}$. The time resolved cavity images are captured and show strong cavitation around the rudder gap in all deflection angles. As the deflection angle gets larger, the flow separated from the horn surface increases the strength of cavitation. The accelerated flow along the horn decreases its pressure and the separated flow from the horn increases the pressure abruptly. The pressure distribution inside the gap reveals the flow moving from the pressure to suction side. In the negative deflection angle, the turning area on the movable part initiates the flow separation and cavitation on it.

• Spatial Information Research
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• v.7 no.1
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• pp.89-101
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• 1999

This paper represents methods to calculate heights of buildings by estimating their shadow lengths in a single and panchromatic image of the KVR-1000 camera system Shadows are identified Com brightness intensity of each pixel, and their lengths are measured. Two methods are implemented to estimate heights from shadows. One method is to use a ratio of shadow s lengths with respect to heights of reference buildings measured on site. The other method uses sun elevation angles calculated from various camera s parameters at the exposure time. The estimated heights of 20 buildings are compared with heights measured on site, and the RMS errors for each method are 1.70m and 1.75m, respectively. When a resampling method to enhance identification of shadows is used and their lengths are accordingly re-calculated, the estimated errors for each method are significantly reduced to 1.17m and 1.16m, respectively. Meanwhile, effects of land slope on shadows can be hardly obtained unless detailed DTM(digital terrain model) are available, and they introduce additional errors up to 25m.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.4
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• pp.433-438
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• 2011

A machine that makes paper cups has many parts, including a barrel cam, an index, and a turret. When the barrel cam, which is the main operating part of the machine, rotates, it pushes the roller fixed on the index, and paper cups are formed as the turret connected to the index rotates. Therefore, the performance of the machine is affected by the barrel cam. In this study, the program for designing barrel cam, which creates the profile of the cam is developed using MATLAB. This profile is used to develop a 3D CAD model by using a 3D CAD program. Dynamic models containing the barrel cam are created on the basis of the profile and 3D laser scan of the barrel cam. Further, the rotation angle of the index in the machine is measured using a high-speed camera. The rotation angles of the dynamics models are compared to verify the effectiveness of the program.

• Cartoon and Animation Studies
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• s.20
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• pp.31-45
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• 2010

Stereoscopic 3D animation contents are in the rise as a key part of contents market. Major animation studios are planning to produce 3D animations in a stereoscopic process. This study aims at understanding the visual textuality of 3D animation contents at its early stage. To understand 3D animation, , are analyzed. Stereoscopic 3D animations are exploring the new visual aesthetics using the specific storytelling, sequence ordering, camera working, shot size and camera angles etc. Based on these visual textualities, stereoscopic 3D animations are constructing telepresence, multi-senses of individual spectators. Stereoscopic 3D animations have formed their own aesthetics and cultural meanings in the digital age.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.3
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• pp.305-315
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• 2016

This study aims to develop a robot vision control scheme using the Newton-Raphson (N-R) method for the uncertainty of circumstance caused by the appearance of obstacles during robot movement. The vision system model used for this study involves six camera parameters (C1-C6). First, the estimation scheme for the six camera parameters is developed. Then, based on the six estimated parameters for three of the cameras, a scheme for the robot's joint angles is developed for the placement of a slender bar. For the placement of a slender bar for the uncertainty of circumstances, in particular, the discontinuous robot trajectory caused by obstacles is divided into three obstacle regions: the beginning region, middle region, and near-target region. Then, the effects of obstacles while using the proposed robot vision control scheme are investigated in each obstacle region by performing experiments with the placement of the slender bar.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.30 no.2C
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• pp.16-24
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• 2005

In this paper, we proposed a face tracking algorithm for a viewpoint adaptive multi-view synthesis system. The original scene captured by a depth camera contains a texture image and 8 bit gray-scale depth map. From this original image, multi-view images can be synthesized which correspond to viewer's position by using geometrical transformation such as a rotation and a translation. The proposed face tracking technique gives a motion parallax cue by different viewpoints and view angles. In the proposed algorithm, tracking of viewer's dominant face initially established from camera by using statistical characteristics of face colors and deformable templates is done. As a result, we can provide motion parallax cue by detecting viewer's dominant face area and tracking it even under a heterogeneous background and can successfully display the synthesized sequences.

• Journal of Multimedia Information System
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• v.7 no.4
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• pp.239-248
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• 2020

The performance of the facial recognition system is determined by many technical factors. Further, most of the technical factors have been realized or are still in continued research. The recognition rate has a great influence on performance not only by technical factors but also by other factors. However, researchers are trying to improve the recognition rate by focusing only on technical factors. The mechanism of recognizing is to compare a face image obtained by photography to an already stored face image and determine the score of the similarity. However, if the photographed image is damaged by external light, even a system with a good algorithm will fail to recognize it. Therefore, it is important to prevent the disturbance of light entering from the outside, so it should be blocked, but the camera will not work without light. Thus, it is proposed that a method to secure the external light but block the disturbance of light that affects photography. A method of blocking disturbance light is to use a polarization filter. There are three polarization methods: circular polarization, linear polarization, and elliptical polarization. In this paper, an experiment was performed to overcome disturbance of light using only a circularly polarized filter. In addition, a lighting system that reproduces disturbance light was provided for the experiment, and light of varying intensities and angles was installed to affect the face recognition camera. As a result of actual application, it was determined that a very improved recognition performance in various disturbance light environments.

• Journal of the Korea Institute of Building Construction
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• v.23 no.5
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• pp.629-638
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• 2023

This study introduces an innovative approach to monitor the whereabouts of workers within indoor construction settings. While traditional modalities such as GPS and NTRIP have demonstrated efficacy for outdoor localizations, their precision dwindles in indoor environments. In response, this research advocates for the adoption of Aruco markers. Leveraging computer vision technology, these markers facilitate the quantification of the distance between a worker and the marker, subsequently pinpointing the worker's instantaneous location with heightened accuracy. The methodology's efficacy was rigorously evaluated in a real-world construction scenario. Parameters including system stability, the influence of lighting conditions, the extremity of measurable distances, and the breadth of recognition angles were methodically appraised. System stability was ascertained by maneuvering the camera at a uniform velocity, gauging its marker recognition prowess. The impact of varying luminosity on marker discernibility was scrutinized by modulating the ambient lighting. Furthermore, the camera's spatial movement ascertained both the upper threshold of distance until marker recognition waned and the maximal angle at which markers remained discernible.

• Transactions of the Korean Society of Automotive Engineers
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• v.17 no.2
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• pp.49-56
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• 2009

In this study, a side collision accident reconstruction using database based on the deformed shape information from the collision test using model cars is suggested. A deformation index and angle index related to the deformed shape is developed to set the database for the collision accident reconstruction algorithm. Two small size RC cars are developed to carry out the side collision test. Several side collision tests according to the velocity and collision angles are performed for establishing the side collision database. A high speed camera with 1000fps is used to capture the motion of the car. A side collision accident reconstruction algorithm is developed and applied to find the collision conditions before the accident occurs. Two collision cases are tested to validate the database and the algorithm. The results obtained by the reconstruction algorithm show good match with original conditions with regard to the velocity and angle.