• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.540-544
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• 2001

This paper addresses a hybrid control architecture for the hospital service robot, SmartHelper. In hybrid architecture, the deliberation takes place at planning layer while the reaction is dealt through the parallel execution of operations. Hence, the system presents both a hierarchical and an heterarchical decomposition, being able to show a predictable response while keeping rapid reactivity to the dynamic environment. The deliberative controller accomplishes four functions which are path generation, selection of navigation way, command and monitoring. The reactive controller uses fuzzy and potential field method for robot navigation. Through simulation under a virtual environment IGRIP, the effectiveness of the hybrid architecture is verified.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2753-2758
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• 2003

Tactile sensation is essential for many manipulation and exploration tasks not only in a real environment but also in a virtual environment. In this paper, we discuss a conceptual design of an integrated tactile display system. The system comprises two parts: a 2 DOF force feedback device for kinesthetic display and a tactile feedback device for displaying the normal stimulation to skin and the skin slip/stretch. Psychophysical experiments measure the effects of fingerpad selection, the direction of finger movements and the texture width on tactile sensitivity. We also investigate characteristics of lateral finger movement while subjects perceive different textures. From the experimental results, the principal parameters for designing a tactile display are suggested. A tactile display device is implemented using eight piezoelectric bimorphs and a linear actuator, and is attached to a 2 DOF translational force feedback device to simultaneously simulate texture and stiffness of the object.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.4C
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• pp.400-406
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• 2006

Knowledge of camera parameters, such as position, orientation and focal length, is essential to 3D information recovery or virtual object insertion. This paper analyzes the error sensitivity of focal length due to position error of feature points which are employed for self-calibration. We verify the dependency of the focal length on the distance from the principal point to feature points with simulations, and propose a criterion for feature selection to reduce the error sensitivity.

• 한국HCI학회:학술대회논문집
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• 2008.02a
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• pp.314-318
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• 2008

This paper is about an authoring interface for augmented/mixed reality based book, specifically authoring 3D objects properties of Digilog book. We pursue even normal users with non-professional knowledge for programming can make the Digilog book easily. An authoring interface 3D object properties includes a manipulator as an input device and 3D contents authoring parts. As an interface design metaphor, existing GUI interface, already familiar to computer users, are referenced. The manipulator generates continuous/discrete input signal are necessary for authoring interface. Contents authoring part performs selection, positioning, scaling, coloring, copy of virtual objects using the input signal of the manipulator. Also users can exploit already existing GUI interface metaphor including pointing, click, drag and drop, and copy techniques with the manipulator. Therefore we think our AR authoring system can support rapid and intuitive modification of properties of virtual objects.

• Journal of Korea Game Society
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• v.1 no.1
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• pp.55-60
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• 2001

With rapid development of graphic hardware, researches on Virtual Reality and 3D Games have received more attention than before. For more realistic 3D graphic scene, objects were to be presented with lots of polygons and the number of objects shown in a scene was remarkably increased. Therefore, for effective visualization of large polygon models like this, view-frustum culling method, that visualizes only objects shown in the screen, has been widely used. In general, the bounding boxes that include objects are generated firstly, and the boxes are intersected with view-frustum to check whether object is in the visible area or not. Recently, an algorithm that can check in-out test of objects using OpenGL's selection mode, which is originally used to select the objects in the screen, is suggested. This algorithm is fast because it can use hardware acceleration. In this study, by implementing and applying this algorithm to large polygon models, we showed the efficiency of OpenGL assisted View-Frustum Culling algorithm. If this algorithm is applied to 3D games that have to process more complicated characters and landscapes, performance improvement can be expected.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.5
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• pp.445-450
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• 2005

In this paper, we suggest an integrated tactile display system that provides kinesthetic force, pressure distribution, vibration and slip/stretch. The system consists of two parts: a 2 DOF force feedback device for kinesthetic display and a tactile feedback device for displaying the normal stimulation to the skin and the skin slip/stretch. Psychophysical experiments measure the effects of fingerpad selection, the direction of finger movements and the texture width on tactile sensitivity. We also investigate the characteristics of lateral finger movement while subjects perceive different textures. From the experimental results, the principal parameters for designing a tactile display are suggested. A tactile display device, using eight piezoelectric bimorphs and a linear actuator, Is implemented and attached to a 2 DOF translational force feedback device to simultaneously simulate the texture and stiffness of the object. As a result, we find out that the capability of the suggested device is sufficient to display physical quantities to display the texture.

