• Journal of Institute of Control, Robotics and Systems
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• v.8 no.9
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• pp.776-787
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• 2002

Automation of welding process in shipyards is ultimately necessary, since the welding site is spatially enclosed by floors and girders, and therefore welding operators are exposed to hostile working conditions. To solve this problem, a welding mobile robot that can navigate autonomously within the enclosure has been developed. To achieve the welding task in the closed space, the robotic welding system needs a sensor system for the working environment recognition and the weld seam tracking, and a specially designed environment recognition strategy. In this paper, a three-dimensional laser vision system is developed based on the optical triangulation technology in order to provide robots with 3D work environmental map. Using this sensor system, a spatial filter based on neural network technology is designed for extracting the center of laser stripe, and evaluated in various situations. An environment modeling algorithm structure is proposed and tested, which is composed of the laser scanning module for 3D voxel modeling and the plane reconstruction module for mobile robot localization. Finally, an environmental recognition strategy for welding mobile robot is developed in order to recognize the work environments efficiently. The design of the sensor system, the algorithm for sensing the partially structured environment with plane segments, and the recognition strategy and tactics for sensing the work environment are described and discussed with a series of experiments in detail.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2001.11b
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• pp.103-106
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• 2001

본 논문에서는 MPEG2비디오 스트림에서 직접 얻을 수 있는 정보들을 활용하여 카메라의 움직임을 추정하여 이를 기반으로 하여 움직이는 객체를 추정하고자 한다. 이를 위해, 먼저 MPEG2의 움직임 벡터는 압축의 효율성 때문에 움직임의 예측이 순서적이지 못한데, 예측 프레임들의 속성을 이용하여 이를 광 플로우(Optical Flow)를 갖는 움직임 벡터(Motion Vector)로 변환하였다. 그리고 이러한 벡터들을 이용하여 카메라의 기본적인 움직임인 팬(Fan), 틸트(Tilt). 줌(Zoom) 등을 정의하였다. 이를 위하여 팬, 틸트-줌 카메라 모델의 매개변수와 같은 의미의 $\Delta$x, $\Delta$y, $\alpha$값을 정의하고자 움직임 벡터 성분의 Hough변환을 이용하여 $\Delta$x, $\Delta$y, $\alpha$값들을 구하였다. 또한 이러한 카메라 움직임(Camera Operation)은 시간적으로 연속적으로 발생하는 특징을 이용하여 각 프레임마다 구한 카메라의 움직임을 보정하였다. 마지막으로 움직이는 객체의 추정은 우선 사용자가 원하는 객체를 바운딩박스 형태로 정의한 후 카메라 움직임이 보정된 객체의 움직임 벡터를 한 GOF(Group of Pictures) 단위로 면적 기여도에 따라 누적하여 객체를 추적하고 해석하였으며 DCT 질감 정보를 이용하여 객체의 영역을 재설정 하였다. 물론 압축된 MFEG2비디오에서 얻을 수 있는 정보들은 최대 블록 단위이므로 객체의 정의도 블록단위 이상의 객체로 제한하였다. 제안된 방법은 비디오 스트림에서 직접 정보를 얻음으로써 계산속도의 향상은 물론 카메라의 움직임특성과 움직이는 객체의 추적들을 활용하여 기존의 내용기반의 검색 및 분석에도 많이 응용될 수 있다. 이러한 개발 기술들은 압축된 데이터의 검색 및 분석에 유용하게 사용되리라고 기대되며 , 특히 검색 툴이나 비디오 편집 툴 또는 교통량 감시 시스템, 혹은 무인 감시시스템 등에서 압축된 영상의 저장과 빠른 분석을 요구시 필요하리라고 기대된다.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.52-55
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• 2009

With the recent development of virtual reality, it has been actively investigated to develop user interfaces for immersive interaction. Immersive user interfaces improve the efficiency and the capability of information processing in the virtual environment providing various services, and provide effective interaction in the field of ubiquitous and mobile computing. In this paper, we propose an virtual reality platform "My Workspace" which renders an 3D virtual workspace by using an immersive user interface. We develop an interface that integrates an optical see-through head-mounted display, a Wii remote controller, and a helmet with infrared LEDs. It estimates the user's gaze direction in terms of horizontal and vertical angles based on the model of head movements. My Workspace expands the current 2D workspace based on monitors into the layered 3D workspace, and renders a part of 3D virtual workspace corresponding to the gaze direction. The user can arrange various tasks on the virtual workspace and switch each task by moving his head. In this paper, we will also verify the performance of the immersive user interface as well as its usefulness with the usability test.

• Journal of Astronomy and Space Sciences
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• v.21 no.3
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• pp.221-232
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• 2004

Gauss method for the initial orbit determination was tested using angle-only data obtained by orbit propagation using TLB and SGP4/SDP4 orbit propagation model.. As the analysis of this simulation, a feasible time span between observation time of satellite resulting the minimum error to the true orbit was found. Initial orbit determination is performed using observational data of GPS 26 and Koreasat 2 from 0.6m telescope of KAO(Korea Astronomy Observatory) and precise orbit determination is also performed using simulated data. The result of precise orbit determination shows that the accuracy of resulting orbit is related to the accuracy of the observations and the number of data.

