• International Journal of Control, Automation, and Systems
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• v.3 no.4
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• pp.509-523
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• 2005

We are developing a novel framework, PRIDE (PRediction In Dynamic Environments), to perform moving object prediction (MOP) for autonomous ground vehicles. The underlying concept is based upon a multi-resolutional, hierarchical approach which incorporates multiple prediction algorithms into a single, unifying framework. The lower levels of the framework utilize estimation-theoretic short-term predictions while the upper levels utilize a probabilistic prediction approach based on situation recognition with an underlying cost model. The estimation-theoretic short-term prediction is via an extended Kalman filter-based algorithm using sensor data to predict the future location of moving objects with an associated confidence measure. The proposed estimation-theoretic approach does not incorporate a priori knowledge such as road networks and traffic signage and assumes uninfluenced constant trajectory and is thus suited for short-term prediction in both on-road and off-road driving. In this article, we analyze the complementary role played by vehicle kinematic models in such short-term prediction of moving objects. In particular, the importance of vehicle process models and their effect on predicting the positions and orientations of moving objects for autonomous ground vehicle navigation are examined. We present results using field data obtained from different autonomous ground vehicles operating in outdoor environments.

• Journal of Multimedia Information System
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• v.3 no.3
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• pp.63-68
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• 2016

Environmental downtime produces a significant cost to organizations and makes them unable to do business because what happens in the data center affects everyone. In addition, the amount of electrical energy consumed by data centers increases with the amount of computing power installed. Installation of physical Information Technology and facilities related to environmental concerns, such as monitoring temperature, humidity, power, flood, smoke, air flow, and room entry, is the most proactive way to reduce the unnecessary costs of expensive hardware replacement or unplanned downtime and decrease energy consumed by servers. In this paper, we present remote system for monitoring datacenter implementing using open-source hardware platforms; Arduino, Raspberry Pi, and the Gobetwino. The sensed data displayed through Arduino are transferred using Gobetwino to the nearest host server such as temperature, humidity and distance every time an object hitting another object or a person coming in entrance. The raspberry Pi records the sensed data at the remote location. The objective of collecting temperature and humidity data allows monitoring of the server's health and getting alerts if things start to go wrong. When the temperature hits $50^{\circ}C$, the supervisor at remote headquarters would get a SMS, and then they would take appropriate actions to reduce electrical costs and preserve functionality of servers in data centers.

• Current Optics and Photonics
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• v.3 no.1
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• pp.27-32
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• 2019

We present an autofocus tracking system implemented by the digital refocusing of digital holographic microscopy (DHM) and the tunability of an electrically tunable lens (ETL). Once the defocusing distance of an image is calculated with the DHM, then the focal plane of the imaging system is optically tuned so that it always gives a well-focused image regardless of the object location. The accuracy of the focus is evaluated by calculating the contrast of refocused images. The DHM is performed in an off-axis holographic configuration, and the ETL performs the focal plane tuning. With this proposed system, we can easily track down the object drifting along the depth direction without using any physical scanning. In addition, the proposed system can simultaneously obtain the digital hologram and the optical image by using the RGB channels of a color camera. In our experiment, the digital hologram is obtained by using the red channel and the optical image is obtained by the blue channel of the same camera at the same time. This technique is expected to find a good application in the long-term imaging of various floating cells.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.10a
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• pp.328-330
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• 2015

Edge is a characteristic information that can easily obtain the size, direction and location of objects included in the image, and the edge detection is utilized as a preprocess processing in various image processing application sectors such as object detection and object recognition, etc. For the conventional edge detection methods, there are Sobel, Prewitt and Roberts. These existing edge detection methods are easy to implement but the edge detection characteristics are somewhat insufficient as fixed weighted mask is applied. Therefore, in order to compensate the problems of existing edge detection methods, in this paper, an edge detection algorithm was proposed after applying the weighted value according to the standard deviation and means within the local mask.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.9
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• pp.891-897
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• 2010

This paper proposes a cooperative control algorithm for a dual-arms robot which is carrying an object to the desired location. When the dual-arms robot is carrying an object from the start to the goal point, the optimal path in terms of safety, energy, and time needs to be selected among the numerous possible paths. In order to quantify the carrying efficiency of dual-arms, DAMM (Dual Arm Manipulability Measure) has been defined and applied for the decision of the optimal path. The DAMM is defined as the intersection of the manipulability ellipsoids of the dual-arms, while the manipulability measure indicates a relationship between the joint velocity and the Cartesian velocity for each arm. The cost function for achieving the optimal path is defined as the summation of the distance to the goal and inverse of this DAMM, which aims to generate the efficient motion to the goal. It is confirmed that the optimal path planning keeps higher manipulability through the short distance path by using computer simulation. To show the effectiveness of this cooperative control algorithm experimentally, a 5-DOF dual-arm robot with distributed controllers for synchronization control has been developed and used for the experiments.

