• International Journal of Aeronautical and Space Sciences
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• v.12 no.3
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• pp.274-282
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• 2011

This paper is focused on dynamic modeling and control system design as well as vision based collision avoidance for multi-rotor unmanned aerial vehicles (UAVs). Multi-rotor UAVs are defined as rotary-winged UAVs with multiple rotors. These multi-rotor UAVs can be utilized in various military situations such as surveillance and reconnaissance. They can also be used for obtaining visual information from steep terrains or disaster sites. In this paper, a quad-rotor model is introduced as well as its control system, which is designed based on a proportional-integral-derivative controller and vision-based collision avoidance control system. Additionally, in order for a UAV to navigate safely in areas such as buildings and offices with a number of obstacles, there must be a collision avoidance algorithm installed in the UAV's hardware, which should include the detection of obstacles, avoidance maneuvering, etc. In this paper, the optical flow method, one of the vision-based collision avoidance techniques, is introduced, and multi-rotor UAV's collision avoidance simulations are described in various virtual environments in order to demonstrate its avoidance performance.

• Electronics and Telecommunications Trends
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• v.39 no.4
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• pp.63-72
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• 2024

Vision is a process in which the brain and eyes collaborate to enable sight by analyzing light reflected from objects. Vision is also the most crucial among the five basic human senses for recognizing environments. The eyes contain 70% of the sensory receptors in the body, and 90% of the information processed by the brain is visual. Currently, approximately 2.2 billion people worldwide have vision impairments. A recent study estimated that the global economic productivity losses due to vision impairment and blindness amount to approximately $410 billion. Additionally, as people age, their ability to control their vision declines, leading to presbyopia, which typically starts in their 40s. Since people heavily rely on vision in their daily lives, vision problems can significantly reduce the quality of life. Approaches to solving vision problems can be broadly categorized into visual prostheses requiring surgery, sensory substitution based on neuroplasticity, and smart glasses for presbyopia. We present the trends and future development prospects for three key areas of research: visual prostheses, visual substitution technologies, and smart glasses technologies. These areas are being explored with the aim of addressing visual impairments and blindness.

• Journal of Advanced Navigation Technology
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• v.10 no.2
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• pp.113-120
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• 2006

In this paper, a vision-based robust controller for tracking the desired trajectory a robot manipulator is proposed. The trajectory is generated to move the feature point into the desired position which the robot follows to reach to the desired position. To compensate the parametric uncertainties of the robot manipulator which contain in the control input, the robust controller is proposed. In addition, if there are uncertainties in the Jacobian, to compensate it, a vision-based robust controller which has control input is proposed as well in this paper. The stability of the closed-loop system is shown by Lyapunov method. The performance of the proposed method is demonstrated by simulations and experiments on a two degree of freedom 5-link robot manipulators.

• ETRI Journal
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• v.30 no.6
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• pp.783-789
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• 2008

A bio-inspired vision chip for edge detection was fabricated using 0.35 ${\mu}m$ double-poly four-metal complementary metal-oxide-semiconductor technology. It mimics the edge detection mechanism of a biological retina. This type of vision chip offer several advantages including compact size, high speed, and dense system integration. Low resolution and relatively high power consumption are common limitations of these chips because of their complex circuit structure. We have tried to overcome these problems by rearranging and simplifying their circuits. A vision chip of $160{\times}120$ pixels has been fabricated in $5{\times}5\;mm^2$ silicon die. It shows less than 10 mW of power consumption.

