• Journal of Biomedical Engineering Research
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• v.5 no.2
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• pp.167-172
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• 1984

In the present study, we developed a nuclear stethoscope interfaced with a personal computer (APPLE- II) and evaluated it's performances as compared with the gamma camera. This single-probe, ECG-gated system has been used for displaying the left ventricular time-activity curves, the peak ejection time and its rate, the peak filling time and its rate, and the R-R interval distribution. The radioactivity was measured at every 10msec around the ventricular region, where the activity curves shows the maximal peak to peak variations. The background activity was measured around the lung area showing its counts approximately 50% of the end-diastolic count with minimal variations. The average time-activity curves of 100 beats were used for analysis in the equilibrium study after intravenous injection of 15-20mCi of Tc. The ejection fractions measured by the nuclear stethoscope(Y) were compared with those measured by gamma camera(X) in 47 patients with various heart diseases. The correlation coefficient between two measurements was 0.766 with a relation of Y=1.04 x-8.48. Also, the high reproducibility was obtained for the same patient. Also, the high reproducibility was obtained for the same patient. From this study, we conclude that this device is useful for continuous monitoring in the intensive care unit, as it is portable, compact, and inexpensive.

• Journal of Biomedical Engineering Research
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• v.41 no.5
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• pp.173-178
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• 2020

Remote control intervention surgery robotic system improves treatment effect on cardiovascular patients and reduces X-ray exposure. However, at the time of the first procedure, CT (computerized tomography) and other ultrasound diagnostic equipment should be used because the operator must insert the cannula directly into the patient's leg. Improvements to this have been un-met-needs of hospitals. In this paper, we developed a system that can insert the cannula intuitively and quickly by displaying blood vessels at a glance through the system using smart wearable glasses. The core development method is as follows. In order to project augmented reality onto the surgical image, CT scan angiography image is extracted and processed. In the process, three CT-Markers are used to create a coordinate system of blood vessel images. Additionally, a reference marker is photographed on a single camera to obtain a camera coordinate system. Since the CT marker and the reference marker are in the same position, 3D registration is performed. In the text, a detailed explanation will be given.

• Journal of Sensor Science and Technology
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• v.11 no.2
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• pp.93-101
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• 2002

The quality of agricultural products is classified with various factors which are measured and determined by destructive and/or nondestructive method. NIR spectrum analysis method is used to determine internal qualities such as a brix and an acidity. CCD color camera is used to measure external quality like color and a size of fruit. Today, nondestructive methods are widely researched. The quality and the grade of fruit loaded into a cup automatically and measured in real time by camera and NIR system is determined by infernal and external factors. This paper proposes modified boundary tracking algorithm which detects the contour of fruit's color image and make chain code faster than conventional method. The chain code helps compute a size of fruit image and find multiple loading of a fruit in single cup or fruit between two cups. The designed classification system sorts a citrus at speed of 8 fruit/s, with evaluating a brix, an acidity and a size grade.

• Korean Journal of Optics and Photonics
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• v.22 no.5
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• pp.230-238
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• 2011

There are many types of interchangeable zoom lens in the digital single lens reflex camera and the compact digital still camera system in order to meet various specifications such as the field angle. Thus special cases for which the focus adjustment using only an auto-focus group is not available in the focal point correction (that is, the focus adjustment) of both wide and tele-zoom positions are sometimes generated. In order to make each BFL(back focal length, BFL) coincide at wide and tele-zoom positions with each designed BFL, focus adjustment processes must be performed at least in these two points within the zoom lens system. In this paper, we propose a method of focus adjustment by using the concept of focus sensitivity, and we calculate a limit on focus adjustment distance by means of statistical analysis.

• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.197-209
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• 2011

This paper presents a localization system using ceiling images in a large indoor environment. For a system with low cost and complexity, we propose a single camera based system that utilizes ceiling images acquired from a camera installed to point upwards. For reliable operation, we propose a method using hybrid features which include natural landmarks in a natural scene and artificial landmarks observable in an infrared ray domain. Compared with previous works utilizing only infrared based features, our method reduces the required number of artificial features as we exploit both natural and artificial features. In addition, compared with previous works using only natural scene, our method has an advantage in the convergence speed and robustness as an observation of an artificial feature provides a crucial clue for robot pose estimation. In an experiment with challenging situations in a real environment, our method was performed impressively in terms of the robustness and accuracy. To our knowledge, our method is the first ceiling vision based localization method using features from both visible and infrared rays domains. Our system can be easily utilized with a variety of service robot applications in a large indoor environment.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.10a
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• pp.1015-1017
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• 2013

