• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2008.04a
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• pp.201-204
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• 2008

머리전달함수(HRTF)가 정확하더라도 사람의 얼굴이 움직이게 되면 실제 머리전달함수와 미리 측정한 머리전달 함수가 달라져 입체음향 시스템의 성능이 저하되므로 정확한 얼굴의 회전각이 요구된다. 따라서 본 논문에서는 정확한 머리전달함수의 입력을 위해 사람 얼굴의 회전각을 추정하고자 한다. 제안하는 알고리즘은 먼저 Haar-like 특징을 이용하여 얼굴을 검출한 후 전처리 작업을 통해 눈의 바깥쪽 경계면과 안쪽 경계면을 검출한다. 그리고 검출된 두 개의 경계면의 비를 이용하여 얼굴의 회전각을 추정한다. 제안하는 알고리즘은 기존에 방법들에 비해 적용 범위가 넓음을 실험을 통해 알 수 있었다.

• Current Optics and Photonics
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• v.2 no.6
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• pp.623-628
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• 2018

Clotting properties of human blood are important clinical information to monitor for patients with platelet and coagulation disorders. Most devices used to diagnose these disorders utilize blood plasma together with tissue factors and $Ca^{{+}{+}}$ additives. In some instruments, magnetic particles were mixed with blood samples and a rotating magnetic field was applied, resulting in the rotation of magnetic particles, which was probed by impinging light. The working principle seems obvious yet had not been investigated in depth. We modeled the collective behavior of light propagating through magnetic needles, aligned in the direction of the rotating external magnetic field, with scattering light analysis software. Simulation results indicated that the scattering pattern undergoes periodic undulations with respect to the slant angle of the magnetic needles. Also provided is a means of extracting meaningful information from the scattering measurement.

• The Journal of Korea Robotics Society
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• v.3 no.3
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• pp.186-193
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• 2008

We propose a novel real-time obstacle avoidance method for rescue robots. This method, named the ELA(Emergency Level Around), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward safe position. In the ELA, we consider two sensor modules, PSD(Position Sensitive Detector) infrared sensors taking charge of obstacle detection in short distance and LMS(Laser Measurement System) in long distance respectively. Hence if a robot recognizes an obstacle ahead by PSD infrared sensors first, and judges impossibility to overcome the obstacle based on driving mode decision process, the order of priority is transferred to LMS which collects data of radial distance centered on the robot to avoid the confronted obstacle. After gathering radial information, the ELA algorithm estimates emergency level around a robot and generates a polar histogram based on the emergency level to judge where the optimal free space is. Finally, steering angle is determined to guarantee rotation to randomly direction as well as robot width for safe avoidance. Simulation results from wandering in closed local area which includes various obstacles and different conditions demonstrate the power of the ELA.

• Journal of KIISE:Software and Applications
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• v.35 no.10
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• pp.600-607
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• 2008

This paper proposes a robust human detection method irrespective of their pose variation using the multiple oriented 2D elliptical filters (MO2DEFs). The MO2DEFs can detect the humans regardless of their poses unlike existing object oriented scale adaptive filter (OOSAF). To overcome OOSAF's limitation, we introduce the MO2DEFs whose shapes look like the oriented ellipses. We perform human detection by applying four different 2D elliptical filters with specific orientations to the 2D spatial-depth histogram and then by taking the thresholds over the filtered histograms. In addition, we determine the human pose by using convolution results which are computed by using the MO2DEFs. We verify the human candidates by either detecting the face or matching head-shoulder shapes over the estimated rotation. The experimental results showed that the accuracy of pose angle estimation was about 88%, the human detection using the MO2DEFs outperformed that of using the OOSAF by $15{\sim}20%$ especially in case of the posed human.

• The Bulletin of The Korean Astronomical Society
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• v.41 no.2
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• pp.33.1-33.1
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• 2016

We report detection of short-term flux variability in multi-epoch observations and intraday variability in polarized emission at millimeter-wavelength from S5 0716+714 using Korean VLBI Network (KVN) radio telescopes. Over the whole observation epochs, the source shows significant inter-month variations at K- and Q-band with modulation indices of 19% at K-band and 36% at Q-band. In each epoch, the source shows monotonic flux increase in Epoch 1 and 3, and monotonic flux decrease in Epoch 2 and 4. We found an inverted spectrum with mean spectral indices of -0.57 in Epoch 1 and -0.15 in Epoch. On the contrary, we found relatively steep indices of 0.24 and 0.17 in Epoch 2 and Epoch 4, respectively. In the study of intraday variability of polarization, we found significant variations in the degree of linear polarization at 86 GHz, and in polarization angle at 43 and 86 GHz during ~10 h. The spectrum of the source is quite flat with spectral indices of -0.07 to 0.07 at 22-43 GHz and -0.23 to 0.04 at 43-86 GHz. The measured degree of the linear polarization ranges from 2.3% to 3.3 % at 22 GHz, from 0.9% to 2.2 % at 43 GHz and from 0.4 % to 4.0 % at 86 GHz, yielding prominent variations at 86 GHz over 4-5 h. The linear polarization angle is in the range of 4 to $12^{\circ}$ at 22 GHz, -39 to $81^{\circ}$ at 43 GHz, and 66 to 119 at 86 GHz with a maximum rotation of $110^{\circ}$ at 43 GHz over ~4 h. We estimated the Faraday rotation measures (RM) ranging from -9200 to 6300 rad m-2 between 22 and 43 GHz, and from -71000 to 7300 rad m-2 between 43 and 86 GHz, respectively. The frequency dependency of RM was investigated, yielding a mean power-law index, a, of 2.0. This implies that the polarized emission from S5 0716+714 at 22-86 GHz moves through a Faraday screen in or near the jet of the source.

