• KSCE Journal of Civil and Environmental Engineering Research
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• v.33 no.6
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• pp.2551-2562
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• 2013

Since 2006, an Intelligent Excavation Robot which automatically performs the earth-work without operator has been developed in Korea. The technologies for automatically recognizing the terrain of work environment and detecting the objects such as obstacles or dump trucks are essential for its work quality and safety. In several countries, terrestrial 3D laser scanner and stereo vision camera have been used to model the local area around workspace of the automated construction equipment. However, these attempts have some problems that require high cost to make the sensor system or long processing time to eliminate the noise from 3D model outcome. The objectives of this study are to analyze the advantages of the existing 3D modeling sensors and to examine the applicability for practical use by using Analytic Hierarchical Process(AHP). In this study, 3D modeling quality and accuracy of modeling sensors were tested at the real earth-work environment.

• Journal of Digital Convergence
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• v.10 no.10
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• pp.333-338
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• 2012

Human resource management is bringing the various changes with the IT technology. In particular, if HRM is non-scientific method such as group management, physical plant, working hours constraints, personal contacts, etc, the current enterprise human resources management(e-HRM) appeared in the individual dimension management, virtual workspace (for example: smart work center, home work, etc.), working time flexibility and elasticity, computer-based statistical data and the scientific method of analysis and management has been a big difference in the sense. Therefore, depending on changes in the environment, companies have introduced a variety of techniques as RFID card, fingerprint time & attendance systems in order to build more efficient and strategic human resource management system. In this paper, time and attendance, access control management system was developed using multi camera for 2D and 3D face recognition technology-based for efficient enterprise human resource management. We had an issue with existing 2D-style face-recognition technology for lighting and the attitude, and got more than 90% recognition rate against the poor readability. In addition, 3D face recognition has computational complexities, so we could improve hybrid video recognition and the speed using 3D and 2D in parallel.

• Archives of design research
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• v.18 no.4 s.62
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• pp.119-128
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• 2005

This paper presents an intuitive 3D modeling interlace based on a field study and prototype development. The process and tools of modeling were observed in workshops of professional design model making, day modeling, wood caning and glass crafting. The Spray Modeling interlace was developed from the observational analysis of the field study. It is a 3D modeling interface which combines particle spraying and day modeling in Virtual or Augmented Reality space. Virtual volume particles are sprayed on frames in Augmented Reality space as day modeling. It adopts a real air spay gun as a tangible interface device which provides coherent sound and air-force feedback. The prototype development and a user study showed that the interface supports new patterns of form development and expression. Control interfaces and requirements of auxiliary devices were found to be improved. This study examines the potential of the new interlace for designers working in 3D virtual and augmented reality. The new spraying interface is also expected to be used as an alternative interface in 3D computer workspace, games, education software and media art.

• Journal of the Korea Computer Graphics Society
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• v.14 no.4
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• pp.35-39
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• 2008

A computer supported collaborative system provides with a shared virtual workspace over the Internet where its remote users cooperate in order to achieve their goals by overcoming problems caused by distance and time. VRMMS (Virtual Reality Molecular Modeling System) [1] is a VR based collaborative system where biologists can remotely participate in and exercise molecular modeling tasks such as viewing three dimensional structures of molecular models, confirming results of molecular simulations and providing with feedbacks for the next simulations. Biologists can utilize VRMMS in executing molecular simulations. However, first-time users and beginners need to spend some time for studying and practicing in order to skillfully manipulate molecular models and the system. The best way to resolve the problem is to have a face-to-face session of teaching and learning VRMMS. However, it is not practically recommended in the sense that the users are remotely located. It follows that the learning time could last longer than desired. In this paper, we propose to use Second Life [2] combining with VRMMS for removing the problem. It can be used in building a shared workplace over the Internet where molecular simulations using VRMMS can be exercised, taught, learned and practiced. Through the web, users can collaborate with each other using VRMMS. Their avatars and tools of molecular simulations can be remotely utilized in order to provide with senses of 'being there' to the remote users. The users can discuss, teach and learn over the Internet. The shared workspaces for discussion and education are designed and implemented in Second Life. Since the activities in Second Life and VRMMS are designed to realistic, the system is expected to help users in improving their learning and experimental performances.

