• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.5
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• pp.470-475
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• 2009

This paper is the study which is head tracker using pattern matching. Proposal algorithm obtains initial attitude of head tracker using pattern matching. Optical head tracker consists of infrared LEDs(features) which are attached helmet as pattern, stereo infrared cameras. Proposal algorithm analyzes patterns by error rate of feature distance and estimates feature characteristic number. Initial attitude of head tracker is obtained to compare map data and feature characteristic number.

• Maxillofacial Plastic and Reconstructive Surgery
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• v.34 no.1
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• pp.41-52
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• 2012

Purpose: Triangulation is the process of determining the location of a point by measuring angles to it from known points at either end of a fixed baseline. This point can be fixed as the third point of a triangle with one known side and two known angles. The aim of this study was to find a clinically adaptable method for applying an optical tracking navigation system to orthognathic surgery and to estimate its accuracy of measuring the bone displacement by use of triangulation methods. Methods: In orthognathic surgery, the head position is not fixed as in neurosurgery, so that a head tracker is needed to establish the reference point on the head surface byusing an optical tracking system. However, the operation field is interfered by its bulkiness that makes its clinical use difficult. To solve this problem, we designed a method using an Aquaplast splinting material and a mini-screw in applying a head tracker on a patient's forehead. After that, we estimated the accuracy of measuring displacements of the ball marker by an optical tracking system with a conventional head tracker (Group A) and with a newly designed head tracker (Group B). Measured values of ball markers' displacements by each optical tracking system were compared with values obtained from fusion CT images for an estimation of accuracy. Results: The accuracy of the optical tracking system with a conventional head tracker (Group A) is not suitable for clinical usage. Measured and predictable errors are larger than 10 mm. The optical tracking system with a newly designed head tracker (Group B) shows 1.59 mm, 6.34 mm, and 9.52 mm errorsin threeclinical cases. Conclusion: Most errors were brought on mainly from a lack of reproducibility of the head tracker position. The accuracy of the optical tracking system with a newly designed head tracker can be a useful method in further orthognathic navigation surgery even though the average error is higher than 2.0 mm.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.1
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• pp.90-95
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• 2010

This paper describes the development of integrated head and eye tracker system. Vision based head tracker is performed and it has 7mm error in 300mm translation. The epi-polar method and point matching are used for determining a position of head and rotational degree. High brightness LEDs are installed on helmet and the installed pattern is very important to match the points of stereo system. Eye tracker also uses LED for constant illumination. A Position of gazed object(3m distance) is determined by pupil tracking and eye tracker has 1~5 pixel error. Integration of result data of each tracking system is important. RS-232C communication is applied to integrated system and triggering signal is used for synchronization.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.3
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• pp.243-249
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• 2021

The star tracker detects microscopic star light in space and compares it with a stored list of stars to calculate the satellite's position in the inertial coordinate system. If other light, such as the sun or the earth, enters the optical head, the star cannot be recognized and the star tracker cannot be operated. In particular, strong light such as the sun affects not only operation but also the performance of the star tracker. The sun exclusion angle of the star tracker is one of the important factors determining the performance of the star tracker. This paper performs the verification of the star tracker's sun exclusion angle. In order to verify the sun exclusion angle, we predict the sun exclusion time of the star tracker and compare it to the actual sun exclusion time of the GEO-KOMPSAT-2A star tracker. In addition, the performance of the star tracker is analyzed for normal operations against the sun exclusion in the optical head. It shows that the actual sun exclusion is maintained under the range of 26 degrees, the performance requirement of the star tracker, and the star tracker operates normally in spite of the sun exclusion.

• The Journal of Korea Robotics Society
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• v.5 no.2
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• pp.152-159
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• 2010

Finding a head of a person in a scene is very important for taking a well composed picture by a robot photographer because it depends on the position of the head. So in this paper, we propose a robust head tracking algorithm using a hybrid of an omega shape tracker and local binary pattern (LBP) AdaBoost face detector for the robot photographer to take a fine picture automatically. Face detection algorithms have good performance in terms of finding frontal faces, but it is not the same for rotated faces. In addition, when the face is occluded by a hat or hands, it has a hard time finding the face. In order to solve this problem, the omega shape tracker based on active shape model (ASM) is presented. The omega shape tracker is robust to occlusion and illuminationchange. However, whenthe environment is dynamic,such as when people move fast and when there is a complex background, its performance is unsatisfactory. Therefore, a method combining the face detection algorithm and the omega shape tracker by probabilistic method using histograms of oriented gradient (HOG) descriptor is proposed in this paper, in order to robustly find human head. A robot photographer was also implemented to abide by the 'rule of thirds' and to take photos when people smile.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.36 no.7
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• pp.680-687
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• 2008