• Journal of Korean Institute of Industrial Engineers
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• v.42 no.6
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• pp.412-420
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• 2016

A visual field tester using a fixation target with a lack of distinctiveness decreases accuracy and usability in visual field testing. The present study is intended to develop various induction methods of gaze fixation for effective visual field testing. Proposed were four new gaze fixation induction methods (color changing dot; alphanumeric characters; flashing black dot; and bulls eye and cross hair, BECH) by considering visual attention factors such as color, meaning, flashing, and shape and the proposed methods were compared with the existing black dot (BD) method in terms of gaze fixation performance and subjective satisfaction by 32 participants in their 20s to 30s. BECH was found most preferred by increasing gaze fixation performance by 4.8% and subjective satisfaction by 0.4 to 2.0 in a 7-point scale compared to BD. BECH can be applied to tests such as visual field testing and macular pigment optical density testing in which gaze fixation is crucial for accuracy and usability.

• Journal of Energy Engineering
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• v.19 no.2
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• pp.128-135
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• 2010

This paper introduces step by step procedures for the fabrication and operation of an embedded solar tracker. The system presented consists of application software, compactRIO, C-series interface module, analogue input module, step drive, step motor, feedback devices and other accessories to support its functional stability. CompactRIO that has a real-tim processor allows the solar tracker to be a stand-alone real time system which operates automatically without any external control. An astronomical method and an optical method were used for a high-precision solar tracker. CdS sensors are used to constantly generate feedback signals to the controller, which allow a solar tracker to track the sun even under adverse conditions. The database of solar position and sunrise and sunset time was compared with those of those of the Astronomical Applications Department of the U.S. Naval Observatory. The results presented here clearly demonstrate the high-accuracy of the present system in solar tracking, which are applicable to many existing solar systems.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.45 no.4
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• pp.223-233
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• 2009

It has been considered that fishing areas for shrimp beam trawl have been in ruin because Korean local governments have permitted trawling into the areas limited by the fisheries local regulations from 1994. Physical and biological effects of the trawling were investigated in the study. Physical effects were investigated by optical methods such as trawling tracking by side scan sonar and comparing the gear both before and after trawling. Biological aspects were investigated by grab sampling of benthic animals, concentration of trace metals in sediment and a flux evaluation of ${NH_4}^+,\;{PO_4}^-,\;and\;SiO_2$ by coring. The fishing activity had physical impacts on the seabed but these recovered naturally in less than fourty days naturally, which increased the benthic biodiversity, increases the trace metal concentration of and nutrient flux into the seawater, especially phosphate and silicate. This method and these results can help in further studies looking for disturbances by fishing.

• Journal of Astronomy and Space Sciences
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• v.28 no.1
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• pp.93-102
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• 2011

Korea Astronomy and Space Science Institute (KASI) launched the development project of two satellite laser ranging (SLR) systems in early 2008 after the government fund approval of the SLR systems in 2007. One mobile SLR system and one permanent SLR station will be developed with the completion of the project. The main objectives of these systems will be focused on the Space Geodetic researches. A system requirement review was held in the second half of the same year. Through the following system design review meeting and other design reviews, many unsolved technical and engineering issues would be discussed and resolved. However, the design of the mobile SLR system is a corner stone of whole project. The noticeable characteristics of Korea's first SLR system are 1) use of light weight main mirror, 2) design of compact optical assembly, 3) use of KHz laser pulse, 4) use of commercial laser generator, 5) remote operation capability, 6) automatic tracking, 7) state of art operation system, etc. In this paper, the major user requirement and pre-defined specification are presented and discussed.

• Maxillofacial Plastic and Reconstructive Surgery
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• v.32 no.3
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• pp.282-288
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• 2010

Surgery with the computer navigation system can make it possible to identify important anatomical structures which are difficult to be confirmed with the naked eye in the operation, and has extended their applications in various surgical fields. The head and neck surgery especially requires detailed anatomical knowledges and these knowledges have influences on postoperative functions and esthetics of a patient. In the orthognathic surgery, we should take osteotomies in the precise locations of the jawbones and move segments to the intended positions. There are so many important anatomical structures around the osteotomy-sites in the orthognathic surgery that the prevention of damage to these structures to obtain satisfactory results without any complication. There are vessels of the pterygoid plexus posterior to the pterygoid plate in the maxilla and the mandibular nerve enters the mandibluar foramen in the mandibular ramus. These locations should be confirmed perioperatively to avoid any injury to these structures. The navigation-assisted surgery may be helpful for this purpose. We performed navigational orthognathic surgeries with preoperative CT images and obtained satisfactory results. The osteotomy was performed in the proper location and damaging the surrounding important anatomical structures was avoided by keeping the saw away from them with the real-time navigation. It may be required to develop proper devices and protocols for the navigation-assisted orthognathic surgery.

• Journal of Advanced Marine Engineering and Technology
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• v.39 no.1
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• pp.32-44
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• 2015

In general, a series of ship steering motion is represented by the combination of translational motion and rotational motion of the ship. Especially, special-functioned ships such as large-scale cruises, ships for installing underwater optical cable, and diver ships must be able to reveal only a translational motion without the change of orientation. In this paper, a method to comprise an integrated control system based on the joystick as a command instrument for translational motion control is suggested. In order to realize the translational motion control system, several algorithms are suggested including the velocity command generation, the selection of motional variables, and the generation and tracking of reference inputs for the selected motional variables. A simulation bench is composed to execute simulations for several translational motion commands. At last, the effectiveness of the proposed method is verified by analyzing the simulation results.