• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.99-109
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• 2023

In this paper, the cinch bag typed fruit harvesting gripper was proposed. This gripper is focused on preventing problems that we found from the related research and setting the breakthrough as a design condition according to the harvest failures of other related studies. The cover part is designed to overcome the surrounding obstacles of target fruits such as tomato, Korean melon, and sweet pepper. The measurement of maximum load showed that the well-grasped target object, such as a spherical object with 65 mm of diameter, is unable to slip in a range of 0 kg to 10 kg. The fact that the gripper allows from 4 cm to 6 cm of positional error was shown in the measurement of positional error tolerance. And the cover part of this gripper showed that the suggested gripper can grab a target object without being obstructed by leaves and stems. Finally, it was proved that the gripper satisfied the design conditions through the measurement of contacting force, which showed it is appropriate for grasping an actual fruit without damage.

• Korean Journal of Optics and Photonics
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• v.4 no.1
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• pp.28-35
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• 1993

In the case of an imaging system affected by aberrations which are not precisely known, the effect of aberrations can be minimized and near-diffraction-limited images can be restored by introducing artificial random phase fluctuations in the exit pupil of the imaging system and using bispectral speckle imaging. In order to determine the optimum value of the correlation length for Gaussian random phase model, computer simulation is performed for 50 image frames of a point object in the presence of defocus, spherical aberration, coma, astigmatism of 1 wave, respectively. In terms of the criterion of performance, the FWHM of the point spread function, normalized peak intensity, MTF and visual inspection of the restored object are employed. The optimum value for the rms difference $\sigma$ of aberration on the exit pupil in the interval of Fried parameter ${\Upsilon}_0$ is given by 0.27-0.53 wave for spherical aberration, and 0.24-0.36 wave for defocus and astigmatism, respectively. It is found that the bispectral speckle imaging technique does not give good results in the case of coma.

• Journal of Advanced Navigation Technology
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• v.27 no.3
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• pp.306-313
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• 2023

Realistic and graphics-based virtual reality content is based on 360-degree videos, and viewport extraction through the viewer's intention or automatic recommendation function is essential. This paper designs a viewport extraction system based on multiple object tracking in 360-degree videos and proposes a parallel computing structure necessary for multiple viewport extraction. The viewport extraction process in 360-degree videos is parallelized by composing pixel-wise threads, through 3D spherical surface coordinate transformation from ERP coordinates and 2D coordinate transformation of 3D spherical surface coordinates within the viewport. The proposed structure evaluated the computation time for up to 30 viewport extraction processes in aerial 360-degree video sequences and confirmed up to 5240 times acceleration compared to the CPU-based computation time proportional to the number of viewports. When using high-speed I/O or memory buffers that can reduce ERP frame I/O time, viewport extraction time can be further accelerated by 7.82 times. The proposed parallelized viewport extraction structure can be applied to simultaneous multi-access services for 360-degree videos or virtual reality contents and video summarization services for individual users.

• Journal of IKEEE
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• v.24 no.4
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• pp.1050-1057
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• 2020

Immersive 360-degree media has a problem of slowing down the video recognition speed when the video is processed by the conventional method using a variety of rendering methods, and the video size becomes larger with higher quality and extra-large volume than the existing video. In addition, in most cases, only one scene is captured by fixing the camera in a specific place due to the characteristics of the immersive 360-degree media, it is not necessary to extract feature information from all scenes. In this paper, we propose a reference frame selection method for immersive 360-degree media and describe its application process to copyright protection technology. In the proposed method, three pre-processing processes such as frame extraction of immersive 360 media, frame downsizing, and spherical form rendering are performed. In the rendering process, the video is divided into 16 frames and captured. In the central part where there is much object information, an object is extracted using an RGB vector per pixel and deep learning, and a reference frame is selected using object feature information.

• The Journal of the Acoustical Society of Korea
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• v.21 no.8
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• pp.757-765
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• 2002

The object of this paper is to examine the vibration characteristics of the point-symmetric radial mode in a spherical piezoelectric transducer. The differential equations of piezoelectric radial motion are derived in terms of the radial displacement and electric potential, which are functions of the radial coordinate and time. Applying mechanical and electrical boundary conditions yields the characteristic equation of radial vibration. Numerical results of the natural frequencies are compared with the experimental measurements. The paper discusses the difference between piezoelectric and elastic resonances and the dependence of the natural frequencies on the radius and thickness of the piezoelectric spheres. As a result it is concluded for the first radial mode that the natural frequency is reduced due to the piezoelectric phenomenon and that the frequency exponentially decreases as the sphere radius increases.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.7
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• pp.99-104
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• 2003

