• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.1
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• pp.40-49
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• 2007

In a visual driver-assistance system, separating moving objects from fixed objects are an important problem to maintain multiple hypothesis for the state. Color and edge-based tracker can often be 'distracted' causing them to track the wrong object. Many researchers have dealt with this problem by using multiple features, as it is unlikely that all will be distracted at the same time. In this paper, we improve the accuracy and robustness of real-time tracking by combining a color histogram feature with a brightness of Optical Flow-based feature under a Sequential Monte Carlo framework. And it is also excepted from Tracking as time goes on, reducing density by Adaptive Particles Number in case of the fixed object. This new framework makes two main contributions. The one is about the prediction framework which separating moving objects from fixed objects and the other is about measurement framework to get a information from the visual data under a partial occlusion.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.1709-1712
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• 2008

The trunk is inclined to the loaded side when carrying an object as one of activities of daily living. As the reaction to this behavior the human body may be inclined to his/her trunk to unloaded side. The present study investigated the biomechanical effects of weight variation for sided load carriage during walking upon joint moments and muscle torques, through the tracker agent and joint driving dynamic analysis. To perform the experiment one male was selected as subject for the study. Gait analysis was performed by using a 3D motion analysis system. Thirty nine 14mm reflective markers, according to the plug-in marker set, were attached to the subject. We used BRG.LifeMOD(Biomechanics Research Group, Inc., USA), for skeletal modeling and inverse and joint driving dynamic simulation during one gait cycle. In walking with a sided load carriage, the subject modeled held the carriage with the right hand, which weighed 0, 5, 10, 15kg, 20kg respectively. The result of this simulation showed that knee and hip in the coronal plane were inclined to the loaded side and loaded side had larger moments as the sided load carriage was increased. On the other hand thoracic and lumbar in the coronal plane had larger negative values as the sided loaded carriage was increased. The thoracic and lumbar in the transverse plane also had larger values as the sided load was increased. And the several muscles of loaded side were increased as increasing sided load. It could be concluded that human body is adopted to side loaded circumstances by showing more biologic force. These results could be very useful in analysis for delivery motion of daily life.

• International Journal of Aeronautical and Space Sciences
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• v.16 no.4
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• pp.581-589
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• 2015

This paper describes a monocular vision-based formation flight technology using two fixed wing unmanned aerial vehicles. To measuring relative position and attitude of a leader aircraft, a monocular camera installed in the front of the follower aircraft captures an image of the leader, and position and attitude are measured from the image using the KLT feature point tracker and POSIT algorithm. To verify the feasibility of this vision processing algorithm, a field test was performed using two light sports aircraft, and our experimental results show that the proposed monocular vision-based measurement algorithm is feasible. Performance verification for the proposed formation flight technology was carried out using the X-Plane flight simulator. The formation flight simulation system consists of two PCs playing the role of leader and follower. When the leader flies by the command of user, the follower aircraft tracks the leader by designed guidance and a PI control law, and all the information about leader was measured using monocular vision. This simulation shows that guidance using relative attitude information tracks the leader aircraft better than not using attitude information. This simulation shows absolute average errors for the relative position as follows: X-axis: 2.88 m, Y-axis: 2.09 m, and Z-axis: 0.44 m.

• Journal of the Korea Society for Simulation
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• v.26 no.1
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• pp.13-19
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• 2017

6-DOF flight simulation program is most generally used M&S tool in domestic missile development procedure. The 6-DOF M&S method, however, cannot validate the performance of a imaging seeker-adopted missile in various conditions. A M&S tool for the analysis of the integrated-flight simulation is required since the tracking performance of the imaging seeker is highly dependent on the missile maneuvering, which introduces the displacement and rotation of the target in the seeker imagery. Through the development of the $3^{rd}$ generation anti-tank missile, Raybolt, the integrated-flight M&S tool was developed and applied to the missile configuration design. It integrates synthetic image generation S/W, imaging tracker, and flight simulation program and computes the main system performance criteria, hit probability by Monte-Carlo Simulation. In this paper, the issues in the $3^{rd}$ generation anti-tank missile configuration and the integrated-flight M&S method and results are described.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.9
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• pp.926-934
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• 2006

This paper proposes intelligent control of a virtual walking machine that can generate infinite floor for various surfaces and can provide proprioceptive feedback of walking to a user. This machine allows users to participate in a life-like walking experience in virtual environments with various terrains. The controller of the machine is implemented hierarchically, at low-level for robust actuator control, at mid-level fur platform control to compensate the external forces by foot contact, and at high-level control for generating walking trajectory. The high level controller is suggested to generate continuous walking on an infinite floor for various terrains. For the high level control, each independent platform follows a man foot during the swing phase, while the other platform moves back during single stance phase. During double limb support, two platforms manipulate neutral positions to compensate the offset errors generated by velocity changes. This control can, therefore, satisfy natural walking conditions in any direction. Transition phase between the swing and the stance phases is detected by using simple switch sensor system, while human foot motions are sensed by careful calibration with a magnetic motion tracker attached to the shoe. Experimental results of walking simulations at level ground, slope, and stairs, show that with the proposed machine, a general person can walk naturally on various terrains with safety and without any considerable disturbances. This interface can be applied to various areas such as VR navigations, rehabilitation, and gait analysis.

