• Proceedings of the Korea Information Processing Society Conference
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• 2015.10a
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• pp.1341-1344
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• 2015

In this paper, the designed fish robot is researched and developed for aquarium underwater robot. This paper is a study on how the outside technology merely to find the location of fish robots without specific sensor or internal devices. This model is designed to detect the position of the Robotic Fish in the Mat lab and Simulink. This intends to recognize the shape of the tank via a video device such as a camera or camcorder using an image processing technique to identify the location of the robotic fishes. Here, we are applied the two methods, one is Hom - Schunk Method and second one is newly proposed method that is the comparing image data algorithm. The Horn - Schunck Method is used to obtain the velocity for each pixel in the image and the comparing image data algorithm is proposed to obtain the position with comparing two video frames and assumes a constant velocity in each video frame.

• The Journal of the Acoustical Society of Korea
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• v.38 no.6
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• pp.630-636
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• 2019

Passive Ranging Sonar (PRS) is a type of passive sonar consisting of three sub-array on the port and starboard, and has a characteristic of detecting a target and calculating a bearing and a distance. The bearing and distance calculation requires physical sub-array position information, and the bearing and distance accuracy performance are deteriorated when the position information of the sub-array is inaccurate. In particular, it has a greater impact on distance accuracy performance using plus value of two time-delay than a bearing using average value of two time-delay. In order to improve this, a study on sub-array position error estimation and error compensation is needed. In this paper, We estimate the sub-array position error based on enetic algorithm, an optimization search technique, and propose a method to improve the performance of distance accuracy by compensating the time delay error caused by the position error. In addition, we will verify the proposed algorithm and its performance using the sea-going data.

• Journal of Welding and Joining
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• v.16 no.5
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• pp.119-133
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• 1998

To implement full automation in pipe welding, it si most important to develop special sensors and their related systems which act like human operator when detecting irregular groove conditions. In this study, an automatic pipe Gas Metal Arc Welding (GMAW) system was proposed to full control pipe welding procedure with intelligent sensor systems. A five-axes manipulator was proposed for welding torch to automatically access to exact welding position when pipe size and welding angle were given. Pool status and torch position were measured by using a weld-pool image monitoring and processing technique in root-pass welding for weld seam tracking and weld pool control. To overcome the intensive arc light, pool image was captured at the instance of short circuit of welding power loop. Captured image was processed to determine weld pool shape. For weld seam tracking, the relative distance of a torch position from the pool center was calculated in the extracted pool shape to move torch just onto the groove center. To control penetration of root pas, gap was calculated in the extracted pool image, and then weld conditions were controlled for obtaining appropriate penetration. welding speed was determined with a fuzzy logic, and welding current and voltage were determined from a data base to correspond to the gap. For automatic fill-pass welding, the function of human operator of real time weld seam control can be substituted by a sensor system. In this study, an arc sensor system was proposed based on a fuzzy control logic. Using the proposed automatic system, root-pass welding of pipe which had gap variation was assured to be appropriately controlled in welding conditions and in torch position by showing sound welding result and good seam tracking capability. Fill-pass welding by the proposed system also showed very successful result by tracking along the offset welding line without any control of human operator.

• The Journal of the Acoustical Society of Korea
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• v.36 no.5
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• pp.293-299
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• 2017

Small unmanned platforms maneuvering underwater are the key naval future forces, utilized as the asymmetric power in war. As a method of detecting and identifying such platforms, we introduce a property estimation technique based on an iterative numerical analysis. The property estimation technique can estimate not only the position of a target but also its physical properties. Moreover, it will have a potential in detecting and classifying still target or multiple targets. In this study, we have conducted the property estimation of an small underwater target using the data acquired from the lake experiment. As a result, it shows that the properties of a small platform may be roughly estimated from the in site data even using one channel.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1934-1935
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• 2011

