• Journal of the Korean Society of Industry Convergence
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• v.22 no.3
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• pp.315-324
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• 2019

This paper present a novel 6-axis robotic base platform with force/moment sensing. The robotic base platform is made up of six loadcells connecting the moving plate to the fixed plate by spherical joints at the both ends of loadcells. The statics relation is derived, the robotic base platform prototype and the loadcell measurement system are developed. The force/moment calibrations in joint and Cartesian spaces are performed. The algorithm to detect external force applied at a working robot is derived, and using a 6-DOF robot mounted on the robotic base platform, force/moment measurement experiments have been performed.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2018.11a
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• pp.174-176
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• 2018

본 논문에서는 직사각형 영상에서의 객체 좌표를 회전축과의 각도로 표현하는 방법을 적용한 자동화된 객체추적 알고리즘을 제안한다. 직사각형 영상을 구형으로 맵핑했을 때 객체의 정확한 좌표를 알아내기 위해 비례식을 사용하였다. 실제 영상이 구형 영상으로 맵핑되었을 때, 화면에 보이는 중앙점을 기반으로 실제 영상의 좌측상단 좌표를 구하였다. 앞서 구한 좌표를 이용하여 실제 영상의 좌측상단에서 객체의 이동 거리를 더하면 구형 영상에서 객체의 실제 좌표를 구할 수 있다. 제안한 방법을 통해서 관심 객체의 움직임을 효과적으로 추적하였다.

• International Journal of Aerospace System Engineering
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• v.7 no.2
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• pp.6-12
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• 2020

The precise prediction of future position of satellite depends on the accurate determination of orbit, which is also helpful in performing orbit maneuvers and trajectory correction maneuvers. For estimating the orbit of satellite many methods are being used. Some of the conventional methods are based on (i) Differential Correction (DC) (ii) Extended Kalman Filter (EKF). In this paper, Differential Evolution (DE) is used to determine the orbit. Orbit Determination using DC and EKF requires some initial guess of the state vector to initiate the algorithm, whereas DE does not require an initial guess since a wide range of bounds for the design unknown variables (orbital elements) is sufficient. This technique is uniformly valid for all orbits viz. circular, elliptic or hyperbolic. Simulated observations have been used to demonstrate the performance of the method. The observations are generated by including random noise. The simulation model that generates the observations includes the perturbation due to non-spherical earth up to second zonal harmonic term.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• fall
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• pp.41-44
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• 2021

In this paper, we propose an efficient reference-based compression artifact reduction network for 360-degree images in an equi-rectangular projection (ERP) domain. In our insight, conventional image restoration methods cannot be applied straightforwardly to 360-degree images due to the spherical distortion. To address this problem, we propose an adaptive disparity estimator using a deformable convolution to exploit correlation among 360-degree images. With the help of the proposed convolution, the disparity estimator establishes the spatial correspondence successfully between the ERPs and extract matched textures to be used for image restoration. The experimental results demonstrate that the proposed algorithm provides reliable high-quality textures from the reference and improves the quality of the restored image as compared to the state-of-the-art single image restoration methods.

• Annual Conference of KIPS
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• 2020.11a
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• pp.1080-1083
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• 2020

본 논문에서는 구면 파노라마를 기반으로 하는 SLAM 시스템을 제안한다. Vision SLAM은 촬영하는 시야각이 넓을수록 적은 프레임으로도 주변을 빠르게 파악할 수 있고, 많은 양의 주변 데이터를 이용해 더욱 안정적인 추정이 가능하다. 구면 파노라마 비디오는 가장 화각이 넓은 영상으로, 모든 방향을 활용할 수 있기 때문에 Fisheye 영상보다 더욱 빠르게 3D 맵을 확장해나갈 수 있다. 기존의 시스템 중 Fisheye 영상을 기반으로 하는 시스템은 전면 광각만을 수용할 수 있기 때문에 구면 파노라마를 입력으로 하는 경우보다 적용 범위가 줄어들게 된다. 본 논문에서는 기존에 Fisheye 비디오를 기반으로 하는 SLAM 시스템을 구면 파노라마의 영역으로 확장하는 방법을 제안한다. 제안 방법은 카메라의 투영 모델이 요구하는 파라미터를 정확히 계산하고, Dual Fisheye Model을 통해 모든 시야각을 손실 없이 활용한다.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.10 no.5
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• pp.1-5
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• 2010

This paper deals with a method to measure the thickness of scale-layer, iron oxide formed on the surface of the rolling steel, using a dielectric lens antenna. The dielectric lens antenna has an independent characteristic with the frequency in the X-band and changes the spherical wave radiated from a horn antenna into a plane wave at the focusing point. Using this concept, we regard a scale-layer on the rolling steel as a dielectric-PEC(Perfect Electric Conductor) layer and apply a theoretical analysis of the normal-incident plane wave. To reduce the phase error arising from the use of the dielectric lens antenna, this paper utilizes a regression process algorithm. In comparison with the conventional iteration algorithm, the present algorithm led to a unique solution for the thickness of the scale-layer.

