• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.120.1-120
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• 2001

This paper proposes a prototype of a safe and reliable wheelchair robot with Human Robot Interaction (HRI). Since the wheelchair users are usually the handicapped, the wheelchair robot must guarantee the safety and reliability for the motion while considering users intention, A single color CCD camera is mounted for input user´s command based on human-friendly gestures, and a ultra sonic sensor array is used for sensing external motion environment. We use face and hand directional gestures as the user´s command. By combining the user´s command with the sensed environment configuration, the planner of the wheelchair robot selects an optimal motion. We implement a prototype wheelchair robot, MR, HURI (Mobile Robot with Human Robot Interaction) ...

• Proceedings of the KSME Conference
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• 2002.08a
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• pp.423-426
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• 2002

A custom micro-PIV optics assembly has been used to measure the flow field inside a T-shaped microchannel. The micro-PIV system consists of microscope objectives of various magnifications, a dichroic cube, and an 8-bit CCD camera. Fluorescent particles of diameters 620nm have been used with a Nd:YAG laser and color filters. A programmable syringe pump with Teflon tubings were used to inject particle-seeded distilled water into the channel at flow rates of $420,\;40,\;60{\mu}L/hr$. The microchannels are fabricated with PDMS with a silicon mold, then $O_2-ion$ bonded onto a slide glass. Results show differences in flow characteristics and resolution according to fluid injection rates, and magnifications, respectively. The results show PIV results with vector-to-vector distances of $2{\mu}m$ with 32 pixel-square interrogation windows at $50{\%}$ overlap.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.176-180
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• 1992

At the KACC'91 conference, we proposed a method of automatic detection of shape of the faulty holes of a shadow mask which is used in a cathode-ray tube of a color television. In this method, the image data are taken from two areas of the mask with CCD camera. Comparing the shape of holes in these two areas by use of a signal processing technique, we can find any fault in the shape of holes. This paper describes the effect of smoothing filters of effectively finding the faulty holes from the difference image data. A computer simulation and actual experiment with a shadow mask have shown that this method of fault detection is very effective for practical use.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.2
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• pp.374-382
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• 2007

Robot mobility and intelligence become more important for robots to be used in various fields other than automation. The main purpose of providing mobility to a robot is to extend the robot's manipulability. In this paper, we introduce a small humanoid robot that can autonomously play golf as an example of incorporating robot intelligence, mobility, and manipulability. The robot has 12 degrees of freedom for legs and has various basic walking patterns. It can move to a desired position and change orientation by combining the basic waking patterns. The robot has a color CCD camera and can extract coordinates of the objects in the environments. The small humanoid robot has 8 degrees of freedom for arms and can play golf autonomously with two kinds of dexterous swing motions. Kinematic analysis of the robot arms, vision data processing for the recognition of the environments, algorithm for playing robotic golf have been performed or proposed. The experimental results show that the robot can play golf autonomously.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.434-438
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• 1996

In this paper we present the multi-agent robot system and the vision system developed for participating in micro robot soccer tournament. The multi-agent robot system consists of micro robot, a vision system, a host computer and a communication module. Micro robot are equipped with two mini DC motors witf encoders and gearboxes, a R/F receiver, a CPU and infrared sensors for obstacle detection. A vision system is used to recognize the position of the ball and opponent robots, position and orientation of our robots. The vision system is composed of a color CCD camera and a vision processing unit(AISI vision computer). The vision algorithm is based on morphological method. And it takes about 90 msec to detect ball and 3-our robots and 3-opponent robots with reasonable accuracy

• Journal of the Korean Society of Safety
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• v.19 no.3 s.67
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• pp.20-25
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• 2004

In order to obtain the flame Propagation speed in freely falling droplet suspension Produced by an ultrasonic atomizer, a light collecting probe named Multi-color Integrated Cassegrain Receiving Optics (MICRO) is applied to spark-ignited spherical spray flames. Two MICRO probes are used to monitor time-series signals of OH chemilumine-scence from two different locations in the flame. The flame propagation speed is calculated by detecting the arrival time difference of the propagating flame front. In addition, time-series images of OH chemiluminescence are simultaneously obtained by a high-speed digital CCD camera to ensure the validity of the MICRO system. Furthermore, relationship between the spray properties measured by phase Doppler anemometer (PDA) and the flame propagation speed are discussed with k different experimental conditions by changing the fuel injection rate. It was confirmed that the MICRO probe system was very useful and convenient to obtain the flame propagation speed and that the flame propagation speed was different depending on the spray properties.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.2
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• pp.178-183
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• 2008

Human motion analysis is researched as a new method for human-robot interaction (HRI) because it concerns with the key techniques of HRI such as motion tracking and pose recognition. To analysis human motion, extracting features of human body from sequential images plays an important role. After finding the silhouette of human body from the sequential images obtained by CCD color camera, the skeleton model is frequently used in order to represent the human motion. In this paper, using the silhouette of human body, we propose the feature extraction method based on hybrid skeleton for detecting human motion. Finally, we show the effectiveness and feasibility of the proposed method through some experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.5
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• pp.473-479
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• 2009

This paper proposes an efficient method to locate the automated guided vehicle (AGV) into a specific parking position using artificial visual landmark and vision-based algorithm. The landmark has comer features and a HSI color arrangement for robustness against illuminant variation. The landmark is attached to left of a parking spot under a crane. For parking, an AGV detects the landmark with CCD camera fixed to the AGV using Harris comer detector and matching descriptors of the comer features. After detecting the landmark, the AGV tracks the landmark using pyramidal Lucas-Kanade feature tracker and a refinement process. Then, the AGV decreases its speed and aligns its longitudinal position with the center of the landmark. The experiments showed the AGV parked accurately at the parking spot with small standard deviation of error under bright illumination and dark illumination.

• Journal of Biomedical Engineering Research
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• v.22 no.6
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• pp.527-534
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• 2001

Conventional stereo image acquisition uses a pair of frame grabbers in the CAS(Computer Assisted Surgery) system. In this Paper, we developed a synchronized stereo image acquisition method with only one frame grabber Two images from left and right camera each other. were merged with different color space without time delay and thus only one frame grabber was enough toy stereo image. Due to this synchronous Property of image acquisition, we can improve spatial revolution on the computation of 3D Position. Furthermore the overall costs for 3D navigator can be down and the extraction time of stereo Position tan be shortened.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 1999.10a
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• pp.321-332
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• 1999

It is important to detect objects movement for obstacle recognition and path searching of UCT(unmanned container transporters) with vision sensor. This paper shows the method to draw out objects and to trace the trajectory of the moving object using a CCD camera and it describes the method to recognize the shape of objects by neural network. We can transform pixel points to objects position of the real space using the proposed viewport. This proposed technique is used by the single vision system based on floor map.