• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.3
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• pp.251-258
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• 2014

The purpose of the neural image analysis is to trace the velocities and the directions of moving mitochondria migrating through axons. This paper proposes an automated technique for detecting axon structure. Previously, the detection process has been carried out using a partially automated technique combined with some human intervention. In our algorithm, a consolidated image is built by taking the maximum intensity value on the all image frames at each pixel Axon detection is performed through vessel enhancement filtering followed by a peak detection procedure. In order to remove errors contained in ridge points, a filtering process is devised using a local reliability measure. Experiments have been performed using real neural image sequences and ground truth data extracted manually. It has been turned out that the proposed algorithm results in high detection rate and precision.

• Journal of Drive and Control
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• v.13 no.3
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• pp.24-31
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• 2016

The performance characteristics of a dynamic control system are evaluated according to the transient and steady-state responses. The transient performance is the controllability of the output for the tracking of the reference or the ability to reduce or reject the effects of unwanted disturbances; alternatively, the steady-state performance is represented by the magnitude of the control error at the steady state. As the effects of the two performances on each other are reciprocal, a controller design that shows a zero steady-state error for the ramp input is uncommon because of the challenge regarding the achievement of an acceptable transient response. This paper proposes a PI+double-integral controller for the elimination of the steady-state error for the ramp input while a sound transient performance is maintained. The control-gain design procedure is described by the second-order response for the step input and the response of the error dynamics for the ramp input. The PI+double-integral controller is designed for the first-order transfer function that is derived from a system identification with the open-loop experiment data of the dc-motor. The simple structure of the proposed controller enables the adoption of a low-end microcontroller for the implementation of a real-time control. The experiment results show that the control performance is as effective as that of the simulation analysis for the operating point of linear system; furthermore, the PI+double-integral controller can be conveniently applied to the control system, which is desirable for the improvement of the steady-state error.

• Progress in Medical Physics
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• v.27 no.3
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• pp.117-124
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• 2016

Intrafractional motion of patients, such as respiratory motion during radiation treatment, is an important issue in image-guided radiotherapy. The accuracy of the radiation treatment decreases as the motion range increases. We developed a control system for a robotic patient immobilization system that enables to reduce the range of tumor motion by compensating the tumor motion. Fusion technology, combining robotics and mechatronics, was developed and applied in this study. First, a small-sized prototype was established for use with an industrial miniature robot. The patient immobilization system consisted of an optical tracking system, a robotic couch, a robot controller, and a control program for managing the system components. A multi speed and position control mechanism with three degrees of freedom was designed. The parameters for operating the control system, such as the coordinate transformation parameters and calibration parameters, were measured and evaluated for a prototype device. After developing the control system using the prototype device, a feasibility test on a full-scale patient immobilization system was performed, using a large industrial robot and couch. The performances of both the prototype device and the realistic device were evaluated using a respiratory motion phantom, for several patterns of respiratory motion. For all patterns of motion, the root mean squared error of the corresponding detected motion trajectories were reduced by more than 40%. The proposed system improves the accuracy of the radiation dose delivered to the target and reduces the unwanted irradiation of normal tissue.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.4
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• pp.781-788
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• 2013

In this paper, we introduce a quadruped robot-based alarm system for monitoring the emergency situation due to falling in the elderly. Quadruped robot includes the FPGA Board(Field Programmable Gate Array) applying a red-color tracking algorithm. To detect a falling of the elderly, a sensor node is worn on chest and accelerations and angular velocities measured by the sensor node are transferred to quadruped robot, and then the emergency signal is transmitted to manager if a fall is detected. Manager controls the robot and then he judges the situation by monitoring the real-time images transmitted from the robot. If emergency situation is decided by the manager, he calls 119. When the fall detection system using only sensor nodes is used, sensitivity of 100% and specificity of 98.98% were measured. Using the combination of the fall detection system and portable camera (robot), the emergency situation was detected to 100 %.

