• The Journal of Korea Robotics Society
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• v.12 no.3
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• pp.313-321
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• 2017

One of the most frequently performed tasks in human-robot interaction (HRI), intelligent vehicles, and security systems is face related applications such as face recognition, facial expression recognition, driver state monitoring, and gaze estimation. In these applications, accurate head pose estimation is an important issue. However, conventional methods have been lacking in accuracy, robustness or processing speed in practical use. In this paper, we propose a novel method for estimating head pose with a monocular camera. The proposed algorithm is based on a deep neural network for multi-task learning using a small grayscale image. This network jointly detects multi-view faces and estimates head pose in hard environmental conditions such as illumination change and large pose change. The proposed framework quantitatively and qualitatively outperforms the state-of-the-art method with an average head pose mean error of less than $4.5^{\circ}$ in real-time.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.36 no.3
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• pp.177-184
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• 2018

In case that limited resources can be mobilized, non-structural countermeasures such as 'monitoring using Information and Communication Technology might be one of solutions to mitigate disaster risks. Having established the monitoring system, operational and maintenance costs to maximize the effectiveness might trouble the authority concerned or duty attendant who is in charge. In this respect, "Guerrilla Sensor" would be very cost effective because of the inherent mobility characteristic. The sensor device with the IRIS camera and GPS (Global Positioning System) equipped, is basically battery-operated and communicates with WCDMA (Wideband Code Division Multiple Access). It has a strong advantage of capabilities for 'Disaster Response' with immediate and prompt action on the spot, making the best use of IoT (Internet of Things), especially with the mobile web. This paper will explain how the sensor system works in real-time GIS (Geographic Information System) pinpointing the exact location of the abnormal movement/ground displacement and notifying the registered users via SMS (Short Message Service). Real time monitoring with early warning and evaluation of current situations with LBS (Location Based Service), live image and data information can help to reduce the disaster impact. Installation of Guerrilla sensor for a real site application at Gimcheon, South Korea is also reported.

• Proceedings of the KSME Conference
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• 2001.06e
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• pp.748-753
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• 2001

The objective of the present study is to visualize the pulsatile flow fields by using three-dimensional computer simulation and the PIV system. A closed flow loop system was built for the steady and unsteady experiments. The Harvard pulsatile pump was used to generate the pulsatile pressure and velocity waveforms. Conifer powder as the tracing particles was added to water to visualize the flow field. Two consecutive particle images were captured by a CCO camera for the image processing at several cross section. The range validation and the area interpolation methods were used to obtain the final velocity vectors with high accuracy. The finite volume predictions were used to analyze three-dimensional flow patterns in the bifurcation model. The results of the PIV experiment and the computer simulation are in good agreement and the results show the recirculation zones and formation of the paired secondary flow distal to the apex of the bifurcated model. The results also show that the branch flow is pushed strongly to the inner wall due to the inertial force effect and helical motions are generated as the flow proceeds toward the outer wall.

• Journal of Korea Spatial Information System Society
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• v.6 no.1 s.11
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• pp.51-58
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• 2004

Mobile Mapping System is an effective wav to obtain position and image using vehicle equipped with GPS(Global Positioning System), IMU(Inertial Measurement Unit), and CCD camera. It have been used various fields of load facility management, map upgrade and etc. It is difficult to upgrade Mobile Mopping System which is developed from abroad and add other sensors because we don't know the way to integrate and synchronize multi-sensors. In this paper, we present the effective way of the integration and synchronization method for multi sensors we designed and manufactured Synchronization equipment by considering sensors of laser, odometer and etc.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.252-254
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• 2004

This paper proposes a common platform for an internet-based mobile robot and its operator terminal. The common platform can reduce the cost and time to develop an internet-based robot and its operator terminal. The robot performs the role of a server and its terminal a client. One operator can use this terminal to make a command and this command can be sent to the robot through a wireless network. According to given commands, the robot moves a point and sends an image by using a camera or desired information by using other sensors. The information sent from the robot can help an operator to control the robot. The mobile robot consists of two modules, main module and motion module. Main module can exchange information with the operator terminal, process information, and send a command to motion module. Each application program for one internet-based mobile robot and its operator terminal will be developed to show that the same platform can be used for them. Also, it will be shown that the robot can be controlled easily by using its operator terminal.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.3
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• pp.403-408
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• 2008