• Journal of the Korean Society for Railway
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• v.13 no.2
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• pp.159-165
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• 2010

In this paper the TRMS (Tilting Rolling-stock Maintenance System) that applies the concept of RAM (Reliability, Availability, and Maintainability) and RCM (Reliability Centered Maintenance) to Preventive and Corrective Maintenance Policy for TTX (Tilting Train Express) will be discussed. We will briefly introduce the RCM concepts and discus show these concepts and procedures are implemented in the TRMS S/W. In the TRMS S/W there are four modules, System and Operations Information Module, FMECA(Failure Modes, Effects, and Criticality Analysis)module, RAM Information Module, and RCM Analysis Module. The System and Operations Information Module provides the user interface for collection of systems and operations related data and the FMECA module provides a groundwork for the RCM analysis. The algorithms to calculate the reliability and failure rate for Weibull distribution and formulae to calculate the task intervals and task costs are proposed in the RAM and RCM Analysis Module respectively. There is a good possibility of applying RCM to other rolling stock maintenance systems if the benefit that RCM can brings to the maintenance world is fully recognized.

• Journal of the Korean Institute of Telematics and Electronics C
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• v.35C no.12
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• pp.85-98
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• 1998

This paper proposes a new design method of neuro-FLC by the Lamarckian co-adaptation scheme that incorporates the backpropagation learning into the GA evolution in an attempt to find optimal design parameters (fuzzy rule base and membership functions) of application-specific FLC. The design parameters are determined by evolution and learning in a way that the evolution performs the global search and makes inter-FLC parameter adjustments in order to obtain both the optimal rule base having high covering value and small number of useful fuzzy rules and the optimal membership functions having small approximation error and good control performance while the learning performs the local search and makes intra-FLC parameter adjustments by interacting each FLC with its environment. The proposed co-adaptive design method produces better approximation ability because it includes the backpropagation learning in every generation of GA evolution, shows better control performance because the used COG defuzzifier computes the crisp value accurately, and requires small workspace because the optimization procedure of fuzzy rule base and membership functions is performed concurrently by an integrated fitness function on the same fuzzy partition. Simulation results show that the Lamarckian co-adapted FLC produces the most superior one among the differently generated FLCs in all aspects such as the number of fuzzy rules, the approximation ability, and the control performance.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.48 no.4
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• pp.49-58
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• 2011

Typically, vision-based AR systems operate on the basis of prior knowledge of the environment such as a square marker. The traditional marker-based AR system has a limitation that the marker has to be located in the sensing range. Therefore, there have been considerable research efforts for the techniques known as real-time camera tracking, in which the system attempts to add unknown 3D features to its feature map, and these then provide registration even when the reference map is out of the sensing range. In this paper, we describe a real-time camera tracking framework specifically designed to track a monocular camera in a desktop workspace. Basic idea of the proposed scheme is that a real-time camera tracking is achieved on the basis of a plane tracking algorithm. Also we suggest a method for re-detecting features to maintain registration of virtual objects. The proposed method can cope with the problem that the features cannot be tracked, when they go out of the sensing range. The main advantage of the proposed system are not only low computational cost but also convenient. It can be applicable to an augmented reality system for mobile computing environment.

• Journal of the Ergonomics Society of Korea
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• v.34 no.1
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• pp.29-43
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• 2015

