• Journal of the Korea Society of Computer and Information
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• v.8 no.4
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• pp.13-20
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• 2003

Based on the studies on the motion vector distributions estimated on the image sequences, we proposed constrained diamond search (DS) algorithm for fast block-matching motion estimation. By considering the fact that motion vectors are searched within the 2 pixels distance in vertically and horizontally on average, we confirmed that DS algorithm achieves close performance on error ratio and requires less computation compared with new three-step search (NTSS) algorithm. Also, by applying displaced frame difference (DFD) to DS algorithm, we reduced the computational loads needed to estimate the motion vectors within the stable block that do not have motions. And we reduced the possibilities falling into the local minima in the course of estimation of motion vectors by applying DFD to DS algorithm. So, we knew that proposed constrained DS algorithm achieved enhanced results as aspects of error ratio and the number of search points to be necessary compared with conventional DS algorithm, four step search (FSS) algorithm, and block-based gradient-descent search algorithm

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.2C
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• pp.148-155
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• 2006

For the improvement of coding efficiency, the H.264 standard uses new coding tools which are not used in previous coding standards. Among new coding tools, motion estimation using smaller block sizes leads to higher correlation between the motion vectors of neighboring blocks. This characteristic of H.264 is useful for the motion vector recovery. In this paper, we propose the motion vector recovery method based on optical flow. Since the proposed method estimates the optical flow velocity vector from more accurate initial value and optical flow region is limited to 16$\times$16 block size, we can alleviate the complexity of computation of optical flow velocity. Simulation results show that our proposed method gives higher objective and subjective video quality than previous methods.

• Journal of the Institute of Convergence Signal Processing
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• v.20 no.2
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• pp.84-90
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• 2019

Tremendous computation of full search or lossless motion estimation algorithms for video coding has led development of many fast motion estimation algorithms. We still need proper control of computation and prediction quality. In the paper, we suggest an algorithm that reduces computation effectively and controls computational amount and prediction quality, while keeping prediction quality as almost the same as that of the full search. The proposed algorithm uses multiple thresholds for partial block sum and times of counting unchanged minimum position for each step. It also calculates the partial block matching error, removes impossible candidates early, implements fast motion estimation by comparing times of keeping the position of minimum error for each step, and controls prediction quality and computation easily by adjusting the thresholds. The proposed algorithm can be combined with conventional fast motion estimation algorithms as well as by itself, further reduce computation while keeping the prediction quality as almost same as the algorithms, and prove it in the experimental results.

• Journal of Biomedical Engineering Research
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• v.37 no.3
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• pp.105-111
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• 2016

Introduction: Surgical robot is the alternative instrument that substitutes the difficult and precise surgical operation; should have intuitiveness operationally to transfer natural motions. There are limitations of hand motion derived from contacting mechanical handle in the surgical robot master interface such as mechanical singularity, isotropy, coupling problems. In this paper, we will confirm and verify the feasibility of intuitive Non-restraint master interface which tracking the hand motion using infra-red camera and only 3 reflective markers without the hardware handle for the surgical robot master interface. Materials & methods: We configured S/W and H/W system; arranged 6 infra-red cameras and attached 3 reflective markers on hands for measuring 3 dimensional coordinate then we find the 7 motions of grasp, yaw, pitch, roll, px, py, pz. And we connected Virtual-Master to the slave surgical robot(Laparobot) and observed the feasibility. To verify the result of motion, we compare the result of Non-restraint master and that of clinometer (and protractor) through measuring 0~180 degree, 10degree interval, 1000 samples and recorded standard deviation stands for error rate of the value. Results: We confirmed that the average angle values of Non-restraint master interface is accurately corresponds to the result of clinometer (and protractor) and have low error rates during motion. Investigation & Conclusion: In this paper, we confirmed the feasibility and accuracy of 3D Non-restraint master interface that can offer the intuitive motion of non-contact hardware handle. As a result, we can expect the high intuitiveness, dexterousness of surgical robot.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.28 no.8
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• pp.670-677
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• 2017

In this paper, we propose a rotational motion compensation(RMC) for bistatic inverse synthetic aperture radar(Bi-ISAR) imaging. For this purpose, geometry-error, caused by changes of bistatic-angle, is removed using known position information of a transmitter, a receiver, and target trajectories. Next, RMC is performed to compensate non-uniform rotational motion error by reformatting radar signal in terms of a newly defined slow time variable that converts non-uniform rotational motion into uniform one. Simulation results using an aircraft model composed of ideal point scatterers validate the efficacy of the proposed Bi-ISAR RMC method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.409-412
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• 2002

This paper presents a measurement method to compromise surface error in surface machining processes. In order to compromise the surface error in machining process, on-machine measurement is essential. There are two kinds of on-machine measurement methods available to measure the surface errors in flat workpieces: i.e., surface scanning method and sensor scanning method. However, motion errors are inevitably engaged in both methods. This paper proposes a new idea to measure the surface error for error compensation. The measurement system consists of a laser, a CCD camera and processing system, a carrier system with a stylus, and some optical units. The experimental results show that the proposed method is useful to compensate the surface errors of machined workpieces.

