• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.9
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• pp.807-813
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• 2016

Recently, a spherical pendulum attached to an end-effector of a robot manipulator has been frequently used for a test bed of residual vibration suppression control in a multi-dimensional motion. However, there was no automatic tracking system to detect the current bob position on-line, and there was inconvenience to not be able to store the bob position in real time and plot the trajectory. In this study, we developed a two-dimensional, real-time bob-detecting system using a digital USB camera, of which the key is hardware component design and software C programming for fast image processing and interfacing. The developed system was applied to residual vibration suppression control of a two-dimensional spherical pendulum that is attached at the end-effector of a two degree-of-freedom SCARA robot, and the effectiveness of the developed system has been demonstrated.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.22 no.11
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• pp.2432-2438
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• 1997

This paper proposes recognition system using multi-backpropagation neural networks rather than single backpropagation neural network to enhance the rate of character recognition resultsing from extracting the region of velhicle number in that the image of vehicle number plate from CCD camera has a distinguish feature, that is, illumination of a pattern. The experiment in this paper shows an output that the method using multi-backpropagation neural networks rather than signal backpropagation neural network takes less training time for computation and also has higher recognition rage of vehicle number.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.92.6-92
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• 2001

MSC is being developed to be installed on KOMPSAT(Korea Multi-Purpose Satellite-II and to provide high resolution multi-spectral. MSC consists of three main subsystems. One is EOS(Electro-Optics Subsystem), another is PMU(Payload Management Unit) and the other is PDTS(Payload Data Transmission Subsystem). There is an SBC(Single Board Computer) in the PMU to control all MSC subsystems. SBC incorporates Intel 80486 as a main processor and VxWorks as a real-time operating system. SBC software consists of four main tasks and several modules to deal with all control information for imaging and all the state of health telemetrv data, and to perform interface with another MSC units. SBC software also has to handle a lot of commands in order for MSC to perform his mission. One mission command consists of a series of related commands, which are In be executed in the designated sequence, with a specified time ...

• Transactions of the Korean Society of Mechanical Engineers B
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• v.31 no.2 s.257
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• pp.195-201
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• 2007

A visualization study of flow characteristics in a mixer using multi-nozzle bubbling was performed. The mixer is filed with liquid glycerin (dynamic viscosity = $1000mPa{\cdot}s\;at\;25^{\circ}C$) and convective mixing is induced by air bubbles generated from 9 orifices installed on the bottom of the mixer. To visualize the flow field, PIV (Particle Image Velocimetry) system consisting of 532nm Nd:YAG laser, $2k{\times}2k$ CCD camera and synchronizer is adopted. The bubbles generated with uniform size and frequency form bubble stream and bubble streams rise vertically without interaction between bubble streams. Mixing efficiency is affected by the height of bubbler and the effective height of bubbler is 20nm from the bottom of the mixer.

• Journal of the Korean Society for Nondestructive Testing
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• v.22 no.5
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• pp.523-531
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• 2002

This study is concentrated on the development of high speed multi-object image processing algorithm in real time. Recently, the use of vision system is rapidly increasing in inspection and robot's position control. To apply the vision system, it is necessary to transform the physical coordinate of object into the image information acquired by CCD camera. Thus, to use the application of the vision system to the inspection and robot's position control in real time, we have to know the position of object in the image plane. Particularly, in case of rigid body using multi-cue to identify its shape, the each position of multi-cue must be calculated in an image plane at the same time. To solve these problems, the image processing algorithm on the position of multi-cue is developed.

• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.493-496
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• 2005

The PMU (Payload Management Unit) in MSC (Multi-Spectral Camera) is the main subsystem for the management, control and power supply of the MSC payload operation. The PMU shall handle the communication with the BUS (Spacecraft) OBC (On Board Computer) for the command, the telemetry and the communications with the various MSC units. The PMU will perform that distributes power to the various MSC units, collects the telemetry reports from MSC units, performs thermal control of the EOS (Electro-Optical Subsystem), performs the NUC (Non-Uniformity Correction) function of the raw imagery data, and rearranges the pixel data and output it to the DCSU (Data Compression and Storage Unit). The BUS provides high voltage to the MSC. The PMU is connected to primary and redundant BUS power and distributes the high unregulated primary voltages for all MSC sub-units. The PSM (Power Supply Module) is an assembly in the PMU implements the interface between several channels on the input. The bus switches are used to prevent a single point system failure. Such a failure could need the PSS (Power Supply System) requirement to combine the two PSM boards' bus outputs in a wired-OR configuration. In such a configuration if one of the boards' output gets shorted to ground then the entire bus could fail thereby causing the entire MSC to fail. To prevent such a short from pulling down the system, the switch could be opened and disconnect the short from the bus. This switch operation is controlled by the BUS.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.39B no.9
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• pp.590-597
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• 2014

This paper proposes multi-camera system that relies on 3D views for panoramic video and distribution method about panoramic video generation algorithm by using cloud computing. The proposed monitoring system monitors the projected 3D model view, instead of individual 2D views, to detect image distortions. This can minimize compensation errors caused by parallax, thereby improving the quality of the resulting panoramic video. Panoramic video generation algorithm can be divided into registration part and compositing part. Therefore we propose off-loading method of these parts with cloud computing for panoramic video service.

• Journal of The Korean Astronomical Society
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• v.38 no.2
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• pp.73-75
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• 2005

The latest scientific highlights obtained with the Subaru telescope are given together with its current status and on-going instrumentation. We have been successfully operating the telescope and 8 observatory instruments (including an adaptive optics system) since January 1999, when the first light was accomplished. Open-use of Subaru began in December 2000. Subaru has a unique capability of its prime focus among other 8-10 meter class telescopes and has an excellent imaging performance as a result of its sophisticated active optics combined with the high stability of the sky at Mauna Kea. Scientific highlights are given on the discoveries of the most distant galaxies, spiral structure on a protoplanetary disk around AB Aur, and planetesimal belts in the debris disk around $\beta$ Pic. Brief summaries are given for three new instruments: the Multi-Object Infrared Camera and Spectrograph (MOIRCS), 188 element adaptive optics system, and Fiber Multi-Object Spectrograph (FMOS)

• The Journal of Korea Robotics Society
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• v.8 no.3
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• pp.197-205
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• 2013

This paper presents a robotic system that provides telepresence to the visually impaired by combining real-time haptic rendering with multi-modal interaction. A virtual-proxy based haptic rendering process using a RGB-D sensor is developed and integrated into a unified framework for control and feedback for the telepresence robot. We discuss the challenging problem of presenting environmental perception to a user with visual impairments and our solution for multi-modal interaction. We also explain the experimental design and protocols, and results with human subjects with and without visual impairments. Discussion on the performance of our system and our future goals are presented toward the end.

• Proceedings of the KSRS Conference
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• 2004.10a
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• pp.448-451
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• 2004

MSC (Multi-Spectral Camera) system is an electro-optical camera system which is being developed to be installed on KOMPSAT-2 satellite. High resolution image data from MSC system will be transmitted to the ground-station through x-band antenna called APS (Antenna Pointing System). APS is a directional antenna which will point to the receiving antenna at ground station while the satellite is passing over it. The APS needs to be controlled accurately to provide the reliable communication with big RF link margin. The APS is controlled by ATS (Antenna Tracking Software) which is included in the MSC software. ATS uses the closed loop control algorithm which will use TPF (Tracking Parameter File) as an input for antenna position, and will use two resolve readings from APS as a feedback. ATS has been developed and verified using APS QM (Qualification Model) and all the control parameters for ATS have been tested and verified. Various kinds of maximum, nominal and realistic dynamics for the APS movement have been simulated and verified. In this paper, closed loop servo control algorithm and obtained APS position error from the verification test with APS QM will be presented in detail