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이태재,이훈,조동일,Lee, Tae-Jae,Lee, Hoon,Cho, Dong-Il Dan 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.9
This paper presents a new forward-viewing mono-camera based obstacle detection algorithm for mobile robots. The proposed method extracts the coarse location of an obstacle in an image using inverse perspective mapping technique from sequential images. In the next step, graph-cut based image labeling is conducted for estimating the exact obstacle boundary. The graph-cut based labeling algorithm labels the image pixels as either obstacle or floor as the final outcome. Experiments are performed to verify the obstacle detection performance of the developed algorithm in several examples, including a book, box, towel, and flower pot. The low illumination condition, low color contrast between floor and obstacle, and floor pattern cases are also tested.
이태재(Tae-Jae Lee),이훈(Hoon Lee),조동일(Dong-Il “Dan” Cho) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.4
This paper presents a new forward-viewing mono-camera based obstacle detection algorithm for mobile robots. The proposed method extracts the coarse location of an obstacle in an image using inverse perspective mapping technique from sequential images. In the next step, graph-cut based image labeling is conducted for estimating the exact obstacle boundary. The graph-cut based labeling algorithm labels the image pixels as either obstacle or floor as the final outcome. Experiments are performed to verify the obstacle detection performance of the developed algorithm in several examples, including a book, box, towel, and flower pot. The low illumination condition, low color contrast between floor and obstacle, and floor pattern cases are also tested.
전방 모노카메라 기반 SLAM을 위한 다양한 특징점 초기화 알고리즘의 성능 시뮬레이션
이훈(Hun Lee),김철홍(Chul Hong Kim),이태재(Tae-Jae Lee),조동일(Dong-Il “Dan” Cho) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.10
This paper presents a performance evaluation of various feature-initialization algorithms for forward-viewing mono-camera based simultaneous localization and mapping (SLAM), specifically in indoor environments. For mono-camera based SLAM, the position of feature points cannot be known from a single view; therefore, it should be estimated from a feature initialization method using multiple viewpoint measurements. The accuracy of the feature initialization method directly affects the accuracy of the SLAM system. In this study, four different feature initialization algorithms are evaluated in simulations, including linear triangulation; depth parameterized, linear triangulation; weighted nearest point triangulation; and particle filter based depth estimation algorithms. In the simulation, the virtual feature positions are estimated when the virtual robot, containing a virtual forward-viewing mono-camera, moves forward. The results show that the linear triangulation method provides the best results in terms of feature-position estimation accuracy and computational speed.
해석적 중복을 이용한 Steer-by-Wire 시스템의 감지기에 대한 이상진단 기법
문승욱(SeungWuk Moon),지용관(YongKwan Ji),허건수(Kunsoo Huh),조동일(Dong-il "Dan" Cho),박장현(Jhang-Hyon Park) 한국자동차공학회 2005 한국자동차공학회 춘 추계 학술대회 논문집 Vol.2005 No.5_1
This paper proposes an analytical redundancy technique for fault diagnostics of the sensor in steer-by-wire system. We use incorporating vehicle dynamics modeling into the design of a diagnostic system for steer-by-wire system. The use of a model of vehicle dynamics improves the speed and accuracy of the diagnoses. The proposed fault diagnostics algorithm is based on parity-space methods to generate residuals. To reduce the effects of modeling uncertainty and dynamic transients, the residuals are subject to filtering. We construct diagnostic system consisting residual threshold for detection and isolator with using the directional residual vector.
레이저의 산란을 최소화하기 위해 최적화된 외곽선을 가진 평면 이온 트랩의 설계 및 제작 공정 개발
최광열(Kwangyeul Choi),유승우(Seungwoo Yoo),정창현(Changhyun Jung),조동일(Dong-Il “Dan” Cho),김태현(Taehyun Kim) 한국통신학회 2022 한국통신학회 학술대회논문집 Vol.2022 No.2
이온 트랩 기반의 양자중계기 및 양자컴퓨팅 시스템은 이온을 포획하고 양자 게이트를 구현하기 위해 다양한 레이저를 이온 트랩 칩 표면과 평행하게 조사해야 한다. 이때, 긴 광경로는 칩의 평면으로부터 레이저의 산란을 증가시켜 이온 포획의 안정성을 저하시킨다. 이러한 문제점을 최소화하기 위해 본 논문에서는 새로운 형태의 외곽선을 가진 칩 구조를 설계하고 이를 제작하는 공정을 소개한다.
지능형 교통시스템을 위한 분산형 기지국의 최적경로 탐색 알고리즘
윤장열(Jangyeol Yoon),지용관(YongKwan Ji),허건수(Kunsoo Huh),조동일(Dong-il "Dan" Cho),박장현(Jhang-Hyon Park) 한국자동차공학회 2005 한국자동차공학회 춘 추계 학술대회 논문집 Vol.2005 No.5_1
In current ITS(Intelligent Transportation System), most route guidance services use cellularphone, PDA and navigation kit. Since these systems are depend on unilateral telecommunication, they guide almost drivers with same route. And it may cause traffic jam. Therefore, telecommunication system which can telecommunicate between vehicle and base station bilaterally and algorithm which is able to divide traffic flow are necessary to realize the efficient route guidance system.<br/> This paper introduces bilateral telecommunication system and proposes indexes such as 'Driving capability' and 'Route difficulty' to improve the performance of route guidance system. We can divide traffic flow by setting up the initial route individually based on driving capability and route difficulty in this system. If there is a traffic jam in the initial route, we can modify the route in local area temporarily by route modification algorithm. Therefore, we can realize the efficient route guidance system using above methods. The simulation results presented in this paper verify the proposed method.
공경철(Kyoungchul Kong),차진훈(Jinhoon Cha),전도영(Doyoung Jeon),조동일(Dong-il Dan Cho) 대한기계학회 2005 대한기계학회 춘추학술대회 Vol.2005 No.5
Recently the technology of capsule endoscopy has been developed dramatically and many researchers are making efforts to combine surgical function into the capsule endoscope. In this paper, the micro biopsy device which is a part of the capsule endoscope is proposed. The proposed device consists of a trigger with paraffin block, rotational tissue-cutting razor with a torsion spring, and controller. They are designed to operate sequentially so that the tissue sampling, sealing, and fixing are achieved in one operation. It becomes possible for the capsule endoscope to get sample tissue inside the small intestine which can not be reached by a conventional biopsy device. Experiments were performed with the small intestine of a cow and rabbit. In conclusion, the tissue samples of 1.0㎜ long were extracted successfully by the proposed biopsy device of the capsule endoscope.