Object tracking, in general, is a challenging problem. Difficulties in tracking objects can arise due to abrupt object motion, changing appearance patterns of both the object and the scene, non-rigid object structures, object-to-object and object-to-scene occlusions, and camera motion. Tracking is usually performed in the context of higher-level applications that require the location or the shape of the object in every frame. This paper describes an object tracking system based on active vision with two cameras, into algorithm of single camera tracking system an object active visual tracking and object locked system based on Extend Kalman Filter (EKF) is introduced, by analyzing data from which the next running state of the object can be figured out and after the tracking is performed at each of the cameras, the individual tracks are to be fused (combined) to obtain the final system object track.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.10a
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• pp.497-498
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• 2018

In the fire scene, it is difficult to see 1m ahead because of power failure, smoke and toxic gas, even with thermal imaging camera and Xenon searchlight. Analysis of the smoke particles in the fire scene shows that even if the smoke is $5{\mu}m$ or less in wavelength, it is difficult to obtain a front view when using a conventional thermal imaging camera if the visual distance exceeds 1 meter. In the case of black smoke with a particle wavelength of $5{\mu}m$ or more, a space permeation sensor technology using various sensors other than a single sensor is required because chemical materials, gas, and water molecules are mixed. Firefighters need a smoke detection technology for smoke detection and spatial information visualization for forward safety view.In this paper, we design the interface of the information processing system with 32bit CPU core and peripheral circuit. We also implemented and simulated the interface with Lidar sensor. Through this, we provide interface that can implement information processing system of human enhancement fire helmet in the future.

• Journal of the Optical Society of Korea
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• v.19 no.2
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• pp.136-143
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• 2015

Image deblurring by a deconvolution method requires accurate knowledge of the blur kernel. Existing point spread function (PSF) models in the literature corresponding to lens aberrations and defocus are either parameterized and spatially invariant or spatially varying but discretely defined. In this paper, a parameterized model is developed and presented for a PSF which is spatially varying due to lens aberrations and defocus in an imaging system. The model is established from the Seidel third-order aberration coefficient and the Hu moment. A skew normal Gauss model is selected for parameterized PSF geometry structure. The accuracy of the model is demonstrated with simulations and measurements for a defocused infrared camera and a single spherical lens digital camera. Compared with optical software Code V, the visual results of two optical systems validate our analysis and proposed method in size, shape and direction. Quantitative evaluation results reveal the excellent accuracy of the blur kernel model.

• Journal of IKEEE
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• v.14 no.4
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• pp.317-323
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• 2010

The video surveillance system is adopted in many places due to its efficiency and constancy in monitoring a specific area over a long period of time. However, many surveillance systems composed of a single static camera often produce unsatisfactory results due to their lack of field of view. In this paper, we present a video surveillance system based on wide baseline stereo cameras to overcome the limitation. We adopt the codebook algorithm and mathematical morphology to robustly model the foreground pixels of the moving object in the scene and calculate the trajectory of the moving object via 3D reconstruction. The experimental results show that the proposed system detects a moving object and generates a top view trajectory successfully to track the location of the object in the world coordinates.

• The Journal of Korea Robotics Society
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• v.1 no.1
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• pp.17-24
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• 2006

Though the final goal of mobile robot navigation is to be autonomous, operators' intelligent and skillful decisions are necessary when there are many scattered obstacles. There are several limitations even in the camera-based tele-operation of a mobile robot, which is very popular for the mobile robot navigation. For examples, shadowed and curved areas cannot be viewed using a narrow view-angle camera, especially in bad weather such as on snowy or rainy days. Therefore, it is necessary to have other sensory information for reliable tele-operations. In this paper, sixteen ultrasonic sensors are attached around a mobile robot in a ring pattern to measure the distances to obstacles. A collision vector is introduced in this paper as a new tool for obstacle avoidance, which is defined as a normal vector from an obstacle to the mobile robot. Based on this collision vector, a virtual reflection force is generated to avoid the obstacles and then the reflection force is transferred to an operator who is holding a joystick to control the mobile robot. Relying on the reflection force, the operator can control the mobile robot more smoothly and safely. For this bi-directional tele-operation, a master joystick system using a hall sensor was designed to resolve the existence of nonlinear sections, which are usual for a general joystick with two motors and potentiometers. Finally, the efficiency of a force reflection joystick is verified through the comparison of two vision-based tele-operation experiments, with and without force reflection.