The gyroscope is the sensor for detecting the rotation in inertial reference frame and constitute the navigation system together an accelerometer. As the inertial reference equipment for attitude determination and control in the satellite, the mechanical gyroscope has been used but it bring the disturbance for mass unbalance so the disturbance give a bad influence to the observation satellite mission because the mechanical gyroscope has the rotation parts. During the launch. The mechanical gyroscope is weak in vibration, shock and has the defect of narrow operating temperature range so it need the special design in integration. Recently the low orbit observation satellite for seeking the high pointing accuracy of image camera payload accept the FOG(Fiber Optic Gyro) or RLG(Ring Laser Gyro) for the attitude determination and control. The Ring Laser Gyro makes use of the Sanac effect within a resonant ring cavity of a He-Ne laser and has more accuracy than the other gyros. It need the 1000V DC to create the He-Ne plasma in discharge tube. In this paper, the design process of the High Voltage Power Supply for RLG(Ring Laser Gyroscope) is described. The specification for High Voltage Power Supply (HVPS) is proposed. Also, The analysis of flyback converter topology is explained. The Design for the HVPS is composed of the inverter circuit, feedback control circuit, high frequency switching transformer design and voltage doubler circuit.

• Spatial Information Research
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• v.10 no.3
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• pp.407-419
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• 2002

In this study, the design of 4S-Van system is discussed fur the implementation of laser mapping system. Laser device is fast and accurate sensor that acquires 3D road and surface data. The orientation laser sensor is determined by loosely coupled (D)GPS/INS Integration. Considering current system architecture, (D)GPS/INS integration is performed far performance analysis of direct georeferencing and self-calibration is performed for interior and exterior orientation and displacement. We utilized 3 laser sensors for compensation and performance improvement. 3D surface data from laser scanner and texture image from CCD camera can be used to implement 3D visualization.

• Journal of Biomedical Engineering Research
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• v.16 no.2
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• pp.217-222
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• 1995

We propose some applications of image processing techniques to extract quantitative measurements by using a camera system developed in Korea university and Catholic Medical School. From now on the system will be called as KCMOTION. The purpose of this study is to provide basic kinematic and kinetic data for the analysis of human movements and to find the clinical usefulness and reliability of the proposed motion analysis system. Two tests, sit-to-stand (STS) movements and pendulum test, are conducted by the system. The aims of the tests are to identify variability and reliability of KCMOTION to give some quantitative comparisons to the other systems. The result of STS movement are compared to the LOCUS IIID motion analyzer by the ratio of maximum flexion movement per body weight to the actual maximum flexion extension torque per body weight. That result in 29 % and 33 % for hip and knee joint, respectively in KCMOTION and 27 % and 30 % in LOCUS IIID System. The results of the pendulum movements are compared to that of using Cybex and Electrogoniometer with relaxation index, amplitude ratio, swing number and swing time. The results of relaxation index and amplitude ratio of the KCMOTION are between those of the Cybex and Electrogoniometer. We also observed that the KCMOTION detect more natural movement, from the results of swing number and time.

• Journal of Biomedical Engineering Research
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• v.28 no.2
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• pp.265-270
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• 2007

Polarization imaging systems have been widely used to selectively characterize skin lesions. Nevertheless, current systems are used in single-mode due to the limitations of a fixed polarization mode and a single-working distance of light source, in which uniform light distribution is achieved on target area. To address such limitations, we developed a variable polarization imaging system based on multi-working distance of light source for various clinical diagnoses. In this study, we characterize the imaging system and present experiment results demonstrating its clinical usefulness. The imaging system consists of a CCD color camera, linear polarization filters, and a single-layered LED ring light source which provides uniform light distribution at multi-working distances. The first polarizer was placed on the light source and the second polarizer placed on objective lens provides continuous linear polarization angle from $0^{\circ}\;to\;90^{\circ}$. The clinical efficacy of the imaging system was investigated by acquiring and analyzing clinical images of skin wrinkle and dental plaque. With the experiments, we verified the potential usefulness of the imaging system for other clinical applications.

• The Bulletin of The Korean Astronomical Society
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• v.40 no.2
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• pp.44.3-45
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• 2015

The 2007 event occurred at 17P/Holmes is known as the most energetic cometary outburst in the history of modern astronomical observations. At this conference, we report our new observation of the comet one orbital period after the event. We thus made the observation of 17P/Holmes in 2014 September using the Kiso Wide Field Camera (KWFC) attached to the 105 cm Schmidt telescope at the Kiso Observatory. It is known that dust particles are thought to converge on the orbital plane of the parent body at the opposite end of the dust ejection viewed from the Sun. Similar phenomenon occurs when dust particles complete one orbital revolution (what we call, neck-line structures). We succeeded in the detection of the dust ejecta of the 2007 outburst by means of the neck-line. With the image, we plan to discuss the ejection velocity and the total mass of the ejecta to deepen our understanding of the historical event.