A precision displacement measurement system of 3-DOF micro motions is proposed in this paper. The measurement system is composed of two diode lasers, two quadratic PSDs, two beam splitters and a sphere whose surface is highly reflective. In this measurement system, the sphere reflector is mounted on the platform of positioning devices whose 3-DOF translational motions are to be measured, and the sensitive areas of two PSDs are oriented toward the center point of the sphere reflector. Each laser beam emitted from two diode laser sources is reflected at the surface of sphere and arrives at two PSDs. Each PSD serves as a 2-dimensional sensor, providing the information on the 3-dimensional position of the sphere. In this paper, we model the relationship between the outputs of two PSDs and 3-DOF translational motions of the sphere mounted on the object. Based on a deduced measurement model, we perform measurement simulation and evaluate the performance of the proposed measurement system: linearity, sensitivity, and measurement error. The simulation results show that the proposed measurement system can be valid means of precision displacement measurement of 3-dimensional micro motions.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.43 no.2 s.308
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• pp.72-80
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• 2006

In this paper, we propose a new descriptor for 3D model retrieval based on shape information. The proposed method consists of two steps including ray casting method and spherical harmonic function, considering geometric properties of model. In the ray casting method, an adaptive sampling is performed for external shape information. By increasing shape information included in the descriptor, we improve the discriminating power of the proposed descriptor. The coefficients of spherical harmonic function are adaptively calculated, considering geometric frequency characteristics. This makes the descriptor more compact and concise without decreasing the retrieval performance. By combining two methods, we achieve more improved retrieval results.

• The Bulletin of The Korean Astronomical Society
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• v.37 no.2
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• pp.140.2-140.2
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• 2012

The silicate carbon star IRAS 09425-6040 shows very conspicuous crystalline silicate dust features and excessive emission at far infrared. To investigate properties of dusty envelopes around the object, we use radiative transfer models for axisymmetric and sphericallly symmetric dust distributions. We perform model calculations for various possible combinations of dust shells and disks with various dust species. We compare the model results with the observed spectral energy distributions (SEDs) including the IRAS, ISO, AKARI, MSX and 2MASS data. We find that a model with multiple disks of amorphous and crystalline silicate and multiple spherical shells of carbon dust can reproduce the observed SED fairly well. This supports the scenario for the origin of silicate carbon stars that oxygen-rich material was shed by mass loss when the primary star was an M giant and the O-rich material is stored in a circumbinary disk. Highly (about 75 %) crystallized forsterite dust in the disk can reproduce the conspicuous crystalline features of the ISO observational data. This object looks to have a detached silicate and H2O ice shell with a much higher mass-loss rate. It could be a remnant of the chemical transition phase. The last phase of stellar winds of O-rich materials looks to be a superwind.

• Journal of Korean Ophthalmic Optics Society
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• v.5 no.2
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• pp.21-25
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• 2000

The old age may experienced the visual acuity decrease according to refraction abnormality and they have a inconvenient real life style on viewing condition. So that, This study can provide the accurate information on the treatment of visual acuity of a male old ages by test of eye refraction state. The test was performed the visual acuity test by the object and subject methods.and the subjects was the Korean male over 55 old age. The eye types were 0.8 % positive for emmetropia, 15.2 % for myopia, and 84 % for hyperopia, respectively. The abnormal refraction eyes were 1.3 % positive for simple myopic astigmatism, 13.9 % for compound myopic astigmatism. 3.4 % for simple hyperopia and 3.1 % for simple hyperopic astigmatism, 77.5 % for mixed astigmatism, respectively. The asix of astigmatisms were 62% positive for against-the-rule astigmatism, 6% for with-the rule astigmatism, and 32 % for oblique astigmatism, respectively. On the total myopic spherical power, the $-0.50{\leq}$spheric equivalent <-2.00 diopter was 84.3%, the $-2.00{\leq}$spherical equivalent <-6.00.diopter was 15.7%. On the total hyperopic spherical power, the $+0.50{\leq}$spheric equivalent <+2.00 diopter was 74.2%, the $+2.00{\leq}$spherical equivalent <+6.00 diopter was 24.8%, and anything over the +6.00 diopter was 1%. On the astigmatic power, the $0.5{\leq}$cylinder <1.00 diopter was 54.1%, the $1.00{\leq}$cylinder <2.00 diopter was 32.4%, and anything over the 2.00 cylinder diopter was 13.5%.

• Korean Journal of Optics and Photonics
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• v.26 no.2
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• pp.88-97
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• 2015

An omnidirectional optical system can be described as a special optical system that images in real time a panoramic image with an azimuthal angle of $360^{\circ}$ and the altitude angle corresponding to the upper and lower fields of view from the horizon line. In this paper, for easy fabrication and compact size, we designed and fabricated a catadioptric omnidirectional optical system consisting of the mirror part of a spherical mirror with a central hole (that is, obscuration), a plane mirror, the imaging lens part of 3 single spherical lenses, and a spherical doublet in the visible light spectrum. We evaluated its image performance by measuring the cut-off spatial frequency using automobile license plates, and the vertical field of view using an ISO 12233 chart. We achieved a catadioptric omnidirectional optical system with vertical field of view from $+53^{\circ}$ to $-17^{\circ}$ and an azimuthal angle of $360^{\circ}$. This optical system cleaniy imaged letters on a car's front license plate at the object distance of 3 meters, which corresponds to a cut-off spatial frequency of 135 lp/mm.