• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.484-486
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• 2005

Passenger safety is a primary concern of railway system but, it has been urgent issue that dozens of people are killed every year when they falloff from train platforms. Recently, advancements in IT have enabled applying vision sensors to railway environments, such as CCTV and stereo camera sensors. In this paper, we propose a stereoscopic video coding scheme for subway accident monitoring system. The proposed scheme is designed for providing flexible video among various displays, such as control center, station employees and train driver. We uses MPEG-2 standard for coding the left-view sequence and IBMDC for predicting the P- and B-types of frames of the right-view sequence. IBMDC predicts matching block by interpolating both motion and disparity predicted macroblocks. To provide efficient stereoscopic video service. we define both temporally and spatially scalable layers for each eye's-view by using the concept of Spatio-Temporal scalability. According to the experimental results. we expect the proposed functionalities will play a key role in establishing highly flexible stereoscopic video codec for ubiquitous display environment where devices and network connections are heterogeneous.

• International Journal of Precision Engineering and Manufacturing
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• v.6 no.3
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• pp.29-36
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• 2005

With the rapid growth of the Internet, the Internet-based robot has been realized by connecting off-line robot to the Internet. However, because the Internet is often irregular and unreliable, the varying time delay in data transmission is a significant problem for the construction of the Internet-based robot system. Thus, this paper is concerned with the development of an Internet-based robot system, which is insensitive to the Internet time delay. For this purpose, the PPS (Position Prediction Simulator) is suggested and implemented on the system. The PPS consists of two parts : the robot position prediction part and the projective virtual scene part. In the robot position prediction part, the robot position is predicted for more accurate operation of the mobile robot, based on the time at which the user's command reaches the robot system. The projective virtual scene part shows the 3D visual information of a remote site, which is obtained through image processing and position prediction. For the verification of this proposed PPS, the robot was moved to follow the planned path under the various network traffic conditions. The simulation and experimental results showed that the path error of the robot motion could be reduced using the developed PPS.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.448-455
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• 1996

In this study, to reduce vibration of step motor we use Microstep control. Microstep control of stepmotor is usually thought of as an extension of conventional stepmotor control technology. The essence ofmicro stepping is that we divide the full step of a stepmotor into a number of substep called microstep and cause the stepmotor to move through a substep per input pulse. In ideal case, bycontrolling the individual phase currents of a two-phase step motor sinusoidally we can get uniform torque and step angles. But due to the monlinear characteristics of the step motor, we need to compensate current waveform to improve the overall smoothness of the conventional micro stepping system. We implement digital Pulse Width Modulation(PWM) driver to drive step motor and microphone was used for detecting vibration. Driver enables speed change automatically byincreasing or decreasing micro stepping ratio which we call Automatic Switching on the Fly. To compensate the torque harmonics, Neural Networks is applied to the system and we foundcompensated optimal input current waveform. Finally we can get smooth motion of step motor in a wide range of motor speed.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.79-84
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• 1992

Path planning is an important task for optimal motion of a robot in structured or unstructured environment. The goal of this paper is to plan the optimal collision-free path in 3D, when a robot is navigated to pick up some tools or to repair some parts from various locations. To accomplish the goal, the Path Coordinator is proposed to have the capabilities of an obstacle avoidance strategy and a traveling salesman problem strategy (TSP). The obstacle avoidance strategy is to plan the shortest collision-free path between each pair of n locations in 2D or in 3D. The TSP strategy is to compute a minimal system cost of a tour that is defined as a closed path navigating each location exactly once. The TSP strategy can be implemented by the Hopfield Network. The obstacle avoidance strategy in 2D can be implemented by the VGraph Algorithm. However, the VGraph Algorithm is not useful in 3D, because it can't compute the global optimality in 3D. Thus, the Path Coordinator is used to solve this problem, having the capabilities of selecting the optimal edges by the modified Genetic Algorithm and computing the optimal nodes along the optimal edges by the Recursive Compensation Algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.124-129
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• 1992

The goal of the proposed Intelligent Assisting System - IAS is to assist human operators in an intelligent way, while leaving decision and goal planning instances for the human. To realize the IAS the very important issue of manipulation skill identification and analysis has to be solved, which then is stored in a Skill Data Base. Using this data base the IAS is able to perform complex manipulations on the motion control level and to assist the human operator flexibly. We propose a model for manipulation skill based on the dynamics of the grip transformation matrix, which describes the dynamic transformation between object space and finger joint space. Interaction with a virtual world simulator allows the calculation and feedback of appropriate forces through controlled actuators of the sensor glove with 10 degrees-of-freedom. To solve the sensor glove calibration problem, we learn the nonlinear calibration mapping by an artificial neural network(ANN). In this paper we also describe the experimental system setup of the skill acquisition and transfer system as a first approach to the IAS. Some simple manipulation examples and simulation results show the feasibility of the proposed manipulation skill model.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.990-995
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• 1990

A minimum-time trajectory planning for two robot arms with designated paths and coordination is proposed. The problem considered in this paper is a subproblem of hierarchically decomposed trajectory planning approach for multiple robots : i) path planning, ii) coordination planning, iii) velocity planning. In coordination planning stage, coordination space, a specific form of configuration space, is constructed to determine collision region and collision-free region, and a collision-free coordination curve (CFCC) passing collision-free region is selected. In velocity planning stage, normal dynamic equations of the robots, described by joint angles, velocities and accelerations, are converted into simpler forms which are described by traveling distance along collision-free coordination curve. By utilizing maximum allowable torques and joint velocity limits, admissible range of velocity and acceleration along CFCC is derived, and a minimum-time velocity planning is calculated in phase plane. Also the planning algorithm itself is converted to simple numerical iterative calculation form based on the concept of neural optimization network, which gives a feasible approximate solution to this planning problem. To show the usefulness of proposed method, an example of trajectory planning for 2 SCARA type robots in common workspace is illustrated.

