• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.1 s.232
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• pp.1-13
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• 2005

Kinematics of grasping and manipulation by a multi-fingered robotic hand where multi-fingertip surfaces are in contact with an object is solved. The surface of the object was represented by B-spline surfaces in order to model the objects of various shapes. The fingers were modeled by cylindrical links and a half ellipsoid fingertip. Geometric equations of contact locations have been solved for all possible contact combinations between the fingertip surface and the object. The simulation system calculated joint displacements and contact locations for a given trajectory of the object. Since there are no closed form solutions for contact or intersection between these surfaces, kinematics of grasping was solved by recursive numerical calculation. The initial estimate of the contact point was obtained by approximating the B-spline surface to a polyhedron. As for the simulation of manipulation, exact contact locations were updated by solving the contact equations according to the given contact states such as pure rolling, twist-rolling or slide-twist-rolling. Several simulation examples of grasping and manipulation are presented.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.16 no.2
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• pp.104-110
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• 2016

Dense local image descriptors like SIFT are fruitful for capturing salient information about image, shown to be successful in various image-related tasks when formed in bag-of-words representation (i.e., histograms). In this paper we consider to utilize these dense local descriptors in the object tracking problem. A notable aspect of our tracker is that instead of adopting a point estimate for the target model, we account for uncertainty in data noise and model incompleteness by maintaining a distribution over plausible candidate models within the Bayesian framework. The target model is also updated adaptively by the principled Bayesian posterior inference, which admits a closed form within our Dirichlet prior modeling. With empirical evaluations on some video datasets, the proposed method is shown to yield more accurate tracking than baseline histogram-based trackers with the same types of features, often being superior to the appearance-based (visual) trackers.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.31 no.3
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• pp.1-7
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• 2008

This paper proposes an object-oriented software development guidance and an evaluation index for the productivity related to EJB(Enterprise JavaBeans). EJB is a known successful standard model for LSDO(Large Size Distributed Object). However, there is no comparison research about the performance of EJB 2.0 and 3.0 with same identical platform. Quantitative analysis is supported as a part of LOC(Line Of Code) analysis. There is a limit to develop the updated software with no the specific evaluating index for the productivity of software. This work proposes an specific index for evaluating the productivity of new version EJB on a platform. Base on the result, the specific guidance of the developing software is obtained.

• The Journal of Korea Robotics Society
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• v.14 no.2
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• pp.104-113
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• 2019

Object manipulation in cluttered environments remains an open hard problem. In cluttered environments, grasping objects often fails for various reasons. This paper proposes a novel task and motion planning scheme to grasp objects obstructed by other objects in cluttered environments. Task and motion planning (TAMP) aims to generate a sequence of task-level actions where its feasibility is verified in the motion space. The proposed scheme contains an open-loop consisting of three distinct phases: 1) Generation of a task-level skeleton plan with pose references, 2) Instantiation of pose references by motion-level search, and 3) Re-planning task based on the updated state description. By conducting experiments with simulated robots, we show the high efficiency of our scheme.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.6 no.3
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• pp.264-269
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• 2006

This paper presents the strategy for searching a hidden object in an unknown area for using by multiple distributed autonomous robotic systems (DARS). To search the target in Markovian space, DARS should recognize th ε ir surrounding at where they are located and generate some rules to act upon by themselves. First of all, DARS obtain 6-distances from itself to environment by infrared sensor which are hexagonally allocated around itself. Second, it calculates 6-areas with those distances then take an action, i.e., turn and move toward where the widest space will be guaranteed. After the action is taken, the value of Q will be updated by relative formula at the state. We set up an experimental environment with five small mobile robots, obstacles, and a target object, and tried to research for a target object while navigating in a un known hallway where some obstacles were placed. In the end of this paper, we present the results of three algorithms - a random search, an area-based action making process to determine the next action of the robot and hexagon-based Q-learning to enhance the area-based action making process.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.44 no.4
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• pp.186-192
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• 2021

