• 로봇학회논문지
• /
• 제17권3호
• /
• pp.322-333
• /
• 2022

The Avatar robot, which is one of the teleoperation robots, aims to enable users to feel the robot as a part of the body to intuitively and naturally perform various tasks. Considering the purpose of the avatar robot, an end-effector identical to a human hand is advantageous, but a robotic hand with human hand level performance has not yet been developed. In this paper we propose a new 3-finger robotic hand with human-avatar hand posture mapping algorithm which were integrated with TOCABI-AVATAR, one of the teleoperation system. Due to the flexible rolling contact joints and tendon driven mechanism applied to the finger, the finger could implement adaptive grasping and absorb the impact force caused by unexpected contacts. In addition, human-avatar hand mapping algorithm using five calibration hand postures propose to compensate physical differences between operators. Using the TOCABI-AVATAR system with the robotic hands and mapping algorithm, the operator can perform 13 out of 16 hand postures of grasping taxonomy and 4 gestures. In addition, using the system, we participated in the ANA AVATAR XPRIZE Semi-final and successfully performed three scenarios which including various social interactions as well as object manipulation.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.1513-1518
• /
• 1996

A force reflecting hand controller can be used to provide more realistic information to the operator of a teleoperation system such as kinesthetic feedback from a slave robot. In this paper, a new design concept of a force reflecting 6-DOF hand controller utilizing the kinematic structure of a Stewart Platform is presented. Based on the optimal design technique of a Stewart Platform, a force reflecting hand controller has been designed and constructed to verify the technical feasibility of proposed design concept. In order to provide an operator with kinesthetic feedback information, a force mapping algorithm based on a reciprocal product of screws has been introduced. Finally, the technical feasibility of the design concept has been demonstrated through some of experimental results of the device under virtual environment on a real-time graphic system.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.1708-1713
• /
• 1997

In teleoperation of a manipulator, kinesthetic feedback can take an essential role in the sense that it provides an operator with more realistic information. In this paper, in order to implement the concept of kinesthetic feedback, force mapping algorithms based on screw theory have been presented. In the development of such algorithms, the virtual environment has been modeled usign a spring and dampers, and the forces caused by hitting the joint limits of a conrtolled manipulator were considered. Finally, some experimental results of force mapping algorithm have been presented.

• 디지털산업정보학회논문지
• /
• 제4권3호
• /
• pp.77-83
• /
• 2008

In this paper, CPLD low power technology mapping for reuse module design under the time constraint is proposed. Traditional high-level synthesis do not allow reuse of complex, realistic datapath component during the task of scheduling. On the other hand, the proposed algorithm is able to approach a productivity of the design the low power to reuse which given a library of user-defined datapath component and to share of resource sharing on the switching activity in a shared resource. Also, we are obtainable the optimal the scheduling result in experimental results of our using chaining and multi-cycling in the scheduling techniques. Low power circuit make using CPLD technology mapping algorithm for selection reuse module by scheduling.

• 대한전자공학회논문지
• /
• 제27권10호
• /
• pp.68-77
• /
• 1990

본 논문에서는 CAD 시스템의 신경망을 이용한 자동 입력기 구축을 위한 논리 심볼 인식방법을 제시한다. 손으로 작성한 도면을 인식하기 위해 특징 추출과 log mapping, 그리고 패턴 인식의 다단계 과정을 거친다. 각 논리 심볼의 현태 정보를 추출하기 위해 억제 가중치를 학습할 수 있는 경쟁 학습법을 제안하고 회전과 크기의 변화를 병진된 결과로 나타내는 log mapping을 하고 형태가 변한 심볼을 인식할 수 있도록 겹쳐지는 수용야(Receptive field)를 준비하여 error back propagation을 이용한 다층망으로 심볼을 인식한다.

• 융합신호처리학회 학술대회논문집
• /
• 한국신호처리시스템학회 2003년도 하계학술대회 논문집
• /
• pp.106-109
• /
• 2003

This paper presents a hue preserving gamut mapping algorithm for color monitor and printer. The gamuts of monitor and printer are set by the profile of color reproduction media, specified by ICC(International Color Consortium) and provided by vendors, then those gamuts are represented on the CIE xy color space. In case that the color of monitor are located on out-of-gamut of printer, these are clipped on the point of gamut boundary of printer towards a reference white point. On the other hand, colors are in-gamut of printer are unchanged. An image generated by the algorithm keeps a ratio of each pixel of original image. Advantages of the algorithm are easy to implement and fast processing time than other algorithms which involve hue preserving especially in CIELAB color space.