• Archives of Plastic Surgery
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• v.41 no.3
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• pp.285-289
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• 2014

The composite anterolateral thigh flap with vascularized fascia lata has emerged as a workhorse at our institution for complex Achilles defects requiring both tendon and soft tissue reconstruction. Safe elevation of this flap, however, is occasionally challenged by absent or inadequate perforators supplying the anterolateral thigh. When discovered intraoperatively, alternative options derived from the same vascular network can be pursued. We present the case of a 74-year-old male who underwent composite Achilles defect reconstruction using a segmental rectus femoris myofascial free flap. Following graduated rehabilitation, postoperatively, the patient resumed full activity and was able to ambulate on his tip-toes. At 1-year follow-up, active total range of motion of the reconstructed ankle exceeded 85% of the unaffected side, and donor site morbidity was negligible. American Orthopaedic Foot and Ankle Society and Short Form-36 scores improved by 78.8% and 28.8%, respectively, compared to preoperative baseline assessments. Based on our findings, we advocate for use of the combined rectus femoris myofascial free flap as a rescue option for reconstructing composite Achilles tendon/posterior leg defects in the setting of inadequate anterolateral thigh perforators. To our knowledge, this is the first report to describe use of this flap for such an indication.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.8
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• pp.810-816
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• 2007

A security robot system named EGIS-SR is a mobile security robot through one of the new growth engine project in robotic industries. It allows home surveillance through an autonomous mobile platform using onboard cameras and wireless security sensors. EGIS-SR has many sensors to allow autonomous navigation, hierarchical control architecture to handle lots of situations in monitoring home surveillance and mighty networks to achieve unmanned security services. EGIS-SR is tightly coupled with a networked security environment, where the information of the robot is remotely connected with the remote cockpit and patrol man. It achieved an intelligent unmanned security service. The robot is a two-wheeled mobile robot and has casters and suspension to overcome a doorsill. The dynamic motion is verified through $ADAMS^{TM}$ simulation. For the main controller, PXA270 based hardware platform based on linux kernel 2.6 is developed. In the linux platform, data handling for various sensors and the localization algorithm are performed. Also, a local path planning algorithm for object avoidance with ultrasonic sensors and localization using $StarGazer^{TM}$ is developed. Finally, for the automatic charging, a docking algorithm with infrared ray system is implemented.

• Journal of Korean Institute of Industrial Engineers
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• v.23 no.1
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• pp.23-37
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• 1997

In this paper, performance analysis of video traffic shaper for Motion Picture Experts Group (MPEG) video traffic in on ATM network are investigated. Traffic shaping for MPEG video traffic is proposed as a traffic control function in ATM networks. The proposed shaper smoothes video traffics by controling the output rate of the buffer, which is placed in an MPEG source, according to I,B,P frame sequences of MPEG. In performance analysis of an video traffic shaper, a periodic botch arrival model is suggested to describe cell streams in a frame of MPEG video traffic. The queueing model which has periodic independent botch arrival and periodic deterministic service time is used to obtain the cell loss ratio, the mean cell delay, and the measure of smoothing effect. Simulation results are used to validate this queueing model. The cell loss performance of ATM multiplexer is measured by simulation study with real MPEG-1 data. From the viewpoint of traffic load, the cell loss ratio is observed to be considerably high, which is considered to result from the burstiness of MPEG video traffic. As a result, it is shown that the shaping decreases cell loss ratio of multiplexer. The results of this paper can be employed to establish a basic guideline in the implementation of a traffic control scheme and the design of ATM multiplexer for MPEG video traffic.

• Proceedings of the Korean Information Science Society Conference
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• 1998.10c
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• pp.384-386
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• 1998

The use of hand gesture provides an attractive alternative to cumbersome interface devices for human-computer interaction(HCI). Many methods hand gesture recognition using visual analysis have been proposed such as syntactical analysis, neural network(NN), Hidden Markov Model(HMM) and so on. In our research, a HMMs is proposed for alphabetical hand gesture recognition. In the preprocessing stage, the proposed approach consists of three different procedures for hand localization, hand tracking and gesture spotting. The hand location procedure detects the candidated regions on the basis of skin-color and motion in an image by using a color histogram matching and time-varying edge difference techniques. The hand tracking algorithm finds the centroid of a moving hand region, connect those centroids, and thus, produces a trajectory. The spotting a feature database, the proposed approach use the mesh feature code for codebook of HMM. In our experiments, 1300 alphabetical and 1300 untrained gestures are used for training and testing, respectively. Those experimental results demonstrate that the proposed approach yields a higher and satisfying recognition rate for the images with different sizes, shapes and skew angles.