• Korean Journal of Agricultural Science
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• v.47 no.3
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• pp.657-665
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• 2020

The objective of this study was to investigate whether supplementation of pentoxifylline (PTX; phosphodiesterase inhibitor) to thawed boar semen improves the post-thaw motility of sperm and affects the efficiency of artificial insemination (AI) and further development. To determine the concentration of PTX for AI, frozen-thawed semen was incubated with 0, 5, 10, and 20 mM PTX in an extender freezing medium, respectively, after thawing. Kinematic properties of sperm were examined with a computer-assisted semen analysis (CASA) system. In addition, viability and mitochondrial activity were also tested by LIVE/DEAD and a MitoTracker kit. There were no significant differences in the kinetic parameters of thawed sperm between control and treatment groups, but overall assessment parameters such as motility and rapid progressive were higher in the 10 mM PTX group. In the viability and mitochondrial assay, there were no significant differences observed in the PTX treatment, compared to the control. For further analysis, artificial inseminations were performed using frozen semen and 10 mM PTX treated cryopreserved semen, respectively. There were no differences in pregnancy rates and fetus weights among the groups until 30 and 40 days, but litter size was reduced and relatively low-birth weight was observed in the PTX group. In summary, our findings suggest that enhancement of in vitro sperm quality or non-toxicity supplemented by PTX may have detrimental effects on fetus development.

• Journal of the Korean Solar Energy Society
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• v.40 no.5
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• pp.23-34
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• 2020

Concentrator photovoltaic (CPV) system consists of high-quality complex optical elements, mechanical devices, and electronics components and can have the advantages of high integration and high-efficiency energy sources. III-V compound semiconductor cells have proven performance based on high reliability in the aerospace field, but have characteristics that require absolute support of the balance of systems (BOS) such as solar position trackers, receivers with heat sinks, and housing instruments. To determine the optimum parameters of secondary optical elements (SOEs) design for CPV systems, we designed three types of CPV modules, classified as non-SOEs type, reflective mirror type, and CPC lens type. We measured the I-V and P-V characteristics of the prototype CPV modules with the angle of inclination varying from 0° to 12° and with a 500-magnification Fresnel lens. The experimental results assumed misalignment of the solar position tracker or module design of pinpoint accuracy. As a result, at the 0° tilt angle, the CPC lens produced lower power due to the quartz transmittance ratio compared to that by other SOEs. However, for tilt angles greater than 3°, the CPC lens type module achieved high efficiency and stability. This study is expected to help design high-performance CPV systems.

• Journal of Korean Elementary Science Education
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• v.39 no.1
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• pp.133-144
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• 2020

The purpose of this study is to identify the effect of Teacher Participation-oriented Education Program (TPEP) for Elementary School Teachers to Improve Class Expertise in Science Classes with a focus on visual attention. The participants were two elementary school teachers in Seoul and taught science subjects. The lesson topic applied to this study were 'Structure and Function of Our Body' in the second semester of fifth grade and 'Volcano and Earthquake' in the second semester of fourth grade. The mobile eye tracker SMI's ETG 2w, which is a binocular tracking system was used in this study. In this study, the actual practice time, participant's visual attention, visual intake time average, and visual intake time average were analyzed by class phase. The results of the study are as follows. First, as a result of analyzing the actual class execution time, the actual class execution time was almost in line with the lesson plan after the TPEP application. Second, visual attention in the areas related to teaching and learning activities was high after applying TPEP. Factors affecting the progress of the class and cognitive burdens were identified quantitatively and objectively through visual attention. Third, as a result of analyzing the visual intake time average of participants, there was a statistically significant difference in all classes. Fourth, as a result of analyzing the visual intake time average of participants, the results were statistically significant in the introduction(video), activity 1, activity 2, and activity 3 stages in the lecture type class. The Teacher Participation-oriented Education Program (TPEP) for Elementary School Teachers to Improve Class Expertise in Science Classes can extend elementary science class expertise such as self-class analysis, eye tracking, linguistic, gesture, and class design beyond traditional class analysis and consulting.

• Journal of information and communication convergence engineering
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• v.11 no.3
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• pp.207-215
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• 2013

In this paper, we address the challenging computer vision problem of obtaining a reliable facial expression analysis from a naturally interacting person. We propose a system that combines a 3D generic face model, 3D head tracking, and 2D tracker to track facial landmarks and recognize expressions. First, we extract facial landmarks from a neutral frontal face, and then we deform a 3D generic face to fit the input face. Next, we use our real-time 3D head tracking module to track a person's head in 3D and predict facial landmark positions in 2D using the projection from the updated 3D face model. Finally, we use tracked 2D landmarks to update the 3D landmarks. This integrated tracking loop enables efficient tracking of the non-rigid parts of a face in the presence of large 3D head motion. We conducted experiments for facial expression recognition using both framebased and sequence-based approaches. Our method provides a 75.9% recognition rate in 8 subjects with 7 key expressions. Our approach provides a considerable step forward toward new applications including human-computer interactions, behavioral science, robotics, and game applications.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.24 no.4
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• pp.529-535
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• 2020

It is important to secure the driver's external field view in armored vehicles surrounded by iron armor for preparation for the enemy's firepower. For this purpose, a 360 degree rotatable surveillance camera is mounted on the vehicle. In this case, the key idea is to recognize the head of the driver wearing a helmet so that the external camera rotated in exactly the same direction. In this paper, we introduce a method that uses a MEMS-based AHRS sensor and a illuminance sensor to compensate for the disadvantages of the existing optical method and implements it with low cost. The key idea is to set the direction of the camera by using the difference between the Euler angles detected by two sensors mounted on the camera and the helmet, and to adjust the direction with illuminance sensor from time to time to remove the drift error of sensors. The implemented prototype will show the camera's direction matches exactly in driver's one.