• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.559-564
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• 1994

Recently, a visual servoing for an eye-in-hand robot has become an interesting problem. A distance between a camera and a task object is very useful information for visual servoing. In the previous works for visual servoing, the distance can be obtained from the difference between a reference and a measured feature value of the object such as area on image plane. However, since this feature depends on the object, the reference feature value must be changed when other task object is taken. To overcome this difficulty, this paper presents a novel method for visual servoing. In the proposed method, a blur is used to obtain the distance. The blur, one of the most important features, depends on the focal length of camera. Since it is not affected by the change of object, the reference feature value is not changed although other task object is taken. In this paper, we show a relationship between the distance and the blur, and define the feature jacobian matrix based on camera defocusing to operate the robot. A series of experiments is performed to verify the proposed method.

• Journal of The Korean Association For Science Education
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• v.14 no.2
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• pp.133-142
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• 1994

Many students have misconceptions that upward direction force act on the object which is moving upward after being thrown vertically upward, and no force act on the object at the top of its flight because the object stop or don't' move at the top. To change these misconceptions, in this study, deductive reasoning tasks were used, and student's responses to the tasks were analyzed. In the first part of this study, student's prior conceptions about force and motion and student's deductive reasoning abilities were investigated. And the second part, student's explanations were classified to either the premise-based or idea-based explanation. In the case of the object which is moving upward, 62% of students who had misconception changed their misconceptions to physically correct concept, but, only 24% of students changed their misconceptions for the object at the top. For the first task, more students changed their misconceptions when they made responses based on premises than based on their own idea(p<.05), so, the first task can be helpful for conceptual change. 40% students changed their own misconception by reasoning deductively based on premises provided in the first task, but only 17% students changed by the second task. Student's reasoning abilities investigated in the first part of this study did not affect the conceptual change. Four students for the first task and one student for the second task did not change their misconception even though they made premise-based explanation and had high reasoning abilities.

• Journal of Science of Art and Design
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• v.4
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• pp.67-90
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• 2002

What is the semantic function of visual image in Contemporary art? This article proposes that representation is semantically still important in post-modernism as well as in modernism. The semantic function of representation has been changed by keeping pace with times. In modernism the 'outer representation' changed to 'inner representation', and in postmodernism the 'inner representation' changed to 'metaphorical representation'. The 'outer representation' means that image indicates a certain object or subject as the classical realism. In this case, the meaning of image is subordinate to an object, and a one-to-one correspond existed between the image and the object. Because this 'outer representation' is focused on an object but subject's intention, the indicative function of meaning is definite and singular. The 'inner representation' means that image exposes the fundamentals or process of an object. In this case, the meaning of image resolves itself into an absolute fundamental, and one-to-many correspond existed between the image and the object. Because this 'inner representation' is focused on essence and substance but an external form, the indicative function of meaning is inclusive and general. The 'metaphorical representation' means that image critically relates social constraint and condition as metaphor and allegory. In this case, the meaning of image is not subordinate to an object and a subject, and the image and the object indicate interactively. Because this 'metaphorical representation' is focused on interaction between subject, object, and interpreter, the indicative function of meaning is differant and ecological. This article focused on the representation because I believe that continuous thinking of totality can be opened by cognitive mapping, even though we never understand the world totally in the chaotic post modern age.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.8
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• pp.746-751
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• 2006

In this paper, we present tracking algorithm for the indoor moving object. We research passive method using a camera and image processing. It had been researched to use dynamic based estimators, such as Kalman Filter, Extended Kalman Filter and Particle Filter for tracking moving object. These algorithm have a good performance on real-time tracking, but they have a limit. If the shape of object is changed or object is located on complex background, they will fail to track them. This problem will need the complicated image processing algorithm. Finally, a large algorithm is made from integration of dynamic based estimator and image processing algorithm. For eliminating this inefficiency problem, image based estimator, Mean-shift Algorithm is suggested. This algorithm is implemented by color histogram. In other words, it decide coordinate of object's center from using probability density of histogram in image. Although shape is changed, this is not disturbed by complex background and can track object. This paper shows the results in real camera system, and decides 3D coordinate using the data from mean-shift algorithm and relationship of real frame and camera frame.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.39 no.6
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• pp.515-523
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• 2021

An integrated underground spatial map consists of underground facilities, underground structures, and ground information, and is periodically updated. In this paper, we design and implement a system for detecting and extracting only changed ground objects to shorten the map update speed. To find the changed objects, all the objects are compared, which are included in the newly input map and the reference map in the integrated map. Since the entire process of comparing objects and generating results is classified by function, the implemented system is composed of several modules such as object comparer, changed object detector, history data manager, changed object extractor, changed type classifier, and changed object saver. We use two metrics: detection rate and extraction rate, to evaluate the performance of the system. As a result of applying the system to boreholes, ground wells, soil layers, and rock floors in Pyeongtaek, 100% of inserted, deleted, and updated objects in each layer are detected. In addition, it provides the advantage of ensuring the up-to-dateness of the reference map by downloading it whenever maps are compared. In the future, additional research is needed to confirm the stability and effectiveness of the developed system using various data to apply it to the field.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.33 no.4
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• pp.297-304
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• 2015