• Journal of Advanced Marine Engineering and Technology
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• v.36 no.5
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• pp.674-682
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• 2012

A new intelligent stereo vision sensor system was studied for the motion and depth control of unmanned vehicles. A new bottom-up saliency map model for the human-like active stereo vision system based on biological visual process was developed to select a target object. If the left and right cameras successfully find the same target object, the implemented active vision system with two cameras focuses on a landmark and can detect the depth and the direction information. By using this information, the unmanned vehicle can approach to the target autonomously. A number of tests for the proposed bottom-up saliency map were performed, and their results were presented.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1996.10a
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• pp.107-112
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• 1996

In this paper it is proposed a new approach to the development of the automatic vision system to examine and repair the steam generator tubes at remote distance. In nuclear power plants workers are reluctant of works in steam generator because of the high radiation environment and limited working space. It is strongly recommended that the examination and maintenance works be done by an automatic system for the protection of the operator from the radiation exposure. Digital signal processors are used in implementing real time recognition and examination of steam generator tubes in the preposed vision system, Performance of proposed digital vision system is illustrated by experiment for similar steam generator model.

• International Journal of Aeronautical and Space Sciences
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• v.11 no.1
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• pp.31-40
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• 2010

For weapon cueing and Head-Mounted Display (HMD), it is essential to continuously estimate the motion of the helmet. The problem of estimating and predicting the position and orientation of the helmet is approached by fusing measurements from inertial sensors and stereo vision system. The sensor fusion approach in this paper is based on nonlinear filtering, especially expended Kalman filter(EKF). To reduce the computation time and improve the performance in vision processing, we separate the structure estimation and motion estimation. The structure estimation tracks the features which are the part of helmet model structure in the scene and the motion estimation filter estimates the position and orientation of the helmet. This algorithm is tested with using synthetic and real data. And the results show that the result of sensor fusion is successful.

• Nuclear Engineering and Technology
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• v.53 no.1
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• pp.294-303
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• 2021

Various types of sensors are used at industrial sites to measure vibration. With the increase in the diversity of vibration measurement methods, vibration monitoring methods using camera equipment have recently been introduced. However, owing to the physical limitations of the hardware, the measurement resolution is lower than that of conventional sensors, and real-time processing is difficult because of extensive image processing. As a result, most such methods in practice only monitor status trends. To address these disadvantages, a high-resolution vibration measurement method using image analysis of the edge region of the structure has been reported. While this method exhibits higher resolution than the existing vibration measurement technique using a camera, it requires significant amount of computation. In this study, a method is proposed for rapidly processing considerable amount of image data acquired from vision equipment, and measuring the vibration of structures with high resolution. The method is then verified through experiments. It was shown that the proposed method can fast measure vibrations of structures remotely.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.2
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• pp.197-206
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• 2000

A hybrid control structure for vision-based soccer robot system is considered. The structure is om-posed of four levels such as the role action behavior and execution levels. The control structure which is a combination of hierarchical and behavioral structures can efficiently meet the behavior and design specifications of a soccer robot system Among the four levels only the design of the action level is proposed in the paper and is experimentally evaluated. Design hypothesis and evaluation method are presented to improve the reliability and accomplishment of the robot system. Due to the essential element of soccer robot system design a systematic design procedure of the action level is proposed With the proposed structure and algorithm of the action level the excellent result was shown at the MiroSot'98 held in France.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.17 no.7
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• pp.1759-1772
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• 2023

Chinese named entity recognition (NER) is a challenging work that seeks to find, recognize and classify various types of information elements in unstructured text. Due to the Chinese text has no natural boundary like the spaces in the English text, Chinese named entity identification is much more difficult. At present, most deep learning based NER models are developed using a bidirectional long short-term memory network (BiLSTM), yet the performance still has some space to improve. To further improve their performance in Chinese NER tasks, we propose a new NER model, IDCNN-BiLSTM-Highway, which is a combination of the BiLSTM, the iterated dilated convolutional neural network (IDCNN) and the highway network. In our model, IDCNN is used to achieve multiscale context aggregation from a long sequence of words. Highway network is used to effectively connect different layers of networks, allowing information to pass through network layers smoothly without attenuation. Finally, the global optimum tag result is obtained by introducing conditional random field (CRF). The experimental results show that compared with other popular deep learning-based NER models, our model shows superior performance on two Chinese NER data sets: Resume and Yidu-S4k, The F1-scores are 94.98 and 77.59, respectively.