• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.76-76
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• 2000

The calibration of the robot system with a visual sensor consists of robot, hand-to-eye, and sensor calibration. This paper describe a new technique for computing 3D position and orientation of a 3D sensor system relative to the end effect of a robot manipulator in an eye-on-hand robot configuration. When the 3D coordinates of the feature points at each robot movement and the relative robot motion between two robot movements are known, a homogeneous equation of the form AX : XB is derived. To solve for X uniquely, it is necessary to make two robot arm movements and form a system of two equation of the form: A$_1$X : XB$_1$ and A$_2$X = XB$_2$. A closed-form solution to this system of equations is developed and the constraints for solution existence are described in detail. Test results through a series of simulation show that this technique is simple, efficient, and accurate fur hand/eye calibration.

• Educational Technology International
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• v.16 no.2
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• pp.141-166
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• 2015

The purpose of this study was to examine the effects of using visual stimulation and gesture, namely embodied language learning, on learning achievement and learner's course interest in the EFL classroom. To investigate the effectiveness of the proposed purpose, thirty two third-grade elementary school students participated and were assigned into four English learning class conditions (i.e., using animated graphic and gestures condition, using only animated graphic condition, using still pictures and gesture condition, and control condition). The research questions for this study are addressed below: (1) What differences are there in post and delayed learning achievement between imitating gesture group and non-imitating one and between animated graphic group and still picture one? (2) What differences are there in course interest between imitating gesture group and non-imitating one and between animated graphic group and still picture one? The Embodiment-based English learning system for this study was designed by using Microsoft's Kinect sensing devices. The results of this study revealed that students of imitating gesture group memorized and retained better words and sentence structure than those of the other groups. As for learner's course interest measurement, imitating gesture group showed a highly positive response to attention, relevance, and satisfaction for curriculum and using animated graphic influenced satisfaction as well. This finding can be attributed to the embodied cognition, which proposes that the body and the mind are inseparable in the constitution of cognition and thus students using visual simulation and imitating related gesture regard the embodied language learning approach more satisfactory and acceptable than the conventional ones.

• Proceedings of the KSRS Conference
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• v.2
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• pp.872-875
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• 2006

This paper introduces the result of a 3D climbing navigation system development which is based on PDA. In the visual viewpoint, this system is better than conventional systems that were developed 2D based. In addition, the proposed system was developed so that it could become compatible with these systems. In this paper, we will illustrate as the functional viewpoint than technical description about the system development.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.108.6-108
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• 2002

It is greatly important to understand the mechanics of AFM-based nanorobotic manipulation for efficient and reliable handling of nanoparticles. Robust motion control of an AFM-based nanorobotic manipulation is much challenging due to uncertain mechanics in tip-sample interaction dominated by surface and intermolecular force and limitations in force and visual sensing capability to observe environment. This paper investigates a nanomechanic modeling which enables simulation for AFM-based nanorobotic manipulation , and its application to motion planning of an AFM-based nanorobot. Based on the modeling of intermolecular and adhesion force in AFM-based nanomanipulation, the behaviors of an AFM ca...

• Proceedings of the KSRS Conference
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• 2000.04a
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• pp.137-142
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• 2000

본 논문에서는 풀밭으로 덮힌 지역의 초고주파 대역 편파별 후방 산란을 분석하는데 있어서 Radiative Transfer 이론의 첫 번째 해를 이용하였다. 풀밭지역에서의 잎은 사각형 형태의 resistive sheet 으로 모델화 시키고, 잎의 크기와 방향성은 불규칙적으로 흩어져 있다고 가정하였다. 땅에서의 흙의 수분 함유량과 표면 거칠기도 고려하였다. 이러한 지역에서의 후방 산란 계수는 풀밭 지역과 레이더 요소들에 따라 각각 다른 계산 결과를 나타낸다. 측정은 15 GHz 대역의 레이더 시스템을 사용하여 풀 층에서의 산란 계수를 측정하고 풀 층에서의 산란 모델을 이용하여 계산 결과와 측정값을 비교하였고 이 모델을 이용하여 Visual-Basic을 이용한 사용자 프로그램인 TSM(Total Scattering Model)을 제작하였다.

• Proceedings of the KSRS Conference
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• 2003.11a
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• pp.1191-1193
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• 2003

Water quantity and quality monitoring at Taipei Watershed Management Bureau (WRATB) is not only a daily business but also a long term job. WRATB is responsible for providing high quality drinking water to about four millions population in Taipei. The quality of drinking water provided by WRATB is among one of the best in Taiwan. The total area is 717 square kilometers. The water resource pollution is usually divided into two categories, point source pollution and nonpoint source pollution. Garbage disposal is the most important component of the point source pollution, especially those by tourist during holidays and weekends. Pesticide pollution, fertilizer pollution, and natural pollution are the major contributions for nonpoint source pollution. The objective of this paper is to implement remote sensing, geographic information systems, and global positioning systems to monitor water quantity and water quality at WRATB. There are 12 water quality monitoring stations and four water gauge stations at WRATB. The coordinates of the 16 stations were determined by GPS devices and created into the base maps. MapObjects and visual BASIC were implemented to create application modules for water quality and quantity monitoring. Water quality of the two major watersheds at WRATB was put on Internet for public review monthly. The GIS software, ArcIMS, can put location maps and attributes of all 16 stations on Internet for general public review and technical implementations at WRATB. Inquiry and statistic charts automatic manipulations for the past 18 years are also available. Garbage disposal by community and tourist were also managed by GIS and GPS. The storage, collection, and transportation of garbage were reviewed by ArcMap file format. All garbage cart and garbage can at WRATB can be displayed on the base maps. Garbage disposal by tourist during holidays and weekends can be managed by a PDA with a GPS device and a digital camera. Man power allocation for tourist garbage disposal management can be done in an integration of GIS and GPS. Monitoring of water quality and quantity at WRATB can be done on Internet and by a PDA.