This paper presents map creation algorithm and initial attitude estimation method for the proposed optical head tracker system. The optical head tracker system consists of the IR stereo cameras and infrared LEDs as features on the helmet. In order for the stereo camera to track the luminous LEDs, it must take in to account the light radiation from the LEDs to determine the position of the center points. The proposed map creation algorithm makes map data about the position of features center points on the helmet frame. Also, initial attitude estimation method is proposed to estimate the initial attitude and position of a pilot head from the camera frame by the use of the feature pattern on the helmet. Therefore, the head motion can be expressed with respect to the body frame of a flight.

• Journal of Korean Academy of Fundamentals of Nursing
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• v.19 no.4
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• pp.434-443
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• 2012

Purpose: This study was conducted to investigate sleep patterns in nursing students as measured by an automated wireless sleep tracker and self-reported sleep scales. Methods: Data were collected from October, 2011 to May, 2012. ZQ (a symbolic number that measures the quality and quantity of sleep) was calculated from the automated wireless sleep tracker. Pittsburgh Sleep Quality Index-Korean version, Sleep scale A, and sleep satisfaction were used as self-report sleep scales. Female nursing college students (n=37) were recruited by convenience sampling. Before going to bed, they were asked to put on a head-band type sleeping sensor and to move it the next morning. Every student slept 2~4 nights with the sleep tracker. Data were collected for 86 (91.4%) of 94 nights' sleep. The students were also requested to fill in the PSQI-K, sleep scale A, and sleep satisfaction. Results: The only statistically significant correlation was between ZQ and sleep satisfaction (r=.869, p=.026). The biggest obstacle in using this device was putting on the head-band type sensor. Conclusion: Validity of the wireless sleep tracker was verified in part. The usefulness of this device in nursing research and practice was identified. Further evaluation need to be conducted with various populations.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.5
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• pp.81-87
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• 2006

In this paper, an experimental optical head tracker system is designed and constructed. The system is composed of the infrared LEDs and two infrared CCD cameras to filter out the interference of another light in the limited environment like the cockpit. Then the optical head tracker algorithm is designed by using the feature detection algorithm and the 3D motion estimation algorithm. The feature detection algorithm, used to obtain the 2D position coordinates of the features on the image plane, is implemented by using the thresholding and the masking techniques. The 3D motion estimation algorithm which estimates the motion of a pilot's head is implemented by using the extended Kalman filter (EKF). Also, we used the precise rate table to verify the performance of the experimental optical head tracker system and compared the rotational performance of this system with the inertial sensor.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.7
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• pp.63-70
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• 2006

This paper describes research of using area of artificial mark on vision based head tracker system. A head tracker system consists of the translational and rotational motions which are detected by web camera. Results of the motion are taken from image processing and neural network. Because of the characteristics of cockpit, the specific color on the helmet is tracked for translational motion. And rotational motion is tracked via neural network. Ratio of two different colored area on the helmet is used as input of network. Neural network algorithms used, such as back-propagation and RBFN (Radial Basis Function Network). Both back-propagation using a characteristic of feedback and RBFN using a characteristic of statistics have a good performances for the tracking of nonlinear system such as a head motion. Finally, this paper analyzes and compares with tracking performance.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.2
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• pp.96-100
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• 2006

We develop the Dual Head Star Tracker (DHST) to obtain the attitude information of science and Technology Satellite2 (STSAT-2). Because most of star sensor has only one head camera, star recognition is impossible when camera point to sun or earth. We therefore considered the DHST which can obtain star images from two spots simultaneously. That is, even though we fail a star recognition from an image obtained by one camera, it is possible to recognize stars from an image obtained by the other camera. In this paper, we introduce engineer model (EM) of the DHST and propose a star recognition and a star track algorithm.