• Economic and Environmental Geology
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• v.56 no.3
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• pp.331-341
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• 2023

When creating a soil contamination map using geostatistical techniques, there are various sources that can affect prediction errors. In this study, a grid-based soil contamination map was created from the sampling data of heavy metal concentrations in soil in abandoned mine areas using Ordinary Kriging. Five factors that were judged to affect the prediction error of the soil contamination map were selected, and the variation of the root mean squared error (RMSE) between the predicted value and the actual value was analyzed based on the Leave-one-out technique. Then, using a machine learning algorithm, derived the top three factors affecting the RMSE. As a result, it was analyzed that Variogram Model, Minimum Neighbors, and Anisotropy factors have the largest impact on RMSE in the Standard interpolation. For the variogram models, the Spherical model showed the lowest RMSE, while the Minimum Neighbors had the lowest value at 3 and then increased as the value increased. In the case of Anisotropy, it was found to be more appropriate not to consider anisotropy. In this study, through the combined use of geostatistics and machine learning, it was possible to create a highly reliable soil contamination map at the local scale, and to identify which factors have a significant impact when interpolating a small amount of soil heavy metal data.

• Journal of KIISE:Computer Systems and Theory
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• v.31 no.10
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• pp.593-602
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• 2004

A new surface reconstruction scheme for approximating the surface from a set of unorganized 3D points is proposed. Our method, called shrink-wrapped boundary face (SWBF) algorithm, produces the final surface by iteratively shrinking the initial mesh generated from the definition of the boundary faces. Proposed method surmounts the genus-0 spherical topology restriction of previous shrink-wrapping based mesh generation technique, and can be applicable to any kind of surface topology. Furthermore, SWBF is much faster than the previous one since it requires only local nearest-point-search in the shrinking process. According to experiments, it is proved to be very robust and efficient for mesh generation from unorganized points cloud.

• Economic and Environmental Geology
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• v.26 no.2
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• pp.207-215
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• 1993

In modem petroleum reservoir engineering, the characterization of reservoir heterogeneities is very important to accurately understand and predict reservoir production performance. Formation evaluation for the description of reservoir is generally conducted by performing the analysis of well logging, core testing, and well testing. However, the measured data points by well logging or core testing are in general very sparse and hence reservoir properties should be interpolated and extrapolated from measured points to uncharacterized areas. In assigning the data for the unknown points, simple averaging technique is not feasible as optimum estimation method since this method does not account the spatial relationship between the data points. The main goal of this work is to develop PC-version of multi-purpose geostatistical model in which several stages are systematically proceeded. In the development of model, the simulator employs a automatic selection of semivariogram function such as exponential or spherical model with the best values of $R^2$. The simulator also implements a special algorithm for the fitting of semivariogram function to experimental sernivariogram. The special algorithm such as trial and error scheme is devised since this method is much more reliable and stable than Gauss-Newton method. The simulator has been tested under stringent conditions and found to be stable. Finally, the validity and the applicability of the developed model have been studied against some existing actual field data.

• Journal of the Korea Society of Computer and Information
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• v.17 no.12
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• pp.49-60
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• 2012

In this paper, we propose a hardware design for correction of barrel distortion using the nearest coordinates in the corrected image. Because it applies the nearest distance on corrected image rather than adjacent distance on distorted image, the picture quality is improved by the image whole area, solve the staircase phenomenon in the exterior area. But, because of additional arithmetic operation using design of bilinear interpolation, required arithmetic operation is increased. Look up table(LUT) structure is proposed in order to solve this, coordinate rotation digital computer(CORDIC) algorithm is applied. The results of the synthesis using Design compiler, the design of implementing all processes of the interpolation method with the hardware is higher than the previous design about the throughput, In case of the rear camera, the design of using LUT and hardware together can reduce the size than the design of implementing all processes with the hardware.