• Journal of Biomedical Engineering Research
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• v.37 no.3
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• pp.105-111
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• 2016

Introduction: Surgical robot is the alternative instrument that substitutes the difficult and precise surgical operation; should have intuitiveness operationally to transfer natural motions. There are limitations of hand motion derived from contacting mechanical handle in the surgical robot master interface such as mechanical singularity, isotropy, coupling problems. In this paper, we will confirm and verify the feasibility of intuitive Non-restraint master interface which tracking the hand motion using infra-red camera and only 3 reflective markers without the hardware handle for the surgical robot master interface. Materials & methods: We configured S/W and H/W system; arranged 6 infra-red cameras and attached 3 reflective markers on hands for measuring 3 dimensional coordinate then we find the 7 motions of grasp, yaw, pitch, roll, px, py, pz. And we connected Virtual-Master to the slave surgical robot(Laparobot) and observed the feasibility. To verify the result of motion, we compare the result of Non-restraint master and that of clinometer (and protractor) through measuring 0~180 degree, 10degree interval, 1000 samples and recorded standard deviation stands for error rate of the value. Results: We confirmed that the average angle values of Non-restraint master interface is accurately corresponds to the result of clinometer (and protractor) and have low error rates during motion. Investigation & Conclusion: In this paper, we confirmed the feasibility and accuracy of 3D Non-restraint master interface that can offer the intuitive motion of non-contact hardware handle. As a result, we can expect the high intuitiveness, dexterousness of surgical robot.

• Journal of Advanced Navigation Technology
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• v.17 no.2
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• pp.247-254
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• 2013

The task of 3D gesture recognition for controlling equipments is highly challenging due to the propagation of 3D smart TV recently. In this paper, the AdaBoost algorithm is applied to 3D gesture recognition by using Kinect sensor. By tracking time interval trajectory of hand, wrist and arm by Kinect, AdaBoost algorithm is used to train and classify 3D gesture. Experimental results demonstrate that the proposed method can successfully extract trained gestures from continuous hand, wrist and arm motion in real time.

• Journal of Korea Society of Industrial Information Systems
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• v.16 no.2
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• pp.99-109
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• 2011

This paper presents implementation details of home appliance control system using personal communicator based on LN2440 single board computer, which recognizes hand-gesture of user, controls remote moving device such as mobile home server, robot etc. through delivery of proper control commands. Also, this paper includes details of design and implementation of home gateway and mobile home server. The implemented prototype can be utilized to develop various remote control system including a remote exploration robot, intelligent wheelchair based on general purpose embedded system.

• International Journal of Precision Engineering and Manufacturing
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• v.7 no.2
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• pp.41-45
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• 2006

This paper deals with human spatial cognition using visual and auditory stimulation. More specially, this investigation is to observe the relationship between the head and the eye motor system for the localization of visual target direction in space and to try to describe what is the role of right-side versus left-side pinna. In the experiment of visual stimulation, nineteen red LEDs (Luminescent Diodes, Brightness: $210\;cd/^2$) arrayed in the horizontal plane of the surrounding panel are used. Here the LEDs are located 10 degrees apart from each other. Physiological parameters such as EOG (Electro-Oculography), head movement, and their synergic control are measured by BIOPAC system and 3SPACE FASTRAK. In the experiment of auditory stimulation, one side of the pinna function was distorted intentionally by inserting a short tube in the ear canal. The localization error caused by right and left side pinna distortion was investigated as well. Since a laser pointer showed much less error (0.5%) in localizing target position than FASTRAK (30%) that has been generally used, a laser pointer was used for the pointing task. It was found that harmonic components were not essential for auditory target localization. However, non-harmonic nearby frequency components was found to be more important in localizing the target direction of sound. We have found that the right pinna carries out one of the most important functions in localizing target direction and pure tone with only one frequency component is confusing to be localized. It was also found that the latency time is shorter in self moved tracking (SMT) than eye alone tracking (EAT) and eye hand tracking (EHT). These results can be used in further study on the characterization of human spatial cognition.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.9
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• pp.436-443
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• 2017

Recently, the development of new energy technologies has become a hot topic due to problems,such as global warming. Unlike renewable energy technologies, such as solar energy generation, solar power, and wind power, which are optimized to achieve medium or above output power, the output power of energy harvesting technology is very small and has not received much attention. On the other hand, as the mobile industry has been revitalized recently, the utility of energy harvesting technology has been reevaluated. In addition, the technology of tracking the maximum power point has been actively researched. This paper proposes a new MPPT(Maximum Power Point Tracking) control method for a TEM(thermoelectric module) for load resistance. The V-I curve characteristics and internal resistance of TEM were analyzed and the conventional MPPT control methods were compared. The P&O(Perturbation and Observation) control method is more accurate, but it is less economical than the CV (Constant Voltage)control method because it usestwo sensors to measure the voltage and current source. The CV control method is superior to the P&O control method in economic aspects because it uses only one voltage sensor but the MPP is not matched precisely. In this paper, a method wasdesigned to track the MPP of TEM combining the advantages of the two control method. The proposed MPPT control method wasverified by PSIM simulation and H/W implementation.

