• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.664-667
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• 1997

For higher component density per chip, it is necessary to identify and control the semiconductor manufacturing process more stringently. Recently, neural networks have been identified as one of the most promising techniques for modeling and control of complicated processes such as plasma etching process. Since wafer states after each run using identical recipe may differ from each other, conventional neural network models utilizing input factors only cannot represent the actual state of process and equipment. In this paper, in addition to the input factors of the recipe, real-time tool data are utilized for modeling of 64M DRAM s-poly plasma etching process to reflect the actual state of process and equipment. For real-time tool data, we collect optical emission spectroscopy (OES) data. Through principal component analysis (PCA), we extract principal components from entire OES data. And then these principal components are included to input parameters of neural network model. Finally neural network model is trained using feed forward error back propagation (FFEBP) algorithm. As a results, simulation results exhibit good wafer state prediction capability after plasma etching process.

• 제어로봇시스템학회논문지
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• 제22권2호
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• pp.75-82
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• 2016

Visible light communication (VLC) using LED lamps is suitable for implementing an indoor positioning system in an indoor environment where the global positioning system (GPS) signal does not reach. In this paper, we present an indoor positioning system for mobile robots using a VLC beacon and fuzzy rules. This system consists of an autonomous mobile robot, VLC modules, and device application software. Fuzzy rules are applied to plan the global and local paths along which the mobile robot navigates indoors. The VLC transmitter modules are attached to the wall or the ceiling as beacons to transmit their own location information. The variable pulse position modulation (VPPM) algorithm is used to transmit data, which is a new modulation scheme for VLC providing a dimming control mechanism for flicker-free optical communication. The mobile robot has a receiver module to receive the location information while performing its mission in the environment where VLC transmitters are deployed.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2005년도 Proceedings of ISRS 2005
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• pp.253-256
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• 2005

The use of satellite remote sensing in maritime safety and security can aid in the detection of illegal fishing activities and provide more efficient use of limited aircraft or patrol craft resources. In the area of vessel traffic monitoring for commercial vessels, Vessel Traffic Service (VTS) which use the ground-based radar system have some difficulties in detecting moving ships due to the limited detection range. A virtual vessel traffic control system is introduced to contribute to prevent a marine accident such as collision and stranding from happening. Existing VTS has its limit. The virtual vessel traffic control system consists of both data acquisition by satellite remote sensing and a simulation of traffic environment stress based on the satellite data, remotely sensed data. And it could be used to provide timely and detailed information about the marine safety, including the location, speed and direction of ships, and help us operate vessels safely and efficiently. If environmental stress values are simulated for the ship information derived from satellite data, proper actions can be taken to prevent accidents. Since optical sensor has a high spatial resolution, JERS satellite data are used to track ships and extract their information. We present an algorithm of automatic identification of ship size and velocity. This paper lastly introduce the field testing results of ship detection by RADARSAT SAR imagery, and propose a new approach for a Vessel Monitoring System(VMS), including VTS, and SAR combination service.

• 제어로봇시스템학회논문지
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• 제19권6호
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• pp.547-554
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• 2013

This paper proposes a novel formation algorithm of identical robots based on object tracking method using omni-directional images obtained through fisheye lenses which are mounted on the robots. Conventional formation methods of multi-robots often use stereo vision system or vision system with reflector instead of general purpose camera which has small angle of view to enlarge view angle of camera. In addition, to make up the lack of image information on the environment, robots share the information on their positions through communication. The proposed system estimates the region of robots using SURF in fisheye images that have $360^{\circ}$ of image information without merging images. The whole system controls formation of robots based on moving directions and velocities of robots which can be obtained by applying Lucas-Kanade Optical Flow Estimation for the estimated region of robots. We confirmed the reliability of the proposed formation control strategy for multi-robots through both simulation and experiment.

• International Journal of Aeronautical and Space Sciences
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• 제12권3호
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• pp.274-282
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• 2011

This paper is focused on dynamic modeling and control system design as well as vision based collision avoidance for multi-rotor unmanned aerial vehicles (UAVs). Multi-rotor UAVs are defined as rotary-winged UAVs with multiple rotors. These multi-rotor UAVs can be utilized in various military situations such as surveillance and reconnaissance. They can also be used for obtaining visual information from steep terrains or disaster sites. In this paper, a quad-rotor model is introduced as well as its control system, which is designed based on a proportional-integral-derivative controller and vision-based collision avoidance control system. Additionally, in order for a UAV to navigate safely in areas such as buildings and offices with a number of obstacles, there must be a collision avoidance algorithm installed in the UAV's hardware, which should include the detection of obstacles, avoidance maneuvering, etc. In this paper, the optical flow method, one of the vision-based collision avoidance techniques, is introduced, and multi-rotor UAV's collision avoidance simulations are described in various virtual environments in order to demonstrate its avoidance performance.

• 한국광학회지
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• 제31권6호
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• pp.247-258
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• 2020