• 한국컴퓨터정보학회논문지
• /
• 제11권3호
• /
• pp.161-166
• /
• 2006

본 논문은 시간 제약 조건하에서의 모듈 선택 재사용을 이용한 CPLD 저전력 기술 매핑을 제안한다. 일반적인 상위 수준 합성에서의 스케줄링은 실제적인 라이브러리의 복잡한 재사용을 허용하지 않는다. 반면 제안한 알고리즘은 주어진 사용자 정의 모듈을 실제적인 RT 라이브러리 모듈 재사용과 공유된 자원에서의 스위치 활동의 자원 공유하여 스케줄링을 수행한다. 스케줄링은 체이닝과 멀티사이클링을 이용해 다양한 상위 레벨 벤치마크의 환경에서 최적의 스케줄링의 결과를 얻는다. 스케쥴링의 결과 재사용된 자원은 CPLD 저전력 기술 매핑 알고리즘을 이용하여 저전력으로 회로를 구현한다.

• 한국IT서비스학회지
• /
• 제22권5호
• /
• pp.71-86
• /
• 2023

Recently, various geographic information systems have been used based on spatial information of geographic information systems. Accordingly, it is essential to produce a large-scale map as a small-scale map for various uses of spatial information. However, maps currently being produced have inconsistencies between data due to production timing and limitations in expression, and productivity efficiency is greatly reduced due to errors in products or overlapping processes. In order to improve this, various efforts are being made, such as publishing research and reports for automating domestic mapping, but because there is no specific result, it relies on editors to make maps. This is mainly done by hand, so the time required for mapping is excessive, and quality control for each producer is different. In order to solve these problems, technology that can be automatically produced through computer programs is needed. Research has been conducted to apply the rule base to geometric generalization. The algorithm tolerance setting applied to rule-based modeling is a factor that greatly affects the result, and the level of the result changes accordingly. In this paper, we tried to study the effectiveness of mapping according to tolerance setting. To this end, the utility was verified by comparing it with a manually produced map. In addition, the original data and reduction rate were analyzed by applying generalization algorithms and tolerance values. Although there are some differences by region, it was confirmed that the complexity decreased on average. Through this, it is expected to contribute to the use of spatial information-based services by improving tolerances suitable for small-scale mapping regulations in order to secure spatial information data that guarantees consistency and accuracy.

• Nonlinear Functional Analysis and Applications
• /
• 제27권3호
• /
• pp.553-568
• /
• 2022

In this paper, we introduce and study two different iterative hybrid projection algorithms for solving a fixed point problem of nonexpansive mappings. The first algorithm is generated by the combination of the inertial method and the hybrid projection method. On the other hand, the second algorithm is constructed by the convex combination of three updated vectors and the hybrid projection method. The strong convergence of the two proposed algorithms are proved under very mild assumptions on the scalar control. For illustrating the advantages of these two newly invented algorithms, we created some numerical results to compare various numerical performances of our algorithms with the algorithm proposed by Dong and Lu [11].

• 대한원격탐사학회지
• /
• 제40권2호
• /
• pp.179-190
• /
• 2024

This study aims to compare supervised classification methods with phenology-based approaches, specifically pixel-based and segment-based methods, for accurate crop mapping in agricultural landscapes. We utilized Sentinel-2A imagery, which provides multispectral data for accurate crop mapping. 31 normalized difference vegetation index (NDVI) images were calculated from the Sentinel-2A data. Next, we employed phenology-based approaches to extract valuable information from the NDVI time series. A set of 10 phenology metrics was extracted from the NDVI data. For the supervised classification, we employed the maximum likelihood (MaxLike) algorithm. For the phenology-based approaches, we implemented both pixel-based and segment-based methods. The results indicate that phenology-based approaches outperformed the MaxLike algorithm in regions with frequent rainfall and cloudy conditions. The segment-based phenology approach demonstrated the highest kappa coefficient of 0.85, indicating a high level of agreement with the ground truth data. The pixel-based phenology approach also achieved a commendable kappa coefficient of 0.81, indicating its effectiveness in accurately classifying the crop types. On the other hand, the supervised classification method (MaxLike) yielded a lower kappa coefficient of 0.74. Our study suggests that segment-based phenology mapping is a suitable approach for regions like South Korea, where continuous cloud-free satellite images are scarce. However, establishing precise classification thresholds remains challenging due to the lack of adequately sampled NDVI data. Despite this limitation, the phenology-based approach demonstrates its potential in crop classification, particularly in regions with varying weather patterns.