Recently, the demand for more precise and demand-oriented customized spatial information is increasing due to the 4th industrial revolution. In particular, the use of 3D spatial information and digital twins which based on spatial information, and research for solving social problems in cities by using such information are continuously conducted. Globally, non-face-to-face services are increasing due to COVID-19, and the national policy direction is also rapidly progressing digital transformation, digitization and virtualization of the Korean version of the New Deal, which means that 3D spatial information has become an important factor to support it. In this study, physical objects for cities defined by world organizations such as ISO, OGC, and ITU were selected and the target of the 3D object model was limited to buildings. Based on CityGML2.0, the data collected using a drone suitable for building a 3D model of a small area is selected to be updated through road name address and building ledger, which are administrative information related to this, and LoD2.5 data is constructed and urban space. It was intended to suggest an object update method for a 3D building among data.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.26 no.5
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• pp.537-546
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• 2008

The digital map has been updated in every five years in the past. However, it has been changed to make corrections and updated in every two years for metropolitan region and every four years for other regions since year 2008. Although, the correctness and reliability were decreased and updating work is being delayed due to the updating work in a lump. The period update spends a lot of money because this method uses aerial photogrammetry, and the digital map has the time gap between periods. Therefore, this study provides information necessary for digital map produced by the government and develops digital map production system based on objects which can be updated frequently in order to save state and local government budgets that double investment are generated to update digital map. In order to analyze usefulness of the developed system, subject area was selected and errors of updated data were analyzed. As the result of analysis, checked 66 errors were corrected and saved in the database.

• Journal of Broadcast Engineering
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• v.7 no.3
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• pp.248-261
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• 2002

In this paper, we proposed a new 3-dimensional(3-D) object-tracking algorithm that can control a stereo camera using a variable window mask supported by which uses ,B-D information and an optical BPEJTC. Hence, three-dimensional information characteristics of a stereo vision system, distance information from the stereo camera to the tracking object. can be easily acquired through the elements of a stereo vision system. and with this information, we can extract an area of the tracking object by varying window masks. This extractive area of the tracking object is used as the next updated reference image. furthermore, by carrying out an optical BPEJTC between a reference image and a stereo input image the coordinates of the tracking objects location can be acquired, and with this value a 3-D object tracking can be accomplished through manipulation of the convergence angie and a pan/tilt of a stereo camera. From the experimental results, the proposed algorithm was found to be able to the execute 3-D object tracking by extracting the area of the target object from an input image that is independent of the background noise in the stereo input image. Moreover a possible implementation of a 3-D tele-working or an adaptive 3-D object tracker, using the proposed algorithm is suggested.

• Journal of the Korea Society of Computer and Information
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• v.8 no.1
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• pp.51-59
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• 2003

It is effective to be located in the double nodes in the distributed object replication systems, then object which nodes share is the same contents. The nodes store an access information on their local cache as it access to the system. and then the nodes fetch and use it, when it needed. But with time the coherence Problems will happen because a data carl be updated by other nodes. So keeping the coherence of the system we need a mechanism that we managed the to improve to improve the performance and availability of the system effectively. In this paper to keep coherence in the shared memory condition, we can set the limited parallel performance without the additional cost except the coherence cost using it to keep the object at the proposed adaptive duplication object(ADO) algorithms. Also to minimize the coherence maintenance cost which is the bi99est overhead in the duplication method, we must manage the object effectively for the number of replication and location of the object replica which is the most important points, and then it determines the cos. And that we must study the adaptive duplication object management mechanism which will improve the entire run time.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 1996.06b
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• pp.83-87
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• 1996

A virtual reality system using video image is designed and implemented. A participant having 2{{{{ { 1} over { 2} }}}}DOF can interact with the computer-generated virtual object using her/his full body posture and gesture in the 3D virtual environment. The system extracts the necessary participant-related information by video-based sensing, and simulates the realistic interaction such as collision detection in the virtual environment. The resulting scene obtained by compositing video image of the participant and virtual environment is updated in near real time.