• 한국멀티미디어학회논문지
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• 제24권8호
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• pp.1171-1177
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• 2021

Measuring and evaluation of audience's visual message perception are crucial process for scientific production of visual content. This study tried to evaluate the difference of viewer's awareness of visual object depends on his or her inherent characteristics like conservatism using an eye tracker system. Especially, this experiment tested research questions about positive correlation between conservatism and peoples' eye movements following the sound visual messages. 57 subjects participated in the test. Two different groups were exposed to two visual elements representing 'the conservative' and 'the liberal'. The results showed that people tended to have different way of seeing visual objects according to their inherent characteristics. Also by comparing the gaze time at the object and area of interest(AOI) in visual, this study is able to verify the existence of 'positive way of seeing' and 'negative way of seeing'. The two different ways of seeing have their own trail of eye movement.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.1087-1090
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• 2004

stereo vision system is applied to a mobile manipulator for effective tasks. The robot can recognize a target and compute the position of the target using a stereo vision system. In this paper we persent a visual approach to the problem of object grasping. First we propose object recognization method which can find the object position and pose using feature points. A robot recognizes the feature point to Object. So a number of feature point is the more, the better, but if it is overly many, the robot have to process many data, it makes real-time image processing ability weakly. In other to avoid this problem, the robot selects only two point and recognize the object by line made by two points. Second we propose trajectory planing of the robot manipulator. Using grometry of between object and gripper, robot can find a goal point to translate the robot manipulator, and then it can grip the object successfully.

• 로봇학회논문지
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• 제14권1호
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• pp.1-7
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• 2019

Recently, smart factories have attracted much attention as a result of the 4th Industrial Revolution. Existing factory automation technologies are generally designed for simple repetition without using vision sensors. Even small object assemblies are still dependent on manual work. To satisfy the needs for replacing the existing system with new technology such as bin picking and visual servoing, precision and real-time application should be core. Therefore in our work we focused on the core elements by using deep learning algorithm to detect and classify the target object for real-time and analyzing the object features. We chose YOLO CNN which is capable of real-time working and combining the two tasks as mentioned above though there are lots of good deep learning algorithms such as Mask R-CNN and Fast R-CNN. Then through the line and inside features extracted from target object, we can obtain final outline and estimate object posture.

• 한국정보통신학회논문지
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• 제18권3호
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• pp.742-748
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• 2014

객체 지향 시각 프로그래밍 교육에 대한 연구는 학생들이 프로그램 개발을 진행하는 과정 혹은 프로그래밍을 교수하는 방법론과 프로그램 개발을 위한 적합성 분석 및 설계 방법론을 찾는 것과 관련된다. 학생들이 프로그래밍 교육에서 학습에 어려움을 겪고 있는 객체 지향 프로그램 개발 능력을 향상시킬 수 있는 교육 방법으로 이 논문에서는 컴퓨터 프로그래밍 교육에서 객체 지향 시각 프로그래밍 교육을 적용하고 평가하기 위한 평가 지표를 개발하고, Alice 프로그래밍을 통한 시각 프로그래밍 교육 방법론과 교과과정을 도입한다. 이 논문에서 제시된 시각 프로그래밍 교육의 평가 지표는 시각 프로그래밍 언어/도구를 사용할 때 학생들의 프로그래밍 교육에 대한 적합성을 측정하고 분석하여 학생들의 이해력, 추상화 능력, 프로그램 구현 능력과 학생들의 수준별 적합성을 측정하고 분석한다.

• 한국게임학회지
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• 제8권1호
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• pp.32-38
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• 2011

수학적 명제들을 사용하는 수학교육용 게임의 학습 도움말이나 안내말은 그래픽 우선 인지스타일을 가진 게임세대의 학습자를 위해 그래픽적인 형태로 표현하는 것이 필요하다. 본 논문에서는 수학 명제들에 대한 객체 기반 비주얼적 표현방법을 제안하였다. 이 표현방법은 단어들과 함께 그래픽적 기호들과 수학적 기호들 사용하여 객체 기반적인 표현방법의 규칙을 갖고 있다. 그래서 수학적 의미를 정확하게 표현하거나 이해하기가 쉽다. 그리고 학습자가 내용을 빠르게 읽을 수 있다. 제안된 방법은 게임 세대 학습자들에게 교육용 게임을 통해 수학 학습의 스캐폴딩으로써 도움을 받기가 좋다.