• Journal of Korea Multimedia Society
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• v.21 no.8
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• pp.876-887
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• 2018

In this paper, we propose an robust CAMShift method to track stage objects with a camera. In order to solve the problem of tracking object misdetection in existing CAMShift technique, MBR region is detected to separate the background and the subject, and the subject size of the region of interest is calculated to solve the problem of erroneously detecting a large region having a similar color distribution ratio. Also, by applying the color corelogram and MB-LBP to the part that can not be solved by the color ratio and the size limitation, accurate texture tracking is enabled by reflecting the texture characteristics. Experimental results show that the proposed method has good tracking performance for objects that do not deviate from the size of the subject set in the area of interest and accurately extracts the texture characteristics of different subjects with similar color distribution ratios.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.9 no.4
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• pp.865-870
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• 2005

The latest Global Positioning System, wireless communications technology and Location-Based Service bring about the rapid developments of telematics application areas. In the moving object database for telematics, it is very important to deal with database queries related to the real time current positions of a moving objects and the valid tine of the query results as well. In this paper, we propose how to get not only the current result of query but also the valid time and the result after the valid time when a query point and objects are moving simultaneously. We would like to predict the valid time by formula because the current results will be incorrect due to the characteristic of the continuous movements of the moving objects and the future results can not be calculated by iterative computations.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2000.11b
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• pp.300-306
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• 2000

This paper introduces a new concept of automation for bio-production with tele-operative system. The proposed system showed practical and feasible way of automation for the volatile bio-production process. Based on the proposition, recognition of the job environment with object identification was performed using computer vision system. A man-machine interactive hybrid decision-making, which utilized a concept of tele-operation was proposed to overcome limitations of the capability of computer in image processing and feature extraction from the complex environment image. Identifying watermelons from the outdoor scene of the cultivation field was selected to realize the proposed concept. Identifying watermelon from the camera image of the outdoor cultivation field is very difficult because of the ambiguity among stems, leaves, shades, and especially fruits covered partly by leaves or stems. The analog signal of the outdoor image was captured and transmitted wireless to the host computer by R.F module. The localized window was formed from the outdoor image by pointing to the touch screen. And then a sequence of algorithms to identify the location and size of the watermelon was performed with the local window image. The effect of the light reflectance of fruits, stems, ground, and leaves were also investigated.

• Journal of Korean Society for Geospatial Information Science
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• v.24 no.2
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• pp.25-35
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• 2016

Since a sophisticated location determination technology (LDT) is necessary for accurate positioning in urban area environments, numerous studies related to the LDT using the RFID (Radio Frequency IDentification) technology have been implemented for real-time positioning and data transferring. However, there are still lots of unsolved questions especially regarding what to use as base stations and what are corresponding results under the intrinsic complexity of alignment and configuration of components used for the RFID positioning. This study proposes the street light fixtures as base stations where the RFID receivers will be embedded for the mobile tracking scheme. As street light fixtures are usually installed at a certain distance interval, they can be used as base stations for the RFID receiver installation. Using the principle of the single row triangle network, the RFID receiver organization is determined based on the experiments such as recognition distance measurement and tag position accuracy estimation at inside and outside of the single row triangle network. The results verify that the mobile tracking scheme which uses RFID-embedded street light fixtures, suggested and configured in this study, is effective for the real-time outdoor positioning.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.9
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• pp.3524-3531
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• 2010

In order to supply suitable services to users in ubiquitous computing environments, it is important to consider both location and time information which is related to all object and user's activity. To do this, in this paper, we design a spatial-temporal ontology considering user context and propose a system architecture for active mining user activity and service pattern. The proposed system is a framework for active mining user activity and service pattern by considering the relation between user context and object based on trigger system.