• KIPS Transactions on Software and Data Engineering
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• v.5 no.1
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• pp.35-42
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• 2016

The core of the machine vision that is frequently used at the pre/post-production stages is a marker alignment technology. In this paper, a method to detect the angle and position of a product at high speed by use of a unique pattern present in the marker stamped on the product, and calibrate them is proposed. In the proposed method, to determine the angle and position of a marker, the candidates of the marker are extracted by using a variation of the integral histogram, and then clustering is applied to reduce the candidates. The experimental results revealed about 5s 719ms improvement in processing time and better precision in detecting the rotation angle of a product.

• Journal of IKEEE
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• v.23 no.3
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• pp.844-851
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• 2019

As wearable technology is becoming more common and a part of our lives, there have been many efforts to offer various smart services with wearable devices, such as motion recognition, safety of driving, and so on. In this paper, we present a method that exploits the 9-axis inertial sensors embedded in a smartwatch to identify whether the user is a vehicle driver or not and to estimate the steering wheel turning direction in the vehicle. The system consists of three components: (i) position recognition, (ii) driver recognition, and (iii) steering-wheel turning detection components. We have developed a prototype system for detecting user's motion with Arduino boards and IMU sensors. Our experiments show high accuracy in recognizing the driver and in estimating the wheel rotation angle. The average experimental error was $11.77^{\circ}$ which is small enough to perceiver the turning direction of steering-wheel.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.4
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• pp.328-336
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• 2012

In this paper, we propose a robust fingertip extraction and extended Continuously Adaptive Mean Shift (CAMSHIFT) based robust hand gesture recognition for natural human-like HRI (Human-Robot Interaction). Firstly, for efficient and rapid hand detection, the hand candidate regions are segmented by the combination with robust $YC_bC_r$ skin color model and haar-like features based adaboost. Using the extracted hand candidate regions, we estimate the palm region and fingertip position from distance transformation based voting and geometrical feature of hands. From the hand orientation and palm center position, we find the optimal fingertip position and its orientation. Then using extended CAMSHIFT, we reliably track the 2D hand gesture trajectory with extracted fingertip. Finally, we applied the conditional density propagation (CONDENSATION) to recognize the pre-defined temporal motion trajectories. Experimental results show that the proposed algorithm not only rapidly extracts the hand region with accurately extracted fingertip and its angle but also robustly tracks the hand under different illumination, size and rotation conditions. Using these results, we successfully recognize the multiple hand gestures.

• Nuclear Engineering and Technology
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• v.30 no.5
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• pp.452-461
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• 1998

The pin power distribution is determined by analyzing the rotational gamma scanning data for 36 element fuel bundle of HANARO. A fission monitor of Nb$^{95}$ is chosen by considering the criteria of the half-life, fission yield, emitting ${\gamma}$-ray energy and probability. The ${\gamma}$-ray spectra were measured in Korea Atomic Energy Research Institute(KAERI) by using a HPGe detector and by rotating the fuel bundle at steps of 10$^{\circ}$. The counting rates of Nb$^{95}$ 766 keV ${\gamma}$-rays are determined by analyzing the full absorption peak in the spectra. A 36$\times$36 response matrix is obtained from calculating the contribution of each rod at every scanning angle by assuming 2-dimensional and parallel beam approximations for the measuring geometry. In terms of the measured counting rates and the calculated response matrix, an inverse problem is set up for the unknown distribution of activity concentrations of pins. To select a suitable solving method, the performances of three direct methods and the iterative least-square method are tested by solving simulation examples. The final solution is obtained by using the iterative least-square method that shows a good stability. The influences of detection error, step size of rotation and the collimator width are discussed on the accuracy of the numerical solution. Hence an improvement in the accuracy of the solution is proposed by reducing the collimator width of the scanning arrangement.

• Journal of the Institute of Electronics and Information Engineers
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• v.53 no.1
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• pp.129-136
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• 2016

A novel sensing system for standing and moving human body using PIR(pyroelectric infrared) sensor was development. The system consists of power supply, interface circuit of PIR sensor, small stepping motor, and digital control. The detecting principle for stop human body is detecting the human body when the stepping motor sticking the PIR sensor and the fresnel lens has rotated by 180 degree at six second and has stopped the motor for no detecting signal of human body. We developed control algorism for proposed the detection system. The experimentation shows that the detector system had detected length and angle were 6m and 30 degree against as standing and moving human body with $37^{\circ}C$.