• Journal of the Korean Society for Precision Engineering
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• v.19 no.1
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• pp.119-126
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• 2002

In this paper, we present a new approach based on an elitist genetic algorithm for the task of aligning the position of a robot gripper using CCD cameras. The vision-based control scheme for the task of aligning the gripper with the desired position is implemented by image information. The relationship between the camera space location and the robot joint coordinates is estimated using a camera-space parameter modal that generalizes known manipulator kinematics to accommodate unknown relative camera position and orientation. To find the joint angles of a robot manipulator for reaching the target position in the image space, we apply an elitist genetic algorithm instead of a nonlinear least square error method. Since GA employs parallel search, it has good performance in solving optimization problems. In order to improve convergence speed, the real coding method and geometry constraint conditions are used. Experiments are carried out to exhibit the effectiveness of vision-based control using an elitist genetic algorithm with a real coding method.

• Applied Microscopy
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• v.25 no.1
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• pp.111-121
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• 1995

The ultrastructure of spermatozoa in Hynobius leechii was examined with transmission electron microscope and compared with those of other urodeles and anurans. The perforatorium and the tail show most of the common feature of urodeles. However, there were several ultrastructural characteristics in an acrosome, nucleus, neck, axial rod and mitochondria related to the nucleus. The acrosome was trifoliate in transverse sections and the perforatorium consisted of two different concentric parts with a fine sharp point in a subacrosomal lumen. The nucleus consisted of two different regions of chromatin area and nuclear ridge. The nuclear ridge was composed of several bundles of five to ten minute tubular subunits of 19 nm diameter in this species, while in higher urodeles it was well developed in multi layers. The protoplasmic bead was separated by a cytoplasmic canal except the connection with only the distal portion of the nucleus. The neck was a short cylinder and contained pericentriolar material with transverse striations. In Hynobius the ring was not elongated to the tail and the mitochondria were distributed only in the protoplasmic bead around the nucleus as in Cryptobranchus, while in higher groups of urodeles it elongates to the length of the middle piece and the mitochondria follow the ring. The ring elongation may be related to the distribution of mitochondria. Hynobiidae and Cryptobranchidae are closely related based on structure of neck, the axial rod and location of mitochondria, although they are different in the composition of the axial rod.

• Proceedings of the Korean Magnestics Society Conference
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• 2013.05a
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• pp.19-20
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• 2013

Thermoelectic properties of the typical thermoelectric host materials, the tellurides and selenides, are known to be noticeably changed by their volume change due to the strain [1]. In the bismuth telluride ($Bi_2Te_3$) crystal, a substitution of rare-earth element by replacing one of the Bi atoms may cause the change of the lattice parameters while remaining the rhombohedral structure of the host material. Using the first-principles approach by the precise full potential linearized augmented plane wave (FLAPW) method [2], we investigated the Ce substitution effect on the thermoelectric transport coefficients for the bismuth telluride, employing Boltzmann's equation in a constant relaxation-time approach fed with the FLAPW wave-functions within the rigid band approximation. Depending on the real process of re-arrangement of atoms in the cell to reach the equilibrium state, $CeBiTe_3$ was found to manifest a metal or a narrow bandgap semiconductor. This feature along with the strong correlation effect originated by the 4f states of Ce affect significantly on the thermoelectric properties. We showed that the position of the strongly localized f-states in energy scale (Fig. 1, f-states are shaded) was found to alter critically the transport properties in this material suggesting an opportunity to improve the thermoelectric efficiency by tuning the external strain which may changing the location of the f-sates.

• Journal of the Semiconductor & Display Technology
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• v.13 no.2
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• pp.45-52
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• 2014

This paper proposes an efficient photo retrieval system that automatically indexes for searching of relevant images, using a combination of geo-coded information, direction/location of image capture device and content-based visual features. A photo image is labeled with its GPS (Global Positioning System) coordinates and direction of the camera view at the moment of capture, and the label leads to generate a geo-spatial index with three core elements of latitude, longitude and viewing direction. Then, content-based visual features are extracted and combined with the geo-spatial information, for indexing and retrieving the photo images. For user's querying process, the proposed method adopts two steps as a progressive approach, filtering the relevant subset prior to use a content-based ranking function. To evaluate the performance of the proposed scheme, we assess the simulation performance in terms of average precision and F-score, using a natural photo collection. Comparing the proposed approach to retrieve using only visual features, an improvement of 20.8% was observed. The experimental results show that the proposed method exhibited a significant enhancement of around 7.2% in retrieval effectiveness, compared to previous work. These results reveal that a combination of context and content analysis is markedly more efficient and meaningful that using only visual feature for image search.

