• Journal of Institute of Control, Robotics and Systems
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• v.14 no.2
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• pp.168-177
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• 2008

Path finding is a key element in the navigation of a mobile robot. To find a path, robot should know their position exactly, since the position error exposes a robot to many dangerous conditions. It could make a robot move to a wrong direction so that it may have damage by collision by the surrounding obstacles. We propose a method obtaining an accurate robot position. The localization of a mobile robot in its working environment performs by using a vision system and Virtual Reality Modeling Language(VRML). The robot identifies landmarks located in the environment. An image processing and neural network pattern matching techniques have been applied to find location of the robot. After the self-positioning procedure, the 2-D scene of the vision is overlaid onto a VRML scene. This paper describes how to realize the self-positioning, and shows the overlay between the 2-D and VRML scenes. The suggested method defines a robot's path successfully. An experiment using the suggested algorithm apply to a mobile robot has been performed and the result shows a good path tracking.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2008.10a
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• pp.348-353
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• 2008

Despite the increasing popularity of wireless sensor network, indoor positioning using low power IEEE 802.15.4 compliant radio had attracted an interest of many researchers in the last decade. Old fashionable indoor location sensing information has been presented in dull and unpleasant 2D image standard. This paper focused on visualizing high precision 3 dimensional RSSI-based (received signal strength indication) spatial sensing information in an interactive virtual reality on PDA. The developed system operates by capturing and extracting signal strength information at multiple pre-defined reference nodes to provide information in the area of interest, thus updating user's location in 3D indoor virtual map. VRML (Virtual Reality Modeling Language) which specifically developed for 3D objects modeling is utilized to design 3D indoor environment.

• Proceedings of the KOSOMBE Conference
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• v.1997 no.11
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• pp.201-205
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• 1997

With the recent advance of Web and its associated technologies, information sharing on distribute computing environments has gained a great amount of attention from many researchers in many application areas, such as medicine, engineering, and business. One basic requirement of distributed medical consultation systems is that geographically dispersed, disparate participants are allowed to exchange information readily with each other. Such software also needs to be supported on a broad range of computer platforms to increase the software's accessibility. In this paper, the development of world-wide-web based medical consultation system or radiology imaging is addressed to provide the platform independence and great accessibility. The system supports sharing of 3-dimensional objects. We use VRML (Virtual Reality Modeling Language), which is the de-facto standard in 3-D modeling on the Web. 3-D objects are reconstructed from CT or MRI volume data using a VRML format, which can be viewed and manipulated easily in Web-browsers with a VRML plug-in. A Marching cubes method is used in the transformation of scanned volume data set to polygonal surfaces of VRML. A decimation algorithm is adopted to reduce the number of meshes in the resulting VRML file. 3-D volume data are often very large-sized, and hence loading the data on PC level computers requires a significant reduction of the size of the data, while minimizing the loss of the original shape information. This is also important to decrease network delays. A prototype system has been implemented (http://netopia.snu.ac.kr/-cyber/). and several sessions of experiments are carried out.

• Korean Journal of Computational Design and Engineering
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• v.4 no.2
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• pp.87-99
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• 1999

We developed a Part Information Brokering System, namely PIBS, that can inter-link part suppliers and buyers using WWW(World Wide Web). The major contribution of this paper is that the system provides a 3D collaboration environment that enables multiple users to share the same workspace where they cooperatively manipulate part features in real time. PIBS carries out two major functions: one to maintain part data in a part library, and the other to provide the means for the clients to cooperate. An object-oriented database is used for the part library which stores apart information registered by part suppliers. VRML(Virtual Reality Modeling Language) the ISO standard for 3D visualization on WWW, is used to represent 3D part models. Several Java programs have been implemented to support synchronous and a synchronous communication of the 3D models. Once the users are interconnected through the system, a user's manipulation of part objects is transparently and instantaneously transmitted to the others. This means that all the participants can are the same view and movement of the 3D part models. Since the system is developed using a Java applet-server architecture, it requires no additional software other than standard web browser. The prototype system has been successfully implemented, and demonstrated its applicability to virtual 3D part information sharing.

• Journal of the Ergonomics Society of Korea
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• v.24 no.2
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• pp.71-77
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• 2005

In spite of the importance of nuclear power as one of major electric energies in Korea, the nuclear safety has become the most serious social issue in the operation of the nuclear power plant. In this paper, a virtual work simulation program was developed to predict exposure dose during radiation work in radwaste storage. The work simulation program was developed. using $Java ^{TM}$applet and VRML-virtual reality modeling language. A numerical algorithm to find the optimal work path which minimize exposure dose during the given work, was developed and exposure dose on the optimal work path was compared with that on the shortest path. Comparing with the shortest path for the given work, the predicted optimal path consumed longer work time by II% but reduced total exposure dose by 46%. The simulation result showed that the exposure dose depended on not only work time, but also the distance between the worker and the radiation source. The developed simulation program could be a useful tool for the planning of radioactive waste work to increase the radiation safety of workers.