본 논문에서는 대기외란에 따른 SPGD 위상제어 알고리즘 기반 결맞음 빔결합 시스템의 위상제어 동작성능을 논의한다. 대기의 외란에 대한 통계적 이론을 바탕으로 전산모사를 통해 대기외란에 의한 레이저빔의 위상 및 파면 왜곡에 대한 분석과 왜곡된 빔을 통해 얻게 되는 7채널 및 19채널 결맞음 빔결합 결과를 도출하고, 이를 통해 대기외란의 정도에 따른 빔결합 시스템의 위상제어 동작성능 및 효율을 수치적으로 비교분석한다. 분석 결과, 7채널 결맞음 빔결합의 경우, 대기외란 파라미터 cn2 값이 10-13 m-2/3 까지 증가한 상황에서도 SPGD 위상제어 알고리즘을 적절히 적용할 경우 90% 이상의 빔결합 효율로 시스템의 위상 잠금이 가능하다는 것을 확인하였다. 19채널 결맞음 빔결합의 경우, 동일한 대기외란 조건에서도 대기의 굴절률 비균질성(refractive index inhomogeneity)의 영향이 더 커서 빔결합 효율이 60% 수준으로 급격하게 감소할 수 있음을 확인하였다. 또한, 대기외란이 있는 상황에서 위상잠금시점까지 요구되는 알고리즘의 반복연산 횟수와 대기현상의 변화간격을 비교분석함으로써, 다채널 결맞음 빔결합 시스템이 ㎲의 간격을 가지는 대기외란 상황에서도 정상동작을 하기 위해서는 SPGD 위상제어 알고리즘의 연산대역폭이 수백 MHz에서 수 GHz까지 확장되어야 한다는 것을 확인하였다. 향후, 대기외란이 SPGD 위상제어 알고리즘 기반 결맞음 빔결합 시스템의 위상제어 동작성능에 미치는 영향을 정량적으로 분석하고 예측하는 데 있어서 본 논문의 결과가 유용하게 활용될 수 있을 것이라 기대된다.

• 한국정보통신학회논문지
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• 제20권7호
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• pp.1376-1382
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• 2016

본 논문에서는, 배경 잡음 제거 알고리즘을 적용하여 일반적인 3차원 광자 계수 집적 영상의 화질을 개선하는 방법을 설명한다. 광자 계수 영상법은 광자가 매우 희박한 환경에서 소수의 광자를 검출하여 영상을 시각화 하는 방법이다. 하지만, 배경에서 발생되는 광자의 수가 많을 때, 원하는 물체의 광자 검출은 매우 어렵다. 이로 인해, 복원된 영상의 화질이 저하되는 문제점이 있다. 따라서, 본 논문에서는 불필요한 배경 잡음을 제거하고 오로지 원하는 물체에서만 광자를 검출하는 새로운 광자 계수 영상법을 제안한다. 또한, 3차원 정보를 획득하기 위해 집적 영상을 사용한다. 제안된 알고리즘의 유용성을 증명하기 위하여 광학적 실험을 수행하고 성능 평가를 위해 평균 제곱 오류 값을 계산한다.

• 로봇학회논문지
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• 제10권3호
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• pp.171-177
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• 2015

A telerobot offers a more engaging and enjoyable interaction with people at a distance by communicating via audio, video, expressive gestures, body pose and proxemics. To provide its potential benefits at a reasonable cost, this paper presents a telepresence robot system for video communication which can deliver speaker's head motion through its display stanchion. Head gestures such as nodding and head-shaking can give crucial information during conversation. We also can assume a speaker's eye-gaze, which is known as one of the key non-verbal signals for interaction, from his/her head pose. In order to develop an efficient head tracking method, a 3D cylinder-like head model is employed and the Harris corner detector is combined with the Lucas-Kanade optical flow that is known to be suitable for extracting 3D motion information of the model. Especially, a skin color-based face detection algorithm is proposed to achieve robust performance upon variant directions while maintaining reasonable computational cost. The performance of the proposed head tracking algorithm is verified through the experiments using BU's standard data sets. A design of robot platform is also described as well as the design of supporting systems such as video transmission and robot control interfaces.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.413-413
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• 2000

In this paper, we propose a series of calibrations f3r the x-ray three dimensional imaging system. In the developed x-ray system, a three dimensional inner and outer shape of an object can be reconstructed out of two dimensional transmitted x-ray image set, which are acquired by projecting x-ray to the object from different views. To achieve this, a reconstruction algorithm which estimates and updates the three dimensional volume from x-ray images is developed. The algorithm is named as uniform and simultaneous algebraic reconstruction technique(USART) which is an iterative method estimating a 3D volume based on its projected images. In this method, it is assumed that the imaging conditions that are the relative positions between the x-ray sources, object and the image planes are blown. Practically it is not easy to know the three dimensional coordinate of the components of the system, since the x-ray is not visible and the image distortions are present due to the optical components in the system. In this paper, methods of correcting image distortions are present firstly. Then the coordinates of the x-ray systems are calibrated from the x-ray images of the grid pattern. Some experimental results on these calibrations are present and discussed.

• 대한공간정보학회지
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• 제23권1호
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• pp.81-88
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• 2015

위성센서 기술이 발전함에 따라서 가시광선, 적외선, 열적외선 영역 등의 파장대를 탐지하는 다양한 센서들이 발사되고 있다. 이에 따라, 다중센서 영상의 융합 및 통합에 대한 연구들이 진행되고 있으며, 이를 위해서는 다중센서의 정합이 필수적이다. 위성영상의 정합 및 자동기하보정을 위하여 SIFT, SURF와 같은 알고리즘이 제안되었다. 그러나, 광학영상과 열적외선 상의 경우 다른 분광특성을 가지고 있기 때문에, 기존의 영상정합기법을 적용할 경우에는 높은 정확도를 확보하기 어려운 문제를 지닌다. 본 연구에서는 SURF를 이용하여 참조영상의 특징점을 추출하였으며, 추출된 특징점의 위치를 기반으로 지역적 상관도를 추정하여 정합쌍을 추출하고자 하였다. 지역적 상관도의 경우에는 퓨리에 변환을 기반으로 하는 위상 상관도 기법을 적용하였다. 가상의 고해상도 다중센서 영상과 Landsat-8, ASTER 영상을 이용한 실험결과, 기존의 SURF를 활용한 정합기법과 비교하여 본 연구에서 제안한 방법이 두 영상 간 정합쌍을 더욱 효과적으로 추출할 수 있음을 확인하였다.