• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.839-846
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• 2016

Bin picking is a task of picking a small object from a bin. For accurate bin picking, the 3D pose information, position, and orientation of a small object is required because the object is mixed with other objects of the same type in the bin. Using this 3D pose information, a robotic gripper can pick an object using exact distance and orientation measurements. In this paper, we propose a 3D vision technique for accurate measurement of 3D position and orientation of small objects, on which a paper label is stuck to the surface. We use a maximally stable extremal regions (MSERs) algorithm to detect the label areas in a left bin image acquired from a stereo camera. In each label area, image features are detected and their correlation with a right image is determined by a stereo vision technique. Then, the 3D position and orientation of the objects are measured accurately using a transformation from the camera coordinate system to the new label coordinate system. For stable measurement during a bin picking task, the pose information is filtered by averaging at fixed time intervals. Our experimental results indicate that the proposed technique yields pose accuracy between 0.4~0.5mm in positional measurements and $0.2-0.6^{\circ}$ in angle measurements.

• Korean Journal of Optics and Photonics
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• v.23 no.3
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• pp.97-102
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• 2012

In general, one of the methods used to measure distortion is to use the full image of the regular pattern. However, because of low accuracy, this method is mainly used for an optical system such as a camera.. In order to measure distortion with high accuracy less than 1um, one can use the method of measuring the exact position of a mask image. In this case, a high accuracy stage with a laser encoder is required. In this paper, we investigate measurement of the distortion of high accuracy with a simple manual stage. The main idea is that we split and measure the mask image with the overlapping area by using CCD or CMOS, and then we get an exact position of the mask image by integrating the adjacent split images. We use the Canny Edge Detection method to get the position information of the mask image and we researched the process to exactly calculate distortion by using coordinate transformations and a least square method.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.6
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• pp.1123-1128
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• 2016

Recently BLE beacon has been widely used as a method for measuring the indoor location in the IoT Technique. But it requires a filtering technique for the measurement of the correct position. It is used the most fixed beacon. It is not accurate that calculates the position information through the identification of the beacon signal. Therefore, filtering is important. So it takes a lot of time, position measurement and filtering. Thus, we is to measure the exact position at the indoor using a mobile beacon. The measured beacon signal is composed of an ontology for reuse in the same pattern. RSSI is measured the receiver is the distance of the beacon. And this value configure the location ontology to be normalized by the relationship analysis between the values. The ontology is a method for calculating the position information of the moving beacon. It can detect fast and accurate indoor position information and provide the service.

• International Journal of Safety
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• v.7 no.2
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• pp.1-6
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• 2008

In this paper, the effects of the position and the angle of the potential probes on the measurements of the ground resistance using the fall-of-potential method are described and the testing techniques for minimizing the measuring errors are proposed. The fall-of-potential method is theoretically based on the potential and current measuring principle and the measuring error is primarily caused by the position and angle of auxiliary probes. In order to analyze the relative error in the measured value of the ground resistance due to the position of the potential probe, the ground resistance was measured for the case in which the distance of the current probe was fixed at 50[m] and the distance of the potential probe was located from 10[m] to 50[m]. Also, the potential probe was located in turn at $30[^{\circ}]$, $45[^{\circ}]$, $60[^{\circ}]$, $90[^{\circ}]$, and $180[^{\circ}]$. As a consequence, relative error decreased with increasing distance of the potential probe and decreasing angle between the current probe and potential probe. The results could help to determine the position of the potential probe during the ground resistance measurement.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2016.05a
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• pp.326-327
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• 2016

A study on Ontology-based indoor positioning techniques using BLE Beacon. Recently BLE beacon has been widely used as a technique for measuring the indoor location. But it requires a filtering technique for the measurement of the correct position, and uses the most fixed beacon. It is not accurate that calculates the position information through the identification of the beacon signal. Therefore, filtering is important. So it takes a lot of time, position measurement and filtering. Thus, we is to measure the exact position at the indoor using a mobile beacon. The measured beacon signal is composed of an ontology for reuse in the same pattern. RSSI is measured the receiver is the distance of the beacon. And this value configure the location ontology to be normalized by the relationship analysis between the values. The ontology is a method for calculating the position information of the moving beacon. It may be detected fast and accurate indoor position information.

• Journal of Space Technology and Applications
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• v.3 no.1
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• pp.58-71
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• 2023

This paper describes a navigation system design for horizontal position estimation using inertial measurement sensors and celestial navigation. In space, stars are widely spread objects in the celestial sphere and have been used mainly to obtain attitude information through star observation. However, it is also possible to obtain information about the horizontal position with the altitude of the star. It is called celestial navigation which is the same principle that former navigators used to locate themselves while sailing on the sea. In particular, in deep space where GPS is not available, it is important to obtain information on the location by making use of stars that are relatively easy to observe. Therefore, we introduce a navigation system that can estimate horizontal position and design two types of systems, loosely coupled and tightly coupled depending on how the measurements are utilized. It is intended to help in the future design of navigation system using celestial navigation by simulation studies that not only verify whether the system correctly estimates horizontal position but also comparing the performance of loosely and tightly coupled methods.

• Proceedings of the KSRS Conference
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• 1999.11a
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• pp.281-284
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• 1999

Ground truth measurement system using RC helicopter is very useful to measure BRDF. The helicopter is operated human operator but it can keep its position by GPS aided hovering system. We developed the measurement system and have done ground truth in Mongolia in the summer of 1999 and have made sure the system can measure BRDF expectedly.

• Journal of the Korean Society of Safety
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• v.17 no.3
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• pp.13-21
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• 2002

The tincture toughness is evaluated by using U(compact tension) and 3PB(three point bending) specimens of AI alloys far propulsive engine. To evaluate the static fracture toughness, strain gage method is used. The static fracture toughness obtained from the strain measurement is compared with the results by ASTM standard and FEM analysis. For the reliable evaluation of fracture toughness, strain gages are attached at various positions.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.158-161
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• 2004

The isometric position of the anterior cruciate ligament was calculated during flexion-extension. Flexion-extension motion data of the knee joint were obtained by Fastrak, a three-dimensional motion measurement system. A subject was seated on a flat table and the tibia sensor position was measured with the femur fixed at the table. A three-dimensional knee model was constructed using a graphic tool to simulate the knee motion. Three surgical positions of the femoral tunnel were selected and the distances between the determined tibial tunnel and each femoral tunnel were calculated. The maximum elongation position was found to be in the ten thirty direction of clock.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.2
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• pp.140-144
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• 2003

A navigation sensor system for outdoor AGV(Automatic Guided Vehicle) using AMR(Anisotropic Magnetoresitive) sensors is described. We derive a formula of the position of AMR sensor using the measured magnetic field intensity due to permanent magnet with constant distance. The system consists of sensor board. sensor control board and position processing board. The sensor board measures magnetic field intensity, the sensor control board controls the measurement of six sensors sequentially, and the position processing board computes the accurate position of the permanent magnet using Least Square Method. We arranged six sensors at intervals of 30cm and measured the position of the permanent magnet moving at intervals of 30cm. Experimental results showed that we can get standard deviation of 2mm and error of &\pm&4.5mm at a height of 20cm from the permanent magnet.