• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.621-624
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• 1997

This paper presents the design procedure for soccer-playing rovots based on the centralized approach. Using a fast vision system, we obtain the configuration of each robot and then the host computer computes the desired motion and commands each robot directly via RF communication. The robot soccer game has a lot of problems such as obstacle avoidance, coordination between robots, dribbling the ball, and so on. To implement such motions, we think that the centralized approach seems to be more powerful than the distributed approach. We describe the technical tips for developing the robots in detail here and explain our strategy for getting the scores.

• ETRI Journal
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• v.35 no.6
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• pp.1021-1028
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• 2013

Automatic facial expression recognition is a widely studied problem in computer vision and human-robot interaction. There has been a range of studies for representing facial descriptors for facial expression recognition. Some prominent descriptors were presented in the first facial expression recognition and analysis challenge (FERA2011). In that competition, the Local Gabor Binary Pattern Histogram Sequence descriptor showed the most powerful description capability. In this paper, we introduce hybrid facial representations for facial expression recognition, which have more powerful description capability with lower dimensionality. Our descriptors consist of a block-based descriptor and a pixel-based descriptor. The block-based descriptor represents the micro-orientation and micro-geometric structure information. The pixel-based descriptor represents texture information. We validate our descriptors on two public databases, and the results show that our descriptors perform well with a relatively low dimensionality.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.406-406
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• 2000

In this study, as a part developing an unmanned container terminal (UCT), Ive designed and implemented an Autonomous Ground Vehicle (AGV) that can deliver containers in the port fast and safely as they are scheduled. It is preferable to research the intelligent UCT/AGV for delivering containers all day long without causing any trouble. For the sake of safe and fast AGV driving, we implemented a multiple-sensor system with vision, ultrasonic, and IR sensors and we adapted the hight-speed wireless LAN that satisfies the IEEE 802.11 Standard for hi-directional communication between the main processor in AGV and a host computer. The Pentium-III processor board mounted on the bottom frame in AGV combines and computes the information from sensors and controls the AGV driving. There are also the 80C196KC micro-controllers to control the actuating and steering motors. In addition, a steering function that is defined newly in this paper is heavily concerned in the mechanical design, and it plays an important role when AGV moves along a curve. Experimental results show the fast and safe delivery operations are possible with this UCT/AGV

• Journal of the Microelectronics and Packaging Society
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• v.24 no.2
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• pp.55-59
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• 2017

An optical method to inspect the 3-D shape of surface of Micro BGA is proposed, where spatially arranged LED light sources and specular reflection are considered. The reflected image captured by a vision system was analyzed to calculate the relative displacements of LED's in the image. Also, the statistics for all BGA's contained in a captured image are used together to find out the criteria for the detection of existing defects, and the usefulness of the proposed method is shown via experiments.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2424-2427
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• 2001

마이크로 매니퓰레이션에서는 제어에 활용 할 수 있는 센싱 정보의 제약, 마이크로 영역 특유의 물리현상 등으로 인하여 원하는 제어 성능을 달성하는데 큰 어려움이 따른다. 마이크로 영역의 여러 센싱 정보 중에서 특히 비젼 정보를 잘 활용하면 이러한 제약을 크게 완화할 수 있을 뿐만 아니라 실시간 영상처리를 통해 페루프 제어도 가능하다. 대부분의 마이크로 비젼 시스템에서는 초점 심도가 낮고 초점 영역의 선택에 제약이 따르기 때문에 종횡비가 큰 3차원 마이크로 부품을 인식하고 조작하는데 큰 어려움이 있다. 본 논문에서는 3차원 마이크로 부품의 조작을 위해, 초점 영역의 선택이 가능한 마이크로 비전 시스템을 제안하고 실험을 통하여 그 유용성을 실증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.149.4-149
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• 2001

In this paper, the multiple micro robot soccer playing system is introduced at first. Learning and evolving in artificial agents is a difficult problem, but on the other hand a challenging task. In our laboratory, this soccer studies mainly centered on single agent learning problem. The construction of such experimental system has involved lots of kinds of challenges such as robot designing, vision processing, motion controlling. At last we will give some results showing that the proposed approach is feasible to guide the design of common agents system.

• Journal of Welding and Joining
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• v.22 no.4
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• pp.7-11
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• 2004

현재 우리나라의 주력산업은 자동차, 선박, 항공 및 건설/토목과 같은 거시적인 산업과 전자, 반도체, 정보통신과 같은 미시적인 산업으로 나눌 수 있다. 이들 산업에 있어서 접합기술의 역할은 각종 부품 및 제품을 제조하는데 필요한 핵심 조립기술을 제공하는 것이다. 현대의 국제 산업의 큰 흐름을 살펴보면 첨단 ITㆍ나노 기술의 급속한 개발과 더불어 이들 기술을 응용한 부ㆍ제품들이 다기능, 소형 경량화 되어 가는 추세에 있다.(중략)

• Journal of Sensor Science and Technology
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• v.5 no.5
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• pp.69-77
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• 1996

In this paper, we fabricated the micro hotplate which consisted of a thin film heater(Pt/Cr bilayers) sandwiched with the thermal oxide and E-beam evaporated oxide. And we studied the electrical and the structural properties of Pt/Cr bilayers due to annealing temperature. When we compared the temperature measured from type k thermocouples with the temperature acquired from I.R. thermo-vision system according to the variations of emissivity, the emissivity of I-beam evaporated oxide was 0.5. The sheet resistance of Pt/Cr bilayers didn't depend on the Cr layer thickness, and it was considered as the existence of CrO between the Pt and the Cr layer. When the annealing temperature was increased from $500^{\circ}C$ to $700^{\circ}C$, the out-diffusions of Cr were increased(which was confirmed by AES depth profile) and the grain size of Pt(220) phase was enlarged also(analyzed by XRD and SEM photographs). From the results of XRD analysis and AES depth profile, the Pt/Cr bilayers annealed at $500^{\circ}C$ were more stable than any other cases in structural properties.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2435-2440
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• 2003

Manipulation of the nano/micro scale object has been a key technology in biology as the sizes of DNA, chromosome, nucleus, cell and embryo are within such order. For instance, for embryo cell manipulation, the cell injection is performed manually. The operator often spends over a year to carry out a cell manipulation project. Since the typical success rate of such operation is extremely low, automation of such biological cell manipulation has been asked. As the operator spends most of his time in finding the position of cell in the Petri dish and in injecting bio-material to the cell from the best orientation. In this paper, we propose a new strategy and a vision system, by which one can find, recognize and track nucleus, polar body, and zona pellucida of the embryo cell for automatic biomanipulation. The deformable template matching algorithm has been used in recognizing the nucleus and polar body of each cell. Result suggests that it outperforms the conventional methods.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.12C
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• pp.1157-1164
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• 2006

In this paper, we proposed a method for measuring accurate positions and sizes of package and balls in a micro BGA. To find defects of BGA accurately, we focused on finding positions of package and balls. After labeling, we detected connected components of package and balls using feature parameters. After the detection of package component, we measured position and size of package by employing rectangular model which was constructed by the package information. After the detection of the ball components, we measured positions and diameters of balls by employing circular models which were constructed by the ball informations. We did calibration based on landmarks to measure real length, and we compared the measured results with the SEM data. Finally, we found that the accuracy of the proposed method is 94% in terms of ball's radius.