The change detection algorithms, based on remotely sensed satellite imagery, can be applied to various applications, such as the hazard/disaster analysis and the land monitoring. However, unchanged areas sometimes detected as the changed areas due to various errors in relief displacements and noise pixels, included in the original multi-temporal dataset at the application of unsupervised change detection algorithm. In this research, the object-based changed detection for the high-spatial resolution satellite images is applied by using the IR-MAD (Iteratively Reweighted- Multivariate Alteration Detection), which is one of those representative change detection algorithms. In additionally, we tried to increase the accuracy of change detection results with using the additional information, based on the cross-sharpening method. In the experiment, we used the KOMPSAT-2 satellite sensor, and resulted in the object-based IR-MAD algorithm, representing higher changed detection accuracy than that by the pixel-based IR-MAD. Also, the object-based IR-MAD, focused on cross-sharpened images, increased in accuracy of changed detection, compared to the original object-based IR-MAD. Through these experiments, we could conclude that the land monitoring and the change detection with the high-spatial-resolution satellite imagery can be accomplished efficiency by using the object-based IR-MAD algorithm.

• Proceedings of the KSRS Conference
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• 2002.10a
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• pp.157-162
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• 2002

Recently, location based services, which make use of location information of moving objects, have obtained increasingly high attention. The moving objects are time-evolving spatial objects, that is, their locations are dynamically changed as time varies. Generally, GIS server stores and manages the spatial objects, of which locations are rarely changed. The traditional GIS server, however, has a difficulty to manage the moving objects, due to the fact of locations being frequently changed and the trajectory information (past locations of moving objects) being managed. In this paper, we have designed a moving object server, which stores and manages the locations in order to support various location based services. The moving object server is composed of a location acquisition component, a location storage component, and a location query component. The contribution of this paper is that we integrate the each work for location acquisition, storage, and query into a moving objects server.

• Journal of the Korea Society of Computer and Information
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• v.6 no.3
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• pp.35-43
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• 2001

Imposing electromagnetic field using transmitter of buried metal object in skill that detect underground object sensing person atonement in being widowed on the land being magnetized upside numerical value of buried metal object searching way used most widely current by skill be. This paper proposed about mode and detection system of underground object that sense the changed magnetic and judge real radish buried metal object sign of the cook because this treatise forms magnetic in land and design and composition of display device. Also, through simulation of detection system of underground object, showed that can measure radish judgment sign of the cock of underground object

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.332-336
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• 1992

We describe about the graphic simulation system which supports the determination of efficient multi-robot motions during cooperation. For the construction of the simulation software for multi-robot motions, two problems are presented. First problem is that all the robot motions must be determinded using both the desired object motions and the holonomic constraints with the object. To find the robot motions combined with the various object motion path, the robot motions are derived from the desired object path instead of a master robot path. Therefore robot motions can be easily modifiable with the various object motions. This type of motion determination is different from that of the master-slaves method using the master robot motions. The other is that the developments of robot application softwares need a heavy cost when the participated robots or the tasks given to the robots are changed. Based on object-oriented programming paradigm, we present useful software objects describing robot application programming environment. The object-oriented programming paradigm increases the software reusability, reliability, and extensibility, and also provides the structual concepts to cope with the various demands of robot application programming.

• Journal of Power System Engineering
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• v.13 no.2
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• pp.71-82
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• 2009

This paper presents a real-time haptic rendering method for a realistic force feedback in a remote environment with varying communication time-delay. The remote environment is assumed as a virtual environment based on a computer graphics, for example, on-line shopping mall, internet game and cyber-education. The properties of a virtual object such as stiffness and viscosity are assumed to be unknown because they are changed according to the contact position and/or a penetrated depth into the object. The DARMAX model based output estimator is proposed to trace the correct impedance of the virtual object in real-time. The output estimator is developed on the input-output relationship. It can trace the varying impedance in real-time by virtue of P-matrix resetting algorithm. And the estimator can trace the correct impedance by using a white noise that prevents the biased input-output information. Realistic output forces are generated in real-time, by using the inputs and the estimated impedance, even though the communication time delay and the impedance of the virtual object are unknown and changed. The generated forces trace the analytical forces computed from the virtual model of the remote environment. Performance is demonstrated by experiments with a 1-dof haptic device and a spring-damper-based virtual model.