• Journal of Bio-Environment Control
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• v.8 no.4
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• pp.223-231
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• 1999

The one of basic functional conditions of suspended overhead sprayer, which is openly made use of irrigating on bedding plants in greenhouse, is to be kept the growing uniformity of bedding plants by making uniformly the spraying irrigation depending on the distribution of sprayed water. This study was performed to find out the optimum position of sector formed injection nozzle which is placed from the top of plant 0 the tip of the nozzle to keep spraying uniformity. The test of spraying distribution using a overhead sprayer, which was installed in a row of sector formed injection nozzles, was performed The measuring factor to represent spraying distribution was the water weight filled in each cup when the overhead sprayer was moving across the upside of the cups which were placed directly under the nozzles on keeping the distance from nozzle tip. The test results were as following , The standard mr of weights of each cup filled with spraying water was lower values at Position far from more than 60cm under nozzle tip. The driving speed variation of sprayer was not effected on spraying uniformity but the spraying water weight was inversely proportioned to the speed. To make best spraying uniformity, it was represented that the tip of the nozzle is positioned to keep the distance which the top of plants is placed at the second cross point of each injection sector of nozzles.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.833-838
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• 2016

This paper presents a performance evaluation of various feature-initialization algorithms for forward-viewing mono-camera based simultaneous localization and mapping (SLAM), specifically in indoor environments. For mono-camera based SLAM, the position of feature points cannot be known from a single view; therefore, it should be estimated from a feature initialization method using multiple viewpoint measurements. The accuracy of the feature initialization method directly affects the accuracy of the SLAM system. In this study, four different feature initialization algorithms are evaluated in simulations, including linear triangulation; depth parameterized, linear triangulation; weighted nearest point triangulation; and particle filter based depth estimation algorithms. In the simulation, the virtual feature positions are estimated when the virtual robot, containing a virtual forward-viewing mono-camera, moves forward. The results show that the linear triangulation method provides the best results in terms of feature-position estimation accuracy and computational speed.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.5
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• pp.645-652
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• 2011

The present study investigated the tracking system of a reflector to trace the movement of sun. The system was designed to minimize the error between the vertical vector of reflector and the position of sun. The proposed system was able to collect the sun lights at a point as a useful source of light energy and transmit the collected light to a remote area through optical fibers. Also the study successfully solved the controller design problem due to the complexity of modeling of the sun tracking system using a fuzzy logic controller which mimics human reasoning.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.48 no.4
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• pp.86-93
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• 2011

The ship movement implies current position, wave, wind, and its other factors. We need to know exactly the location and the shape of the ship and control its motion because of these effects. In order to control the small ship according to the movement of the large ship, the position and shape of the ship should be given first. In this paper we propose the method with which we know the current status of the ship without dynamic equations of the ship. There are several methods to track the system such as optical, radio frequency, radar, camera, and infrared light. We propose the movement of the ship using the GPS absolute axis. But, the genuine error by the GPS itself and the movement of the ship cause the result of the GPS of not being accurate. This paper reduces the error of the location and the shape of the ship and gives the exact values of the ship movements even if the GPS implies some error itself.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.5
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• pp.1070-1075
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• 2013

In this research, we describe a security robot system and ongoing research results to control human's wrong direction in order to forbid human to enter security zone. Proposed robot system surveils a security area with equipped laserscanner sensor usually. When it detect walking human who is for the area, robot calculates his velocity vector, plans own path to forestall and interrupts him who want to head restricted area and starts to move along the estimated trajectory. The walking human is assumed to be a point-object and projected onto an scanning plane to form a geometrical constraint equation that provides position data of the human based on the kinematics of the mobile robot. While moving the robot continues these processes for adapting change of situation. After arriving at an opposite position human's walking direction, the robot advises him not to be headed more and change his course. The experimental results of estimating and tracking of the human in the wrong direction with the mobile robot are presented.

• Journal of the HCI Society of Korea
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• v.1 no.1
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• pp.37-44
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• 2006

Specular reflections provide the visual feedback that describes the material type of an object, its local shape, and lighting environment. In photorealistic rendering, there have been a number of research available to render specular reflections effectively based on a local reflection model. In traditional cel animations and cartoons, specular reflections plays important role in representing artistic intentions for an object and its related environment reflections, so the shapes of highlights are quite stylistic. In this paper, we present a method to render and control stylized specular reflections using projective textures based on principal curvature analysis. Specifying a texture as a pattern of a highlight and projecting the texture on the specular region of a given 3D model, we can obtain a stylized representation of specular reflections. For a given polygonal model, a view point, and a light source, we first find the maximum specular intensity point, and then locate the texture projector along the line parallel to the normal vector and passing through the point. The orientation of the projector is determined by the principal directions at the point. Finally, the size of the projection frustum is determined by the principal curvatures corresponding to the principal directions. The proposed method can control the position, orientation, and size of the specular reflection efficiently by translating the projector along the principal directions, rotating the projector about the normal vector, and scaling the principal curvatures, respectively. The method is be applicable to real-time applications such as cartoon style 3D games. We implement the method by Microsoft DirectX 9.0c SDK and programmable vertex/pixel shaders on Nvidia GeForce FX 7800 graphics subsystems. According to our experimental results, we can render and control the stylized specular reflections for a 3D model of several ten thousands of triangles in real-time.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.4
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• pp.688-697
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• 2017

It is very difficult to solve mathematically the optimal control problem for non - linear mobile robots to move to target points with minimum energy related to velocity, acceleration and angular velocity in minimum time. This paper proposes a method to obtain optimal control gains with which mobile robots move with minimum energy related to velocity, acceleration and angular velocity in minimum time using genetic algorithms. Mobile robots are non - linear systems so that their optimal control gains depend on initial positions. Hence initial positions are divided into some partition points and optimal control gains are obtained at each partition point with genetical algorithms. These optimal control gains are used to train neural networks that generate proper control gains at arbitrary initial position. Finally computer simulation studies have been conducted to verify the effectiveness of the method proposed in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.48-51
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• 1997

This paper presents the algorithm of FIC inspection in chip mounter. When device is mounted on the PCB, it is impossible to get zero defects since there are many problems which can not be predicted. Of these problems, devices with bent corner leads due to mis-handling and which are not placed at a given point measured along the axis are principal problem in SMT(Surface Mounting Technology). In this paper, we proposed a new algorithm based on the Radon transform which uses a projection to inspect the FIC(Flat Integrated Circuit) device and compared this method with other algorithms. We measured the position error and applied this algorithm to our image processing board which is characterized by line scan camera. We compared speed and accuracy in our board.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1302-1305
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• 1997

A new approach to the three-dimensional measurement of the object surface and moving particles is introduced. A single TV camera with an apparatus to add the circular bias to the image enables us to record the three-dimensional information of measuring points as streaks on a single image. Every shaped of the streak on the image plane is related to the position of the measuring point. the information is extracted form the image using an image processign technique.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1840-1843
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• 1997

The task environment of a robot is changing rapidly and task itself becomes complicated due to current industrial trends of multi-product and small lot size production. A convenient user-interfaced off-line programming(OLP) system is being developed in order to overcome the difficulty in teaching a robot task. Using the OLP system, operators can easily teach robot tasks off-line and verify feasibility of the task through simulation of a robot prior to the on-line execution. However, some task errors are inevitable by kinematic differences between the robot model in OLP and the actual robot. Three calibration methods using image information are proposed to compensate the kinematic differences. These methods compose of a relative position vector method, three point compensation method, and base line compensation method. To compensate a kinematic differences the vision system with one monochrome camera is used in the calibration experiment.