• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.480-485
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• 2005

Perspective dynamical systems arise in machine vision problems, in which only perspective observation is available. This paper considers the state estimation problem for a rigid body moving in three dimensional spaces using the image data obtained by a CCD camera or some other means. Because the motion of the rigid body and the observed data are generally corrupted by noises, it is necessary to seek a state estimation method to reduce the influence of the noises. In this paper, by means of computer simulations for a simple example, we examine the sensitivity to the noises of the nonlinear observer developed in the recent paper ([1] R. Abdursul, H. Inaba and B. Ghosh, Nonlinear observers for perspective time-invariant linear systems, Automatica, vol. 40, Issue 3, pp. 481-490, 2004) and the effectiveness of the Extended Kalman Filter.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.180.1-180
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• 2001

In the autonomous vehicle, the reference lane is continually detected by machine vision system. And then the vehicle is steered to follow the reference yaw rates which are generated by the deviations of lateral distance and the yaw angle between the vehicle and the reference lane. To cope with the steering delay and the side-slip of vehicle, PI controller is introduced for the yaw rate feedback. And it is tuned by the simulation that the vehicle is modeled as 2 DOF verified by the results of the actual vehicle test. The lateral control algorithm by the yaw rate feedback has good performances of lane tracking and passenger comfort.

• Journal of Mechanical Science and Technology
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• v.16 no.3
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• pp.338-343
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• 2002

In the autonomous vehicle, the reference lane is continually detected by machine vision system. And then the vehicle is steered to follow the reference yaw rates which are generated by the deviations of lateral distance and the yaw angle between a vehicle and the reference lane. To cope with the steering delay and the side-slip of vehicle, PI controller is introduced by yaw rate feedback and tuned from the simulation where the vehicle is modeled as 2 DOF and 79 DOF and verified by the results of an actual vehicle test. The lateral control algorithm by yaw rate feedback has good performances of lane tracking and passenger comfort.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.5
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• pp.453-461
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• 2008

In this paper, new inspection method is proposed for the surfaces of lead frame and IC's. Optimal optical system and the accurate algorithm for the surface inspection are needed in machine vision area. The proposed optical system is composed of rectangular oblique light illumination and coaxial light illumination for the higher contrast and the results shows the better performances through experiments. The markings of IC surface are inspected using the accurate proposed method using the partitioned correlation coefficient, and the result shows reduction of under kill ratio compared to the previous method.

• IE interfaces
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• v.11 no.1
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• pp.191-197
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• 1998

This paper describes a machine vision algorithm for inspecting a crimpled terminal. The crimpled terminal is one of wire harness assemblies which transmit current or signals between a pair of electrical or electronic assemblies. The major defect considered is wire exposure on wire barrels. To detect the wire exposure, we develope a multi-layer perceptron in which three features extracted from the image of the crimpled terminal are used as input data. The three features are edginess, variance, and total number of valley points(TVP). The multi-layer neural network has been successfully tested on a number of real specimens collected from a wire-harness factory.

• Journal of Biosystems Engineering
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• v.25 no.2
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• pp.141-150
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• 2000

This study was carried out to de develop a control strategy of a fruit harvesting redundant robot. The method of generating a safe trajectory, which avoids collisions with obstracles such as branches or immature fruits, in the 3D(3-dimension) space using artificial potential field technique and virtual plane concept was proposed. Also, the method of setting reference velocity vectors to follow the trajectory and to avoid obstacles in the 3D space was proposed. Developed methods were verified with computer simulations and with actual robot tests. Fro the actual robot tests, a machine vision system was used for detecting fruits and obstacles, Results showed that developed control method could reduce the occurrences of the robot manipulator located in the possible collision distance. with 10 virtual obstacles generated randomly in the 3 D space, maximum rates of the occurrences of the robot manipulator located in the possible collision distance, 0.03 m, from the obstacles were 8 % with 5 degree of freedom (DOF), 8 % with 6-DOF, and 4% with 7-DOF, respectively.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.389-390
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• 2006

The goal of this paper is automation of a remocon inspection process using machine vision system. This system prevents error that is occurred by physical and spirit condition of human. Also this system has been developed to raise the reliability of remocon inspection. This system has been developed only using PC, CCD Camera and Visual C++ for universal workplaces. The performance of this system is an accuracy improvement of $2{\sim}3[%]$ and a processing time reduction of about 100[ms] against existing pattern matching method.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.70-75
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• 2001

In this study, we developed a measuring system utilizing machine vision for measuring the precision of positioning of micro stepping motor. The measuring system equipped with CCD Camera, ring illumination and diffuser measures the repeatability and the hysterisis of a micro stepping motor by means of the pointer attached to the motor directly. With the measuring system, it was possible to measure the precision of the micro stepping motor in the resolution of $50{\mu}m$.

• Journal of Biosystems Engineering
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• v.25 no.4
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• pp.287-292
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• 2000

The herbicide penetration on weed leaves was spatially analyzed by using chlorophyll fluorescent emission and machine vision technique. Velvetleaf and metribuzin were used as experimental materials in the study. The herbicide spray images were obtained by a combinaton of a fluorescent dye and a UV lighting system. The herbicide penetration was analyzed by means of detecting chlorophyll fluorescent emission under blue-green lighting. According to the experiment results, the number and the size of spray droplets decreased with coverage increasing. The herbicide penetrated mainly along leaf veins and the time for complete penetration over the whole leaf was approximately 100 minutes after herbicide spraying. When the coverage of herbicide droplets on the surface of leaves increased, the speed of herbicide penetration also increased. This study suggested a way of characerizing herbicide spatial penetration and distribution in leaves.

• International Journal of Quality Innovation
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• v.4 no.2
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• pp.50-64
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• 2003

During IC inspection, which includes the two parts of Mark and Lead, the deviation of IC on the tape occurring in high speed movements usually generates light reflection effect, which in turn causes errors in IC recognition as measured by machine vision system. This research filters the light reflection effect by developing standard components, identifies the correct position of IC Lead, hence fixes the measurement errors or non-measurability caused by light reflection, avoids the resulting discontinued operation of measuring system, and improves the productivity.