• Journal of KIISE:Information Networking
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• v.32 no.1
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• pp.1-11
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• 2005

Internet has become an essential part of our daily lives. Many of the day to day activities can already be carried out over Internet, and its convenience has greatly increased the number of Internet users. Hut as Internet gains its popularity, the illicit incidents over Internet has also proliferated. The intruder trace-back technology is the one that enables real time tracking the position of the hacker who attempts to invade the system through the various bypass routes. In this paper, the RTS algorithm which is the TCP connection trace-back system using the watermarking technology on Internet is proposed. Furthermore, the trace-bark elements are modeled by analyzing the Proposed trace-back algorithm, and the results of the simulation under the virtual topology network using ns-2, the network simulation tool are presented.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.4
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• pp.470-477
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• 2009

Modular reconfigurable robots with physical docking capability easily adapt to a new environment and many studies are necessary for the modular robots. In this paper, we propose a vision-based fuzzy autonomous docking controller for the modular docking robots. A modular docking robot platform which performs real-time image processing is designed and color-based object recognition method is implemented on the embedded system. The docking robot can navigate to a subgoal near a target robot while avoiding obstacles. Both a fuzzy obstacle avoidance controller and a fuzzy navigation controller for subgoal tracking are designed. We propose an autonomous docking controller using the fuzzy obstacle avoidance and navigation controllers, absolute distance information and direction informations of robots from PSD sensors and a compass sensor. We verify the proposed docking control method by docking experiments of the developed modular robots in the various environments with different distances and directions between robots.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.4
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• pp.345-354
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• 2014

In this paper, we propose a real-time algorithm for estimating the relative position and velocity of a person with respect to a robot using a Kinect sensor and an extended Kalman filter (EKF). Additionally, we propose an algorithm for controlling the robot in the proximity of a person in a variety of modes. The algorithm detects the head and shoulder regions of the person using a histogram of oriented gradients (HOG) and a support vector machine (SVM). The EKF algorithm estimates the relative positions and velocities of the person with respect to the robot using data acquired by a Kinect sensor. We tested the various modes of proximity movement for a human in indoor situations. The accuracy of the algorithm was verified using a motion capture system.

• Journal of the Korean Society for Nondestructive Testing
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• v.26 no.2
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• pp.108-114
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• 2006

Transient and asymmetric density distributions of butane flow have been investigated from laser image signals by developed three-dimensional digital speckle tomography. Moved signals of speckles have been captured by multiple CCD images in three angles of view simultaneously because the flows were asymmetric and transient. The signals of speckle movements between no flow and downward butane flow from a circular half opening have been calculated by a cross-correlation tracking method so that those distances can be transferred to deflection angles of laser rays fur density gradients. The three-dimensional density fields have been reconstructed from the fringe shift signal which is integrated from the deflection angle by a real-time multiplicative algebraic reconstruction technique (MART).

• Transactions of the Society of Information Storage Systems
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• v.1 no.2
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• pp.115-120
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• 2005

As a popularity of a portable digital device such as a cellular phone, a digital camera and a MP3 player is spreading, the demand of the mobile storage device increases rapidly. A bluray technology using 405nm laser diode and objective lens having high NA(Numerical Aperture), 0.85, satisfies a miniaturization and a high capacity which are the requirements of the portable device. To develop SFFOP(small form factor optical pickup), it is prerequisite to minimize the number of optical components and establish evaluation and assembly method of micro optical pickup system as well as mass production method of micro optical component. To minimize optical elements of optical pickup, there have been many researches to use P-HOE(Polarized Holographic Optical Element) due to its extremely small size and versatile function. However, P-HOE is handled and assembled very accurately in SFFOP. In this paper, static error signal detection method is developed for an alignment of P-HOE in SFFOP. Using developed static error signal detection method, P-HOE can be aligned very accurately with real time result of static error signals of pickup such as FES(focusing error signal) and TES(Tracking Error Signal). The developed static error signal detection method is verified by the evaluation of commercialized DVD Pickup. And finally. developed static error signal detection method is applied for the assembly of P-HOE in SFFOP system satisfies specification of BD(Blu-ray Disk).

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.4
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• pp.370-377
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• 2011

Korea Astronomy and Space Science Institute(KASI) has been developing one mobile SLR system since 2008 named as ARGO-M. Control logic in real-time laser ranging and data processing for normal point from the ranging data are key elements in the operation system of ARGO-M. KASI operation system team performed software logic analysis and related operations for SLR observation with help of Graz SLR station in Austria. This paper describes the algorithm required for SLR operation based on the method in Graz station. We figured out the essential logic for SLR operation and the remedy for the observation quality enhancement through this study.