• Journal of Institute of Control, Robotics and Systems
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• v.19 no.12
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• pp.1067-1071
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• 2013

A 3D visual sensing method using a laser structured beam is presented for robotic tracking applications in a simple and reliable manner. A cylindrical shaped laser structured beam is proposed to measure the pose and position of the target surface. When the proposed laser beam intersects on the surface along the target trajectory, an elliptic pattern is generated. Its ellipse parameters can be induced mathematically by the geometrical relationship of the sensor coordinate and target coordinate. The depth and orientation of the target surface are directly determined by the ellipse parameters. In particular, two discontinuous points on the ellipse pattern, induced by seam trajectory, indicate mathematically the 3D direction for robotic tracking. To investigate the performance of this method, experiments with a 6 axis robot system are conducted on two different types of seam trajectories. The results show that this method is very suitable for robot seam tracking applications due to its excellence in accuracy and efficiency.

• Journal of the Architectural Institute of Korea Planning & Design
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• v.35 no.12
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• pp.75-82
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• 2019

After 1840 the first opium war, that changed the social nature and living habitats in China. The purpose of this study is to observe the influence of the war on the plan layout of traditional Chinese residential houses in Beijing Siheyuan. To find out the changes that were made after 1840, and reservation of the past, the space syntax model is used to analyze different social contexts and also compare the ancient and modern residential buildings. The result of the study indicate the following: Before the war, the ancient Siheyuan people's way of life strictly abide by the hierarchy system; External emphasis shows the host's status. However, in modern times, the social status became equal, efficient and harmonious relationship internally, while externally, it arranged the orientation and position of buildings to adapt to the natural environment. However, the boundaries between family members and visitors the emphasis on the courtyard and respect for private life remain unchanged.

• Journal of the Korea Fashion and Costume Design Association
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• v.22 no.4
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• pp.93-104
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• 2020

This paper focuses on the spatial changes that create a three-dimensional or deep feeling on the surface of a scarf centering on the cube shape. Through this, consumers with various tastes were able to satisfy their image presentation. The cube form has simplicity and order and is likely to be used as a formative object. The cube shapes can be expressed in various forms through visual and perceptual spatial changes by presenting various shape changes based on the viewpoint of the two-dimensional silk surface, that is, by changing the eyes' position and orientation. Various visual theorists' discussions about cube-shaped visual changes were discussed. In addition, the three-dimensional spatial illusion caused by the shape and color of Victor Bazaarelli's cube was examined. The cube shape was printed silk surfaces to give a three-dimensional sense of space on a two-dimensional scarf design using the size change, the difference in the length of the line, and the color change. As such, the cube shape has infinite possibilities as a method that can express three-dimensional depth and space on the flat surface of a scarf. Therefore, it is hoped that this study will be applied to various aspects as the basic data for the scarf design that expresses the spatial changes in the form of cubes.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.3
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• pp.260-265
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• 2015

This paper proposes a alignment system using edge feature. An alignment system obtains the position and orientation of printed circuit board(PCB) or liquid crystal display(LCD) panel through the fiducial marks. Thus, it is the indicator of the system performance how accurate we detect the positions of the fiducial marks in the target image. Edges have the geometrical characteristics such as positions, lengths, and shapes. These features are suitable for finding the marks and have the advantages of lighting variations, model occlusion, as well as variations in scale and angle. The performance of the proposed system is validated through the alignment experiment using an display panel alignment system included X, Y axis, and rotatable stage.

• Journal of the Korean Institute of Educational Facilities
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• v.11 no.1
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• pp.25-37
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• 2004

This study is derived from a problem for the blind, how to recognize the space and how to find their way. Unlike ordinary people, the disabled people are closely related with special constructor environment using the other sense. Especially, to find his/her location, each person depends on the wayfinding ability as acquiring specific and various information,(e.g. recognizing figure by tactile sense, space size by auditory sense, direction by light from a window and regular noise, and existence of switch in a specific place.) Those senses help the person's wayfinding to his/her destination. The procedure of wayfinding are location, position, orientation, navigation, and movement. Consequently, construction for the people above mentioned can offer a design-guideline considering following factors, building arrangement considering regular noise, refurbishment, plan configuration of floor and wall-skin changed, circulation stream that maintains right angle by the regular noise in the building, enforcement location character by the inflow of the light into a crossing.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.610-615
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• 2005

Visual servoing is the fusion of results from many elemental areas including high-speed image processing, kinematics, dynamics, control theory, and real-time computing. It has much in common with research into active vision and structure from motion, but is quite different from the often described use of vision in hierarchical task-level robot control systems. We present a new approach to visual feedback control using image-based visual servoing with the stereo vision in this paper. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using a binocular stereo vision. The stereo vision enables us to calculate an exact image Jacobian not only at around a desired location but also at the other locations. The suggested technique can guide a robot manipulator to the desired location without giving such priori knowledge as the relative distance to the desired location or the model of an object even if the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by the simulation and experimental results and compared with the case of conventional method for dual-arm robot made in Samsung Electronics Co., Ltd.