• Journal of the HCI Society of Korea
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• v.2 no.2
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• pp.53-59
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• 2007

Several researches in 3D interaction have identified and extensively studied the four basic interaction tasks for 3D/VE applications, namely, navigation, selection, manipulation and system control. These interaction schemes in the real world or VE are generally suitable for interacting with small graspable objects. In some applications, it is important to duplicate real world behavior. For example, a training system for a manual assembly task and usability verification system benefits from a realistic system for object grasping and manipulation. However, it is not appropriate to instantly apply these interaction technologies to such applications, because the quality of simulated grasping and manipulation has been limited. Therefore, we introduce the intuitive and natural 3D interaction haptic interface supporting high-precision hand operations and realistic haptic feedback.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.46 no.2
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• pp.10-23
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• 2009

The fundamental matrix and key frame selection are one of the most important techniques to recover full 3D reconstruction of objects from turntable sequences. This paper proposes a new algorithm that estimates a robust fundamental matrix for camera calibration from uncalibrated images taken under turn-table motion. Single axis turntable motion can be described in terms of its fixed entities. This provides new algorithms for computing the fundamental matrix. From the projective properties of the conics and fundamental matrix the Euclidean 3D coordinates of a point are obtained from geometric locus of the image points trajectories. Experimental results on real and virtual image sequences demonstrate good object reconstructions.

• The Journal of the Convergence on Culture Technology
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• v.7 no.4
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• pp.313-323
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• 2021

The purpose of this study is to propose rules that can identify the speaker referred by the speaker directive in the text for the realization of a machine learning-based virtual character using a literary text. Through previous studies, we found that when applying literary texts to machine learning, the machine did not properly discriminate the speaker without any specific rules for the analysis of speaker directives such as other names, nicknames, pronouns, and so on. As a way to solve this problem, this study proposes 'nine rules for finding a speaker indicated by speaker directives (including pronouns)': location, distance, pronouns, preparatory subject/preparatory object, quotations, number of speakers, non-characters directives, word compound form, dispersion of speaker names. In order to utilize characters within a literary text as virtual ones, the learning text must be presented in a machine-comprehensible way. We expect that the rules suggested in this study will reduce trial and error that may occur when using literary texts for machine learning, and enable smooth learning to produce qualitatively excellent learning results.

• Journal of the Korea Computer Graphics Society
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• v.6 no.4
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• pp.1-7
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• 2000

Traditionally, three dimension model s have been used for building virtual worlds, and a data structure called the "scene graph" is often employed to organize these 3D objects in the virtual space. On the other hand, image-based rendering has recently been suggested as a probable alternative VR platform for its photo-realism, however, due to limited interactivity. it has only been used for simple navigation systems. To combine the merits of these two approaches to object/scene representations, this paper proposes for a scene graph structure in which both 3D models and various image-based scenes/objects can be defined. traversed, and rendered together. In fact, as suggested by Shade et al. [1]. these different representations can be used as different LOD's for a given object. For in stance, an object might be rendered using a 3D model at close range, a billboard at an intermediate range. and as part of an environment map at far range. The ultimate objective of this mixed platform is to breath more interactivity into the image based rendered VE's by employing 3D models as well. There are several technical challenges in devising such a platform : designing scene graph nodes for various types of image based techniques, establishing criteria for LOD/representation selection. handling their transition s. implementing appropriate interaction schemes. and correctly rendering the overall scene. Currently, we have extended the scene graph structure of the Sense8's WorldToolKit. to accommodate new node types for environment maps. billboards, moving textures and sprites, "Tour-into-the-Picture" structure, and view interpolated objects. As for choosing the right LOD level, the usual viewing distance and image space criteria are used, however, the switching between the image and 3D model occurs at a distance from the user where the user starts to perceive the object's internal depth. Also. during interaction, regardless of the viewing distance. a 3D representation would be used, if it exists. Finally. we carried out experiments to verify the theoretical derivation of the switching rule and obtained positive results.