• Proceedings of the Korean Society of Medical Physics Conference
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• 2003.09a
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• pp.50-50
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• 2003

World Wide Web (WWW)에서 Virtual Reality Modeling Language (VRML)를 이용하는 3 차원 (3D) 디스플레이는 사용자에게 직관적인 정보를 더 효과적으로 제공해 준다. 웹을 기반으로 하는 해부학적 영상과 융합되는 기능적 영상의 3D 가시화는 아직까지 체계적인 방식으로 연구가 활발히 진행되지 않았다. 이 연구의 목적은 2D 영상들과 함께 웹에서 VRML을 이용하여 구현되는 3D 해부학적 표면 영상들과 기능적 표면 영상들을 동시적으로 관찰할 수 있게 하고 VRML을 통해 만들어진 거리 측정 도구를 가지고 관심영역의 공간적인 위치 정보를 제공하는 것이다. 본 연구에서는 한 명의 간질 환자로부터 Magnetic Resonance (MR) 축면 영상과 발작기 및 발작간기 Single Photon Emission Computed Tomo graphy (SPECT) 축면 영상들을 각각 획득하였다. 발작 진원지의 확인을 향상시키기 위해서 subtraction ictal SPECT co registered to MRI (SISCOM) 을 수행하였다. SISCOM 결과로 나타난 각 2D 영상들은 모든 voxel 들의 평균 값 위로 1 표준편차와 2 표준편차에 해당하는 문턱 이상의 영상 값을 갖도록 하였다. SISCOM으로 나타나는 간질 발작 진원지들과 MRI 영상에서 회색질, 백색질 및 뇌척수액의 경계들을 각각 분할하고 marching cube 알고리즘에 의해 VRML 표면 영상들로 나타내었다. 축면 영상에서 실제 거리를 나타내는 x, y 축의 길이를 측정하고 z 축선의 길이를 계산하였다. VRML을 이용한 거리 측정 도구를 만들어 이전의 VRML 표면 영상들과 융합하였다. MRI 영상을 이용하여 3D 표면 영상들의 단면을 나타내고 3D 표면 영상들의 투명도를 설정하기 위해 Java Script 루틴을 사용자 인터페이스 도구로서 삽입하였다. 웹 페이지에서 구현되는 3D 표면 영상들의 투명도와 관찰 위치를 조절함에 따라 모델들 사이의 공간적인 정보를 직관적으로 알 수 있었다. 간질 발작 진원지에 대응하는 해부학적 구조를 3D 표면 영상들을 가로지르는 MRI 평면 영상들을 통해서 확인하였다. 결론적으로 본 연구에서 제시하는 웹에 근거한 3D 융합 영상의 가시화와 위치 측정은 진단 및 치료 방사선학과 외과학 등의 분야에서 온라인 방식의 연구와 교육에 있어 많은 도움을 줄 것이다.

• The Journal of the Acoustical Society of Korea
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• v.21 no.4
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• pp.339-438
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• 2002

This paper presents a method to simulate noise propagation by a computer for outdoor environment. Sound propagated in 3 dimensional space generates reflected waves whenever it hits boundary surfaces. If a receiver is away from a sound source, it receives multiple sound waves which are reflected from various boundary surfaces in space. The algorithm being developed in this paper is based on a ray sound theory. If we get 3 dimensional geometry input as well as sound sources, we can compute sound effects all over the boundary surfaces. In this paper, we present two approaches to compute sound: the first approach, called forward tracing, traces sounds forwards from sound sources. while the second approach, called geometry based computation, computes possible propagation routes between sources and receivers. We compare two approaches and suggest the geometry based sound computation for outdoor simulation. Also this approach is very efficient in the sense we can save computational time compared to the forward sound tracing. Sound due to impulse-response is governed by physical environments. When a sound source waveform and numerically computed impulse in time is convoluted, the result generates a synthetic sound. This technique can be easily generalized to synthesize realistic stereo sounds for virtual reality, while the simulation result is visualized using VRML.

