• 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.

• Publications of The Korean Astronomical Society
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• v.32 no.1
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• pp.25-27
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• 2017

We are creating all-sky diffuse maps from the AKARI mid-infrared survey data with the two photometric bands centered at wavelengths of 9 and $18{\mu}m$. The AKARI mid-infrared diffuse maps achieve higher spatial resolution and higher sensitivity than the IRAS maps. In particular, the $9{\mu}m$ data are unique resources as an all-sky tracer of the emission of polycyclic aromatic hydrocarbons (PAHs). However, the original data suffer many artifacts. Thus, we have been developing correction methods. Among them, we have recently improved correction methods for the non-linearity and the reset anomaly of the detector response. These corrections successfully reduce the artifact level down to $0.1MJy\;sr^{-1}$ on average, which is essential for discussion on faint extended emission (e.g., the Galactic PAH emission). We have also made progress in the subtraction of the scattered light caused in the camera optics. We plan to release the improved diffuse maps to the public within a year.

• Journal of Sensor Science and Technology
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• v.8 no.1
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• pp.80-88
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• 1999

This paper deals with the position determination problem of stereo camera systems used as a sensor for 3D robotic manipulation. Stereo cameras having parallel rays of sight and been set up on the same baseline are assumed. The distance between the sensor and the space measured is determined so as to get insensitive parameters to the uncertainty of control points used for calibration and to satisfy the error condition set by considering the repeatability of the robot. The baseline width is determined by minimizing the mutual effect of 3D positional error and stereo image coordinate error. Unlike existing techniques, the technique proposed here is developed without complicated constraints and modelling process of the object to be observed. Thus, the technique of this paper is more general and its effectiveness is proved by simulation.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2000.11c
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• pp.698-706
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• 2000

It is very difficult to mechanize tomato harvesting because identifying a tomato partly covered with leaves and stalks is not easy. This research was conducted to develop tomato harvesting robot which can identify a target tomato, determine its three dimensional position, and harvest it in a limited time. Followings were major findings in this study. The first visual system of the harvesting robot was composed of two CCD cameras, however, this could not detect tomatoes which are not seen on the view finder of the camera especially those partly covered by leaves or stalks. The second visual device, combined with two CCD cameras and pan/tilt procedures was designed to minimize the positioning errors within ${\pm}10mm$, but this is still not enough to detect tomatoes partly covered with leaves etc. Finally, laser distance detector was added to the visual system that could reduce the position detecting errors within 10mm in X-Y direction and 5mm in Z direction for the partly covered tomatoes.

• Journal of Biosystems Engineering
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• v.37 no.1
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• pp.65-74
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• 2012

Purpose: An autonomous robot was developed for harvesting strawberries cultivated in bench-type systems. Methods: The harvest robot consisted of four main components: an autonomous vehicle, a manipulator with four degrees of freedom (DOF), an end effector with two DOFs, and a color computer vision system. Strawberry detection was performed based on 3D image and distance information obtained from a stereo CCD color camera and a laser device, respectively. Results: In this work, a Cartesian type manipulator system was designed, including an intermediate revolute axis and a double driven arm-based joint axis, so that it could generate collision-free motions during harvesting. A DC servomotor-driven end-effector, consisting of a gripper and a cutter, was designed for gripping and cutting the strawberry stem without damaging the strawberry itself. Real-time position tracking algorithms were developed to detect, recognize, trace, and approach strawberries under natural light conditions. Conclusion: The developed robot system could harvest a strawberry within 7 seconds without damage.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2017.06a
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• pp.256-259
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• 2017

파노라마 영상은 카메라 시야각의 제한을 극복하여 넓은 시야를 가질 수 있으므로 컴퓨터 비전, 스테레오 카메라 등의 분야에서 효율적으로 연구되고 있다. 파노라마 영상을 생성하기 위해서는 영상 스티칭 기술이 필요하다. 영상 스티칭 기술은 여러 영상에서 추출한 특징점의 디스크립터를 생성하고, 특징점들 간의 유사도를 비교하여 영상들을 이어 붙여 큰 하나의 영상으로 만드는 것이다. 각각의 특징점은 수십 수백차원의 정보를 가지고 있고, 스티칭 할 영상이 많아질수록 데이터 처리 시간이 증가하게 된다. 본 논문에서는 이를 해결 하기 위해서 전처리 과정으로 겹치는 영역이 많을 것이라고 예상되는 영상들을 그룹화 하는 방법을 제안한다. 카메라 센서 정보를 기반으로 영상들을 미리 그룹화 하여 한 번에 스티칭 할 영상의 수를 줄임으로써 데이터 처리 시간을 줄일 수 있다. 후에 계층적으로 스티칭 하여 하나의 큰 파노라마를 만든다. 실험 결과를 통해 제안한 방법이 기존의 스티칭 처리 시간 보다 짧아진 것을 검증하였다.