• Korean Journal of Remote Sensing
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• v.6 no.2
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• pp.89-113
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• 1990

The purpose of this study is to develop means to apply GIS and remote sensing technology to the analysis of Korean urban open spaces. To achieve this objective, a framework of analysis of urban open spaces was developed, and then the framework was applied for the evaluation of the potential and suitability of open spaces of Ansan City, which is a new town developed to accomodate industries relocation from Seoul, Korea, mainly due to their pollution problems. The software used in this study are IDRISI, a grid-based GIS, and KMIPS, a remote sensing analysis system. Both packages are based on IBM PC/AT computers with Microsoft DOS. Landsat MSS and TM data were used for the land use classification, land use change detection, and analysis of transformed vegetation indices. The size of the geographic data base is 110 rows and 150 columns with the spatial resolution of 100m$\times$100m. The framework of analysis includes both quanititative and qualitative analysis of open spaces. The quantitative analysis includes size and distribution of open spaces, urban develpment of open spaces, and the degree of vegree of vegetation removal of the study area. The qualitative analysis includes evaluative criteria for primary productivity of land, park use potential, major visual resources, and urban environmental control. The findings of this study can be summarized as follows. First, the size of builtup areas increased 18.73km$^2$, while the size of forest land decreased 10.86km$^2$ during last ten years. Agricultural lands maintained its size, but shifted toward outside of the city into forest. Second, the potential of open spaces for park use is limited mainly due to their lack of accessibility and connectivity among open spaces, in spite of ample acreage and good site conditions. Third, major landscape elements and historic sites should be connected to the open space system of the city by new accesses and buffers.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.9
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• pp.776-787
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• 2002

Automation of welding process in shipyards is ultimately necessary, since the welding site is spatially enclosed by floors and girders, and therefore welding operators are exposed to hostile working conditions. To solve this problem, a welding mobile robot that can navigate autonomously within the enclosure has been developed. To achieve the welding task in the closed space, the robotic welding system needs a sensor system for the working environment recognition and the weld seam tracking, and a specially designed environment recognition strategy. In this paper, a three-dimensional laser vision system is developed based on the optical triangulation technology in order to provide robots with 3D work environmental map. Using this sensor system, a spatial filter based on neural network technology is designed for extracting the center of laser stripe, and evaluated in various situations. An environment modeling algorithm structure is proposed and tested, which is composed of the laser scanning module for 3D voxel modeling and the plane reconstruction module for mobile robot localization. Finally, an environmental recognition strategy for welding mobile robot is developed in order to recognize the work environments efficiently. The design of the sensor system, the algorithm for sensing the partially structured environment with plane segments, and the recognition strategy and tactics for sensing the work environment are described and discussed with a series of experiments in detail.

• Korean Journal of Remote Sensing
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• v.28 no.1
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• pp.39-54
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• 2012

The objective of this study is to propose efficient data fusion techniques feasible to the KOMPSAT-2 satellite images. The most widely used image fusion techniques, which are the high-pass filter (HPF), the intensity-hue-saturation-based (modified IHS), the pan-sharpened, and the wavelet-based methods, was applied to four KOMPSAT - 2 satellite images having different regional and seasonal characteristics. Each fusion result was compared and analyzed in spatial and spectral features, respectively. Quality evaluation of image fusion techniques was performed in both quantitative and visual analysis. The quantitative analysis methods used for this study were the relative global dimensional error (spatial and spectral ERGAS), the spectral angle mapper index (SAM), and the image quality index (Q4). The results of quantitative and visual analysis indicate that the pan-sharpened method among the fusion methods used for this study relatively has the suitable balance between spectral and spatial information. In the case of the modified IHS method, the spatial information is well preserved, while the spectral information is distorted. And also the HPF and wavelet methods do not preserve the spectral information but the spatial information.

• Journal of the Korean Association of Geographic Information Studies
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• v.5 no.3
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• pp.33-44
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• 2002

The water resources information system of a watershed should be set up to understand the water management problems with reflecting basin characteristics for the effective water use. This study is to develop a watershed management system to be operated in water resources and water quality management. In order to promote effective utilization of this system, the various kinds of information data are collected, and this system could be utilized as a valuable tool for maximum uses of them. The information system developed in this study is constructed with GUI(graphic user interface) system using Arc-View and Visual Basic at the circumstances based on the PC. The integrated GIS and Remote Sensing based system is directed to the need for more detailed information on watershed management. The ability to present system clearly provides an indispensable tool for a river basin development and water management plan.