Objective: The aim of this study is to develop management guidelines and a procedure for an anthropometric suitability assessment of the main control room (MCR) in nuclear power plants (NPPs). Background: The condition of the MCR should be suitable for the work crews in NPPs. The suitability of the MCR depends closely on the anthropometric dimensions and ergonomic factors of the users. In particular, the MCR workspace design in NPPs is important due to the close relationship with operating crews and their work failures. Many documents and criteria have recommended that anthropometry dimensions and their studies are one of the foremost processes of the MCR design in NPPs. If these factors are not properly considered, users can feel burdened about their work and the human errors that might occur. Method: The procedure for the anthropometric suitability assessment consists of 5 phases: 1) selection of the anthropometric suitability evaluation dimensions, 2) establishment of a measurement method according to the evaluation dimensions, 3) establishment of criteria for suitability evaluation dimensions, 4) establishment of rating scale and improvement methods according to the evaluation dimensions, and 5) assessment of the final grade for evaluation dimensions. The management guidelines for an anthropometric suitability assessment were completed using 10 factors: 1) director, 2) subject, 3) evaluation period, 4) measurement method and criteria, 5) selection of equipment, 6) measurement and evaluation, 7) suitability evaluation, 8) data sharing, 9) data storage, and 10) management according to the suitability grade. Results: We propose a set of 17 anthropometric dimensions for the size, cognition/perception action/behavior, and their relationships with human errors regarding the MCR design variables through a case study. The 17 selected dimensions are height, sitting height, eye height from floor, eye height above seat, arm length, functional reach, extended functional reach, radius reach, visual field, peripheral perception, hyperopia/myopia/astigmatism, color blindness, auditory acuity, finger dexterity, hand function, body angle, and manual muscle test. We proposed criteria on these 17 anthropometric dimensions for a suitability evaluation and suggested an improvement method according to the evaluation dimensions. Conclusion: The results of this study can improve the human performance of the crew in an MCR. These management guidelines and a procedure for an anthropometric suitability assessment will be able to prevent human errors due to inadequate anthropometric dimensions. Application: The proposed set of anthropometric dimensions can be integrated into a managerial index for the anthropometric suitability of the operating crews for more careful countermeasures to human errors in NPPs.

• Journal of Biomedical Engineering Research
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• v.29 no.1
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• pp.32-39
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• 2008

This paper reports on a realtime OS based master-slave configuration robot control system for laparoscopic surgery robot which enables telesurgery and overcomes shortcomings with conventional laparoscopic surgery. Surgery robot system requires control system that can process large volume information such as medical image data and video signal from endoscope in real-time manner, as well as precisely control the robot with high reliability. To meet the complex requirements, the use of high-level real-time OS (Operating System) in surgery robot controller is a must, which is as common as in many of modem robot controllers that adopt real-time OS as a base system software on which specific functional modules are implemened for more reliable and stable system. The control system consists of joint controllers, host controllers, and user interface units. The robot features a compact slave robot with 5 DOF (Degree-Of-Freedom) expanding the workspace of each tool and increasing the number of tools operating simultaneously. Each master, slave and Gill (Graphical User Interface) host runs a dedicated RTOS (Real-time OS), RTLinux-Pro (FSMLabs Inc., U.S.A.) on which functional modules such as motion control, communication, video signal integration and etc, are implemented, and all the hosts are in a gigabit Ethernet network for inter-host communication. Each master and slave controller set has a dedicated CAN (Controller Area Network) channel for control and monitoring signal communication with the joint controllers. Total 4 pairs of the master/slave manipulators as current are controlled by one host controller. The system showed satisfactory performance in both position control precision and master-slave motion synchronization in both bench test and animal experiment, and is now under further development for better safety and control fidelity for clinically applicable prototype.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.3
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• pp.383-388
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• 2011

This paper presents to study the accuracy improvement of the laser navigation using FIS(fuzzy inference system) and the reliability. As wireless guidance system, the top-mounted laser with the laser navigation can rotate $360^{\circ}$ with phototransistor or other optical sensors that read the return signal from reflectors mounted at the perimeter of the workspace. The type of major existing guidance systems is a wire guidance system. Because they have high accuracy and fast response time, they are used to most industries. However, their installation cost is very expensive and maintenance is very difficult because their sensors are placed approximately 1 inch below the ground or embedded in the floor. To solve those problems, the laser navigation was developed as a wire guidance system. It does not need to reconstruct a floor or ground. And it can reduce costs of installation and maintenance because changing the layout is easy. However, it is difficult to apply to an industrial field because it is easily affected by disturbances which cause loss and damage of data, and has slow respond time. Therefore, we study the accuracy improvement of the laser navigation. The proposed method is a correction method using reliability of the laser navigation. here, reliability is calculated by FIS which is designed with the analyzed characteristics of the laser navigation. For performance comparison, we use original position data form the laser navigation and position data corrected by original reliability from the laser navigation. In experimental result, we verified that the performance of the proposed method compared the others is improved by about 50% or more.