• 한국산업융합학회 논문집
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• 제18권2호
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• pp.82-89
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• 2015

This study proposes a new approach to design and control for autonomous mobile robots. In this paper, we describes a fuzzy logic based visual servoing system for an autonomous mobile robot. An existing system always needs to keep a moving object in overall image. This mes difficult to move the autonomous mobile robot spontaneously. In this paper we first explain an autonomous mobile robot and fuzzy logic system. And then we design a fuzzy logic based visual servoing system. We extract some features of the object from an overall image and then design a fuzzy logic system for controlling the visual servoing system to an exact position. We here introduce a shooting robot that can track an object and hit it. It is illustrated that the proposed system presents a desirable performance by a computer simulation and some experiments.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1055-1058
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• 2003

The robustness and reliability of vision algorithms is the key issue in robotic research and industrial applications. In this paper robust real time visual tracking in complex scene is considered. A common approach to increase robustness of a tracking system is the use of different model (CAD model etc.) known a priori. Also fusion or multiple features facilitates robust detection and tracking of objects in scenes of realistic complexity. Voting-based fusion of cues is adapted. In voting. a very simple or no model is used for fusion. The approach for this algorithm is tested in a 3D Cartesian robot which tracks a toy vehicle moving along 3D rail, and the Kalman filter is used to estimate the motion parameters. namely the system state vector of moving object with unknown dynamics. Experimental results show that fusion of cues and motion estimation in a tracking system has a robust performance.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1997년도 춘계학술대회 학술발표 논문집
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• pp.259-262
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• 1997

This paper presents a visual servoing of RV-M2 robot manipulators to track and grasp moving object, using pruned dynamic recurrent neural networks(DRNN). The object is stationary in the robot work space and the robot is tracking and grasping the object by using CCD camera mounted on the end-effector. In order to optimize the structure of DRNN, we decide the node whether delete or add, by mutation probability, first in case of delete node, the node which have minimum sum of input weight is actually deleted, and then in case of add node, the weight is connected according to the number of case which added node can reach the other nodes. Using evolutionary programming(EP) that search the struture and weight of the DRNN, and evolution strategies(ES) which train the weight of neuron, we pruned the net structure of DRNN. We applied the DRNN to the Visual Servoing of a robot manipulators to control position and orientation of end-effector, and the validity and effectiveness of the pro osed control scheme will be verified by computer simulations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.302-305
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• 1996

This paper presents a visual servoing combined by Neural Network with optimal structure and predictive control for robotic manipulators to tracking or grasping of the moving object. Using the four feature image information from CCD camera attached to end-effector of RV-M2 robot manipulator having 5 dof, we want to predict the updated position of the object. The Kalman filter is used to estimate the motion parameters, namely the state vector of the moving object in successive image frames, and using the multi layer feedforward neural network that permits the connection of other layers, evolutionary programming(EP) that search the structure and weight of the neural network, and evolution strategies(ES) which training the weight of neuron, we optimized the net structure of control scheme. The validity and effectiveness of the proposed control scheme and predictive control of moving object will be verified by computer simulation.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 춘계학술대회 논문집
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• pp.254-258
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• 1996

In this paper, we proposed realtime visual tracking system of moving object for 2D target using extended Kalman Filter Algorithm. A targeting marker are recongnized in each image frame and positions of targer object in each frame from a CCD camera while te targeting marker is attached to the tip of the SCARA robot hand. After the detection of a target coming into any position of the field-of-view, the target is tracked and always made to be located at the center of target window. Then, we can track the moving object which moved in inter-frames. The experimental results show the effectiveness of the Kalman filter algorithm for realtime tracking and estimated state value of filter, predicting the position of moving object to minimize an image processing area, and by reducing the effect by quantization noise of image