• Proceedings of the KIEE Conference
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• 2005.05a
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• pp.167-169
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• 2005

The occurrence of a single bit error in transmission bitstream leads to serious temporal and spatial errors. Because moving picture coding as MPEG-2 based on block coding algorithm uses variable length coding and motion compensation coding algorithm. In this paper, we propose algorithm to conceal occurred error of I-frames in transmission channel using data of the neighboring blocks in decoder. We divide a damaged macroblock of I-frame into four sub blocks and compose new macroblock using the neighboring blocks for each sub block. We estimate the block with minimum difference value through block matching with previous frame for new macroblocks and replace each estimated block with damaged sub block in the same position. Through simulation results, the proposed algorithm will be applied to a characteristic of moving with effect and shows better performance than conventional error concealment algorithms from visual and PSNR of view.

• Journal of the Korea Institute of Military Science and Technology
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• v.8 no.3 s.22
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• pp.56-63
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• 2005

The radome boresight error degrades the microwave seeker ability and the missile guidance performance. It increases the miss distance, also. This paper propose a method of radome boresight error measurement and compensation. The compensation method consist of radome analysis and radome compensation. In the radome analysis stage, we can know that the electromagnetic characteristics distorted by radome. In the compensation stage, the look-up table is built and used for compensation. The test uses a FMS(Flight motion simulator) and adjusts the FMS setup error for more accuracy. The result shows that not using an elaborate radome measurement equipment, the radome boresight error is well compensated easily.

• Journal of Navigation and Port Research
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• v.37 no.4
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• pp.329-335
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• 2013

This paper is to develop the position error equations including the attitude errors, the errors of nadir and ship's heading, and the errors of ship's position in the free-gyro positioning and directional system. In doing so, the determination of ship's position by two free gyro vectors was discussed and the algorithmic design of the free-gyro positioning and directional system was introduced briefly. Next, the errors of transformation matrices of the gyro and body frames, i.e. attitude errors, were examined and the attitude equations were also derived. The perturbations of the errors of the nadir angle including ship's heading were investigated in each stage from the sensor of rate of motion of the spin axis to the nadir angle obtained. Finally, the perturbation error equations of ship's position used the nadir angles were derived in the form of a linear error model and the concept of FDOP was also suggested by using covariance of position error.

• Proceedings of the Korean Society of Medical Physics Conference
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• 2002.09a
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• pp.53-60
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• 2002

Motion of lung tumors from respiration has been reported in the literature to be as large as of 1-2 cm. This motion requires an additional margin between the Clinical Target Volume (CTV) and the Planning Target Volume (PTV). While such a margin is necessary, it may not be sufficient to ensure proper delivery of Intensity Modulated Radiotherapy (IMRT) to the CTV during the simultaneous movement of the DMLC. Gated treatment has been proposed to improve normal tissues sparing as well as to ensure accurate dose coverage of the tumor volume. The following questions have not been addressed in the literature: a) what is the dose error to a target volume without gated IMRT treatment\ulcorner b) what is an acceptable gating window for such treatment. In this study, we address these questions by proposing a novel technique for calculating the 3D dose error that would result if a lung IMRT plan were delivered without gating. The method is also generalized for gated treatment with an arbitrary triggering window. IMRT plans for three patients with lung tumor were studied. The treatment plans were generated with HELIOS for delivery with 6 MV on a CL2100 Varian linear accelerator with a 26 pair MLC. A CTV to PTV margin of 1 cm was used. An IMRT planning system searches for an optimized fluence map ${\Phi}$ (x,y) for each port, which is then converted into a dynamic MLC file (DMLC). The DMLC file contains information about MLC subfield shapes and the fractional Monitor Units (MUs) to be delivered for each subfield. With a lung tumor, a CTV that executes a quasi periodic motion z(t) does not receive ${\Phi}$ (x,y), but rather an Effective Incident Fluence EIF(x,y). We numerically evaluate the EIF(x,y) from a given DMLC file by a coordinate transformation to the Target's Eye View (TEV). In the TEV coordinate system, the CTV itself is stationary, and the MLC is seen to execute a motion -z(t) that is superimposed on the DMLC motion. The resulting EIF(x,y)is inputted back into the dose calculation engine to estimate the 3D dose to a moving CTV. In this study, we model respiratory motion as a sinusoidal function with an amplitude of 10 mm in the superior-inferior direction, a period of 5 seconds, and an initial phase of zero.