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.6
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• pp.710-715
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• 2003

In this paper, we propose the new emotion recognition method for intelligently recognizing the human's emotion using the template vector and neural network. In the proposed method, human's emotion is divided into four emotion (surprise, anger, happiness, sadness). The proposed method is based on the template vector extraction and the template location recognition by using the color difference. It is not easy to extract the skin color area correctly using the single color space. To solve this problem, we propose the extraction method using the various color spaces and using the each template vectors. And then we apply the back-propagation algorithm by using the template vectors among the feature points). Finally, we show the practical application possibility of the proposed method.

• ETRI Journal
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• v.37 no.6
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• pp.1220-1230
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• 2015

An autonomous valet parking (AVP) system is designed to locate a vacant parking space and park the vehicle in which it resides on behalf of the driver, once the driver has left the vehicle. In addition, the AVP is able to direct the vehicle to a location desired by the driver when requested. In this paper, for an AVP system, we introduce technology to recognize a parking space using image sensors. The proposed technology is mainly divided into three parts. First, spatial analysis is carried out using a height map that is based on dense motion stereo. Second, modelling of road markings is conducted using a probability map with a new salient-line feature extractor. Finally, parking space recognition is based on a Bayesian classifier. The experimental results show an execution time of up to 10 ms and a recognition rate of over 99%. Also, the performance and properties of the proposed technology were evaluated with a variety of data. Our algorithms, which are part of the proposed technology, are expected to apply to various research areas regarding autonomous vehicles, such as map generation, road marking recognition, localization, and environment recognition.

• ETRI Journal
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• v.35 no.2
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• pp.281-291
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• 2013

A video signature is a set of feature vectors that compactly represents and uniquely characterizes one video clip from another for fast matching. To find a short duplicated region, the video signature must be robust against common video modifications and have a high discriminability. The matching method must be fast and be successful at finding locations. In this paper, a frame-based video signature that uses the spatial information and a two-stage matching method is presented. The proposed method is pair-wise independent and is robust against common video modifications. The proposed two-stage matching method is fast and works very well in finding locations. In addition, the proposed matching structure and strategy can distinguish a case in which a part of the query video matches a part of the target video. The proposed method is verified using video modified by the VCE7 experimental conditions found in MPEG-7. The proposed video signature method achieves a robustness of 88.7% under an independence condition of 5 parts per million with over 1,000 clips being matched per second.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.25 no.7A
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• pp.1044-1049
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• 2000

Projection that can be used as a feature for image representation, includes much available informations such as approximated shape and location. But when we retrieve image using it, there are some disadvantage such as requiring much index data and making different length of projected vector for differenr image size. In order to overcome these problems, we propose a method of using block variance for the projected vector. We use block variance of the projection vector to localize the characteristics of image and to reduce the number of index data in database. Proposed algorithm can make use of statistical advantage through database including various size of images and be executed with fast response time in implementation.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.21 no.1
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• pp.175-181
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• 2012

This paper presents a novel dynamic vibration absorber (DVA) to suppress the unbalance response of flexible rotor-bearing systems. The DVA unit consists of two DVAs, an adapter to place the DVAs and an adapter frame to locate the adapter. The essential feature of the proposed DVA unit is to place itself on any desirable location of the shaft without disassembling the rotor-bearing system under consideration. A simulation with a 3D element based commercial rotor dynamic software is made to test the possibility of the proposed DVA on the suppression of unbalance response in rotor-bearing systems. Experiments are performed to validate the proposed DVA unit. The simulation and experiments show that the proposed DVA unit is very effective to suppress the unbalance response in rotor-bearing system at designated rotational speeds of interest.

• Journal of the Speleological Society of Korea
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• no.84
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• pp.1-9
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• 2008

Since the existing cave type classification has no variety but was limited to the structural, genetical and dimensional classification, we need the new cave type classification. When we analyze the theoretical background of cluster analysis, the cave type can be classified in consideration of diverse variables depending on the selection of variables to use and the usability of such classification is very high. With the practical consideration on the internal environment of cave and surrounding environment, three classifications are available; first, numerical classification by the dimension and form of cave; second, classification by the use of land out of the cave and geographic features; third, classification by the feature of location related to the surrounding areas of cave.