• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.748-751
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• 1997

The White Beamline of the Pohang Accelerator Laboratory(PAL) consists of main and second slits, a microprobe system, two ion chambers, a video-microscope, and a Si(Li) detector. These machine components must be controlled remotely through computer system to make user experiments precise and speedy. A real-time computer control system was developed to control and monitor these machine components. A VNIEbus computer with OS-9 real-time operating system was used for low-level data acquisition and control. VME I/O modules were used for step motor control and scaler control. The software has modular structure for maximum performance and easy maintenance. We developed database, I/O driver, and control software. We used PC/Window95 for data logging and operator interface. Visual C++ was used graphical user interface programming. RS232C was used for communication between VME and PC.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.11
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• pp.1082-1091
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• 2007

In this paper, we developed a new hybrid mobile robot which can climb stairs and go over thresholds by crawl gait with embedded real-time control software. This robot is also categorized into hybrid robot that has advantages of wheeled mobile robot and legged mobile robot, but adopts gait feature of crocodile named belly crawl. We imitated the belly crawl using four legs of 2 DOF, four omni-directional wheels, and embedded control software which controls legs and wheels. This software is developed using RTAI/Linux, real-time drivers. As a result, the new hybrid mobile robot has crawl gait. Using this feature, the new hybrid mobile robot can climb stairs and go over thresholds just by path planning of each leg with size of stairs and thresholds, and computing the movement distance of robot body center without considering stability. The performance of our new hybrid mobile robot is verified via experiments.

• Journal of the Korea Computer Graphics Society
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• v.12 no.1
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• pp.21-25
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• 2006

This paper proposes a real-time simulation technique for thin shells undergoing large deformation. Thin shells are almost two-dimensional structures visually well approximated as surfaces, such as leaves, paper sheets, hats, aluminum cans. Unfortunately accurate simulation of these structures requires one of the most complex formulations in continuum mechanics, shell theory [4]. Moreover, there has not yet been any work reported to produce visually convincing animation of them while achieving real-time performance. Motivated by discrete shells [5] and modal warping [3], we formulate dynamics of thin shells using mass-spring models instead of finite element models, and then apply the modal warping technique to cope with large rotational deformation of thin shells. Experiments show that the proposed technique runs in real-time, and that it can simulate large bending and/or twisting deformations with acceptable realism.

• IEMEK Journal of Embedded Systems and Applications
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• v.8 no.3
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• pp.137-143
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• 2013

This paper describes an implementation of face detection technology for a real-time application on the Android platform. Java class of Face-Detection for detection of human face is provided by the Android API. However, this function is not suitable to apply for the real-time applications due to inadequate detection speed and accuracy. In this paper, the AdaBoost based classification method which utilizes Local Binary Pattern (LBP) histogram is employed for face detection. The face detection module has been developed by C/C++ language for high-speed image processing, and this module is included to the Android platform using the Java Native Interface (JNI). The experiments were carried out in the Java-based environment and JNI-based environment. The experimental results have shown that the performance of JNI-based is faster than Java-based method and our system is well enough to apply for real-time applications.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.6
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• pp.879-884
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• 2012

Photoacoustic Tomography (PAT) is a promising medical imaging modality by reason of its particularity. It combines optical imaging contrast of optical imaging with the spatial resolution of ultrasound imaging and can demonstrate change of biological feature in an image. For that reason, many studies are in progress to apply this technic for diagnosis. But, real-time PAT system is necessary to confirm a biological reaction induced by external stimulation immediately. Thus, we developed a real-time PAT system using linear array transducer and self-developed Data acquisition board (DAQ) resources, To evaluate the feasibility and performance of our proposed system, two type of phantom test were also performed. As a result of those experiments, the proposed system shows enough performance and confirm its usefulness.

• Agricultural and Biosystems Engineering
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• v.4 no.1
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• pp.28-33
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• 2003

Achievements in the real-time soil spectro-photometer are: an improved soil penetrator to ensure a uniform soil surface under high speed conditions, real-time collecting of underground soil reflectance, getting underground soil color images, use of a RTK-GPS, and all units are arranged for compactness. With the soil spectrophotometer, field experiments were conducted in a 0.5 ha paddy field. With the original reflectance, averaging and multiple scatter correction, Kubelka-Munk (KM) transformation as soil absorption, its 1st and 2nd derivatives were calculated. When the spectra was highly correlated with the soil parameters, stepwise regression analysis was conducted. Results include the best prediction models for moisture, soil organic matter (SOM), nitrate nitrogen (NO$_3$-N), pH and electric conductivity (EC), and soil maps obtained by block kriging analysis.

• The Journal of Information Technology
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• v.10 no.4
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• pp.27-39
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• 2007

Object tracking in a real time environment is one of challenging subjects in computer vision area during past couple of years. This paper proposes a method of object detection and tracking using adaptive background estimation in real time environment. To obtain a stable and adaptive background, we combine 3-frame differential method and running average single gaussian background model. Using this background model, we can successfully detect moving objects while minimizing false moving objects caused by noise. In the tracking phase, we propose a matching criteria where the weight of position and inner brightness distribution can be controlled by the size of objects. Also, we adopt a Kalman Filter to overcome the occlusion of tracked objects. By experiments, we can successfully detect and track objects in real time environment.

• Proceedings of the IEEK Conference
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• 2000.07b
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• pp.889-893
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• 2000

In this paper, a method to detect lanes and obstacles from the images captured by a CCD camera fitted in an automobile is proposed, and a new terminology “Moving Window” is defined. Processing the input dynamic images in real time can cause quite a few constraints in terms of hardware. In order to overcome these problems and detect lanes and obstacles in real time using the images, the optimal size of “Moving Window” is determined, based upon road conditions and automobile states. The real time detection is made possible through the technique. For each image frame, the moving window is moved in a predicted direction, the accuracy of which is improved by the Kalman filter estimation. The feasibility of the proposed algorithm is demonstrated through the simulated experiments of freeway driving.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.31 no.4
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• pp.49-58
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• 2008

This paper proposes a methodology to measure the risk level in real-time for Business Activity Monitoring (BAM). A decision-tree methodology was employed to analyze the effect of process attributes on the result of the process execution. In the course of process execution, the level of risk is monitored in real-time, and an early warning can be issued depending on the change of the risk level. An algorithm for estimating the risk of ongoing processes in real-time was formulated. Comparison experiments were conducted to demonstrate the effectiveness of our method. The proposed method detects the risks of business processes more precisely and even earlier than existing approaches.

• Journal of the Korea Computer Graphics Society
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• v.10 no.1
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• pp.15-21
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• 2004

This paper proposes a real-time technique for simulating large rotational deformations. Modal analysis based on a linear strain tensor has been shown to be suitable for real-time simulation, but is accurate only for moderately small deformations. In the present work, we identify the rotational component of an infinitesimal deformation, and extend linear modal analysis to track that component. We then develop a procedure to integrate the small rotations occurring al the nodal points. An interesting feature of our formulation is that it can implement both position and orientation constraints in a straightforward manner. These constraints can be used to interactively manipulate the shape of a deformable solid by dragging/twisting a set of nodes, Experiments show that the proposed technique runs in real-time even for a complex model, and that it can simulate large bending and/or twisting deformations with acceptable realism.