• ETRI Journal
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• v.37 no.1
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• pp.138-146
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• 2015

This paper presents a new non-constraining online optical handwritten signature reconstruction system that, in the main, makes use of a transparent glass pad placed in front of a color camera. The reconstruction approach allows efficient exploitation of hand activity during a signing process; thus, the system as a whole can be seen as a viable alternative to other similar acquisition tools. This proposed system allows people with physical or emotional problems to carry out their own signatures without having to use a pen or sophisticated acquisition system. Moreover, the developed reconstruction signature algorithms have low computational complexity and are therefore well suited for a hardware implementation on a dedicated smart system.

• Journal of the Ergonomics Society of Korea
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• v.16 no.3
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• pp.71-75
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• 1997

This paper presents the development of videobased 3-dimensional tracking system. Measurement of human motion is important in the application of ertonomics. The system uses advanced direct video measurement technology. Passive retro-reflecting markers are attached to a subject and movements of markers are observed by two CCD cameras. Infrared light emitted near the CCD cameras is reflected by the markers and is detected by the cameras. The images are captured by Samsung MVB302 board and the centers of markers are calculated by DSP program. The positions of markers are transferred from MVB02 board to the computer through AT bus. The computer then tracks the position of each marker and saves the data. This system has dynamic accuracy with 0.7% average error and 4.2% maximum error, and the sampling rate to 6 .approx. 10 Hz, and this system can analyse the trajectory and speed of the marker. The results of this study can be used for operator's motion analysis, task analysis, and hand movement characteristic analysis.

• Proceedings of the Korea Information Processing Society Conference
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• 2023.05a
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• pp.752-753
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• 2023

본 논문에서는 손가락 관절의 운동범위와 MediaPipe 손 추적기를 이용하여 3 차원 손 추적 방법을 설계하였다. MediaPipe 손 추적기가 추정한 신뢰할 수 있는 2 차원 좌표를 바탕으로 손 랜드마크의 깊이를 추정한 후, 손가락 관절 운동범위와 부합한 결과를 도출하였다. 본 논문에서 제안한 3 차원 손 추적 방법은 전용 하드웨어 없이 동작하며 기존의 3 차원 손 추적기에 비해 보다 직관적인 인간-컴퓨터 인터페이스 확산에 긍정적 영향을 줄 것으로 기대한다.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.205-216
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• 2016

The localization of the robot is one of the most important factors of navigating mobile robots. The use of featured information of landmarks is one approach to estimate the location of the robot. This approach can be classified into two categories: the natural-landmark-based and artificial-landmark-based approach. Natural landmarks are suitable for any environment, but they may not be sufficient for localization in the less featured or dynamic environment. On the other hand, artificial landmarks may generate shaded areas due to space constraints. In order to improve these disadvantages, this paper presents a novel development of the localization system by using artificial and natural-landmarks-based approach on a topological map. The proposed localization system can recognize far or near landmarks without any distortion by using landmark tracking system based on top-view image transform. The camera is rotated by distance of landmark. The experiment shows a result of performing position recognition without shading section by applying the proposed system with a small number of artificial landmarks in the mobile robot.

• Korean Journal of Remote Sensing
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• v.34 no.6_2
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• pp.1299-1310
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• 2018

In this study, we analyzed distribution and movement trends using in-situ observations and particle tracking methods to understand the movement of the drift ice in the Arctic Ocean. The in-situ movement data of the drift ice in the Arctic Ocean used ITP (Ice-Tethered Profiler) provided by NOAA (National Oceanic and Atmospheric Administration) from 2009 to 2018, which was analyzed with the location and speed for each year. Particle tracking simulates the movement of the drift ice using daily current and wind data provided by HYCOM (Hybrid Coordinate Ocean Model) and ECMWF (European Centre for Medium-Range Weather Forecasts, 2009-2017). In order to simulate the movement of the drift ice throughout the Arctic Ocean, ITP data, a field observation data, were used as input to calculate the relationship between the current and wind and follow up the Lagrangian particle tracking. Particle tracking simulations were conducted with two experiments taking into account the effects of current and the combined effects of current and wind, most of which were reproduced in the same way as in-situ observations, given the effects of currents and winds. The movement of the drift ice in the Arctic Ocean was reproduced using a wind-imposed equation, which analyzed the movement of the drift ice in a particular year. In 2010, the Arctic Ocean Index (AOI) was a negative year, with particles clearly moving along the Beaufort Gyre, resulting in relatively large movements in Beaufort Sea. On the other hand, in 2017 AOI was a positive year, with most particles not affected by Gyre, resulting in relatively low speed and distance. Around the pole, the speed of the drift ice is lower in 2017 than 2010. From seasonal characteristics in 2010 and 2017, the movement of the drift ice increase in winter 2010 (0.22 m/s) and decrease to spring 2010 (0.16 m/s). In the case of 2017, the movement is increased in summer (0.22 m/s) and decreased to spring time (0.13 m/s). As a result, the particle tracking method will be appropriate to understand long-term drift ice movement trends by linking them with satellite data in place of limited field observations.