In order for a service robot to perform several tasks, basically autonomous navigation technique such as localization, mapping, and path planning is required. The localization (estimation robot's pose) is fundamental ability for service robot to navigate autonomously. In this paper, we propose a new system for point pattern matching based visual global localization using spot lightings in ceiling. The proposed algorithm us suitable for system that demands high accuracy and fast update rate such a guide robot in the exhibition. A single camera looking upward direction (called ceiling vision system) is mounted on the head of the mobile robot and image features such as lightings are detected and tracked through the image sequence. For detecting more spot lightings, we choose wide FOV lens, and inevitably there is serious image distortion. But by applying correction calculation only for the position of spot lightings not whole image pixels, we can decrease the processing time. And then using point pattern matching and least square estimation, finally we can get the precise position and orientation of the mobile robot. Experimental results demonstrate the accuracy and update rate of the proposed algorithm in real environments.

• Journal of Biosystems Engineering
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• v.25 no.5
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• pp.415-420
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• 2000

It is very difficult to mechanize tomato harvesting because identifying a target tomato which is partly covered by leaves and stalks is not easy. This research was conducted to develop tomato harvesting robot which can identifying a target tomato, determining its dimensional position, and harvesting it in a limited time. Followings were major findings in this study. The first visual system of the robot was composed of two CCD cameras, however, which could not detect tomato not placed on the center of lens and partly covered by leaves or stalks. Secondary visual device, combined with two cameras and pan tilting was designed which could decreased the positioning errors within $\pm$10mm but still not enough for covered tomato by any obstacles. Finally, laser detector was added to the visual system that could reduce the position detecting errors within 10mm in X-Y direction and 5mm in Z direction for the covered tomatoes.

• Journal of Electrical Engineering and Technology
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• v.6 no.1
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• pp.111-118
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• 2011

In recent years, various types of partial discharge (PD) methods such as capacitive, inductive, electromagnetic, and acoustic coupling techniques have been developed for diagnosing rotating machines. An electromagnetic (EM) probe, which is an inductively coupled type of sensor, is required for detecting corona and internal discharges during off-line tests. In this study, a new technique for enhancing the measurement sensitivities for corona and internal discharge based on an EM inductive position sensor is proposed. An EM probe that winds wires around horseshoe-shaped and cylindershaped ferrites as helices is designed and optimized for the implementation of off-line PD monitoring of the stator winding of a rotating machine. The measurement system based on this design is implemented, and it is verified from the results of the experiment performed in this study that the probe provides similar performance as existing commercial products.

• Journal of Electrical Engineering and Technology
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• v.2 no.3
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• pp.396-400
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• 2007

A novel technique has been proposed and related experimental works have been performed in order to detect the partial discharges and the location of the possible defects introduced into the Gas Insulated Switchgear. For this purpose, a prototype HY Pockels sensor has been developed and then employed in order to investigate its field applicability for finding the location of the defects using a 170kV GIS mock-up. Our proposed sensor enables us to measure the electric field variation due to the PD occurrence. In addition, the different PD patterns are observed, which might be dependant on the location and the distance of the sensor with respect to the PD source. Throughout this work, its linear response has been proved to be admissible as a function of the applied voltage. And also the position of the PD source might be distinguished by comparing the PD patterns.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2003.05a
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• pp.431-434
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• 2003

As a wavelet transform which is presented as a new technique of signal processing field has time and frequency localization capabilities, it's possible for multiresolution analysis as well as easy to analyze various signal. So it is being applied in many fields recently. And when two wavelet base were designed to form Hilbert transform pair, wavelet pair show superior performance than the existing DWT(discrete wavelet transform) in data detection of pulse type. Therefore in this paper, we detected position of impulse noise by using two dyadic wavelet base which is designed by truncated coefficient vector.

• Proceedings of the IEEK Conference
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• 2002.06e
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• pp.239-242
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• 2002

This paper has been realized PCB insert machine automation system. For the reduction of the install programming time as well as possible, a new technique is addressed. In detail, an image frame is initially divided into one area whose size decreases according to the distance from hole to hole on PCB. Searching center of hole using a threshold method after median filtering. At every moment of mouse click, area is shifted to locate the hole, and detect a center of hole in a new area. Experimental results are demonstrated to verify the superiority of this scheme in detecting position of part by comparing with a man of experience.