• Journal of the Korea Academia-Industrial cooperation Society
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• v.9 no.1
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• pp.1-8
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• 2008

We propose how to program the off-line buffing robot path along shoes' outsole shape in the footwear buffing process by a 5-axis microscribe system like robot mechanism. The microscribe system we developed consists of a 5-axis robot link with a turn table, a signal processing unit, PC and an application software program. Itmakes a robot path on the shoes' upper in accordance with the movement of a microscribe with many joints. The developed system calculates the encoder pulse values for the microscribe arm's rotation and transmits the angle pulse values to the PC through a processing unit. Denavit-Hartenberg's(D-H) direct kinematics is used to make the global coordinate from microscribe joint one. Problems with the microscribe's kinematics can be solved efficiently and systematically by D-H representation. With the coordinate values calculated by D-H equation, our system can draw a buffing gauge-line on the upper sole. We obtain shoes' outline points, which are 2 outlines coupled with the points and the normal vector based on the points. By applying the system to the buffing robot in a flexible manufacturing system, it can be used effectively to program the path of a real buffing robot.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.3
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• pp.2117-2122
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• 2015

Wide FOV(Field-of-View) is required to contain much more visual information in a single image. The wide FOV imaging system has many industrial applications such as surveillance, security, tele-conference, and mobile robots. In order to obtain a wide FOV panorama image, an imaging system with hyperbolic cylinder mirror is proposed in this paper. Because the horizontal FOV is more important than the vertical FOV in general, a hyperbolic cylinder mirror is designed in this paper, that has a hyperbolic curve in the horizontal surface and is the same as a planar mirror in the vertical axis. Imaging model of the proposed imaging system is presented by ray tracing method and the hyperbolic cylinder mirror is implemented. The imaging performance of wide FOV is verified by experiments in this paper. This imaging system is cost-effective and is possible to acquire a wide panorama image having 210 degree horizontal FOV in real-time without an extra image processing.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.23 no.4
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• pp.110-126
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• 2024

Several studies have focused on developing the safest and most efficient path from the current location to the available parking area for vehicles entering a parking lot. In the present study, the parking lot structure and parking environment such as the lane width, width, and length of the parking space, were vaired by referring to the actual parking lot with vertical and horizontal parking. An automatic parking path planning model was proposed by collecting path data by various setting angles and environments such as a starting point and an arrival point, by putting the collected data into a deep learning model. The existing algorithm(Hybrid A-star, Reeds-Shepp Curve) and the deep learning model generate similar paths without colliding with obstacles. The distance and the consumption time were reduced by 0.59% and 0.61%, respectively, resulting in more efficient paths. The switching point could be decreased from 1.3 to 1.2 to reduce driver fatigue by maximizing straight and backward movement. Finally, the path generation time is reduced by 42.76%, enabling efficient and rapid path generation, which can be used to create a path plan for autonomous parking during autonomous driving in the future, and it is expected to be used to create a path for parking robots that move according to vehicle construction.