• Journal of Korean Academy of Fundamentals of Nursing
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• v.10 no.3
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• pp.300-306
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• 2003

Purpose: This study was done to help provide patients with information on medical insurance cost through medical insurance education for nurses, to increase effective management, check on omissions in treatment and appropriateness and accuracy of fees, and to contribute to the economic growth of hospital by providing nurses with necessary knowledge about medical insurance cost. Method: The participants in this study were clinical nurses in general hospitals. The study instrument was a questionnaire developed by the researcher through reference to data for medical insurance education. The data were analyzed with percentages, means, ANOVA, and Duncan method using SPSS PC+10. Result: The results on knowledge of medical insurance according to general characteristics of the nurses showed that there were significant differences according to age: (p=.0036) highest level of education (p=.0007), position (p=.0010) and place where education on medical insurance was received (p=.0093). Conclusion: Continuous in-service education for clinical nurses is reflected in increased knowledge about medical insurance costs but special attention needs to be given to younger nurses and nurses with less education, as well as staff nurses, and those nurses who only received education on medical insurance during their schooling. Accordingly, in-service education is necessary for nurses at the time of orientation so that they have knowledge on standards for recuperation allowance, guidelines to calculate material costs, and guidelines to calculate drug rates. In addition, as medical insurance cost frequently change, all nurses need continuous in-service education.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.5
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• pp.891-898
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• 2001

This paper develops a master manipulator which can reflect a force from a slave manipulator effectively. It many have a big workspace, can represent a human operators manipulation perfectly, and is composed of a position control part, an orientation control part and an end effector control part. This paper also develops a graphic simulator using the Visual C++ and OpenGL in the Window operating system. It can be used to make a virtual slave manipulator and set a virtual working environment, and provide a visual information from a desired view point. A virtual teleoperation system is developed by connecting the developed master manipulator to the graphic simulator using an interfacing hardware bilaterally. It is used for performing a virtual object exploration experiment. In the experiment, two virtual objects are used. They are virtual wall and virtual hexahedron which have 0.7N/mm and 2.2 N/mm stiffness respectively. The experiments are performed under six different working conditions. The experiment results will show the effectiveness of the reflected force from the slave manipulator for improving the efficiency and stability of the teleoperation task.

• Bulletin of the Korean Chemical Society
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• v.23 no.4
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• pp.580-586
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• 2002

We investigated the effect of ionic component on crystalline morphology development during isothermal annealing in a sodium neutralized sulfonated poly(ethylene terephthalate) ionomer (Ion-PET) by time-resolved small-angle x-ray scattering (TR-SAX S) using synchrotron radiation. At early stage in Ion-PET, SAXS intensity at a low annealing temperature (Ta = 120 $^{\circ}C)$ decreased monotonously with scattering angle for a while. Then SAXS profile showed a peak and the peak position progressively moved to wider angles with isothermal annealing time. Finally, the peak intensity decreased, shifting the peak angle to wider angle. It is revealed that ionic aggregates (multiplets structure) of several nm, calculated by Debye-Bueche plot, are formed at early stage. They seem to accelerate the crystallization rate and make fine crystallites without spherulite formation (supported by optical microscopy observation). From decrease of peak intensity in SAXS,it is suggested that new lamellae are inserted between the preformed lamellae so that the concentration of ionic multiplets in amorphous region decreases to lower the electron density difference between lamellar crystal and amorphous region. In addition, analysis on the annealing at a high temperature (Ta = 210 $^{\circ}C)$ by optical microscopy, light scattering and transmission electron microscopy shows a formation of spherulite, no ionic aggregates, the retarded crystallization rate and a high level of lamellar orientation.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.8
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• pp.781-787
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• 2015

This paper proposes a hybrid visual servoing algorithm for the object tracking by a mobile robot with the stereo camera. The mobile robot with the stereo camera performs an object recognition and object tracking using the SIFT and CAMSHIFT algorithms for the hybrid visual servoing. The CAMSHIFT algorithm using stereo camera images has been used to obtain the three-dimensional position and orientation of the mobile robot. With the hybrid visual servoing, a stable balance control has been realized by a control system which calculates a desired angle of the center of gravity whose location depends on variations of link rotation angles of the manipulator. A PID controller algorithm has adopted in this research for the control of the manipulator since the algorithm is simple to design and it does not require unnecessary complex dynamics. To demonstrate the control performance of the hybrid visual servoing, real experiments are performed using the mobile manipulator system developed for this research.