• Broadcasting and Media Magazine
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• v.3 no.3
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• pp.52-58
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• 1998

컴퓨터 네트워크는 컴퓨터와 컴퓨터를 이어주는 단순 기능에서 벗어나 "네트워크가 곧 컴퓨터이다"라는 명제가 등장할 만큼 정보 기술 발전의 핵심으로 부각되고 있다. 따라서, 새로운 정보 통신망이나 컴퓨터의 연구 개발은 네트워크 기능의 고속화, 고성능화, 지능화에 중점을 두고 있다. 과거의 컴퓨터 통신은 단순한 터미널과 과학 계산용 서버를 연결하고 데이터 전송을 하는 목적에 국한되었으나 현재는 취급하는 정보가 다양해지고 수많은 사용자들이 개인용 컴퓨터를 갖게 되고 정보 통신망이 대규모로 확산됨에 따라 멀티미디어 데이터의 전송, 교환, 생성, 가공, 축적, 변환, 수집으로 기능이 확대되었다. 또한, 컴퓨터 그래픽 기술이 발달하므로서 네트워크를 통한 그래픽 전송 특히 3D그래픽 전송을 통한 서비스에 대한 관심이 높아지고 있다. 이에따라 개발된 VRML(Virtual Reality Modeling Language)에 대한 소개와 이를 이용한 관광 가이드 서비스개발에 대한 과정 및 3D모델링, 응용 분야에 대하여 알아 보고 가상현실 기반 가이드 서비스에 대한 기초 연구를 통해 발생된 문제점과 도출해 낼수 있는 결과 및 앞으로의 개선 방향에 대하여 알아보기로 한다. 알아보기로 한다.

• Journal of KIISE:Software and Applications
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• v.26 no.12
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• pp.1482-1496
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• 1999

기존의 스테레오 정합 알고리즘은 크게 명암기반기법과 특징기반기법의 두 가지로 나눌 수 있다. 그리고, 각 기법은 그들 나름대로의 장단점을 갖는다. 본 논문은 이 두 기법을 결합하는 새로운 알고리즘을 제안한다. 본 논문에서는 물체모델링을 목적으로 하기 때문에 배경을 제거하여 정합하는 방법을 사용한다. 이를 위해, 정합요소들과 정합유사함수가 정의되고, 정합유사함수는 두 기법사이의 장단점을 하나의 인수에 의해 조절한다. 그 외에도 거리차 지도의 오류를 제거하는 coarse-to-fine기법, 폐색문제를 해결하는 다중윈도우 기법을 사용하였고, 물체의 표면형태를 알아내기 위해 morphological closing 연산자를 이용하여 물체와 배경을 분리하는 방법을 제안하였다. 이러한 기법들을 기반으로 하여 여러가지 영상에 대해 실험을 수행하였으며, 그 결과들은 본 논문이 제안하는 기법의 효율성을 보여준다. 정합의 결과로 만들어지는 거리차 지도는 3차원 모델링을 통해 가상공간상에서 보여지도록 하였다.Abstract Classical stereo matching algorithms can be classified into two major areas; intensity-based and feature-based stereo matching. Each technique has advantages and disadvantages. This paper proposes a new algorithm which merges two main matching techniques. Since the goal of our stereo algorithm is in object modeling, we use images for which background is removed. Primitives and a similarity function are defined. The matching similarity function selectively controls the advantages and disadvantages of intensity-based and feature-based matching by a parameter.As an additional matching strategy, a coarse-to-fine method is used to remove a errorneous data on the disparity map. To handle occlusions, multiple windowing method is used. For finding the surface shape of an object, we propose a method that separates an object and the background by a morphological closing operator. All processes have been implemented and tested with various image pairs. The matching results showed the effectiveness of our method. From the disparity map computed by the matching process, 3D modeling is possible. 3D modeling is manipulated by VRML(Virtual Reality Manipulation Language). The results are summarized in a virtual reality space.

• Bulletin of the Korean Space Science Society
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• 2009.10a
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• pp.26.2-26.2
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• 2009

The Solar and Space Weather Research Group (SOS) in Korea Astronomy and Space Science Institute (KASI) is constructing the Space Weather Prediction Center since 2007. As a part of the project, we are developing automatic real-time system of the global 3-D magnetohydrodynamics (MHD) simulation. The MHD simulation model of earth's magnetosphere is designed as modified leap-frog scheme by T. Ogino, and it was parallelized by using message passing interface (MPI). Our work focuses on the automatic processing about simulation of 3-D MHD model and visualization of the simulation results. We used PC cluster to compute, and virtual reality modeling language (VRML) file format to visualize the MHD simulation. The system can show the variation of earth's magnetosphere by the solar wind in quasi real time. For data assimilation we used four parameters from ACE data; density, pressure, velocity of solar wind, and z component of interplanetary magnetic field (IMF). In this paper, we performed some initial tests and made a animation. The automatic real-time system will be valuable tool to understand the configuration of the solar-terrestrial environment for space weather research.