• The Journal of Korea Robotics Society
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• v.11 no.1
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• pp.26-32
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• 2016

A variable release torque-based compliance spring-clutch (VCSC) is presented. VCSC is a safe joint to reduce the impact of collisions between humans and robots. It is composed of four functional plates, balls, springs to make some functions in compliant movement, release mechanism, gravity compensation during its work. Also, it can estimate torque applied to a joint by using distance sensor and parameters of cam profile. The measured variable torque of prototype is 4.3~7.6 Nm and release torque is 4.3 Nm. In our future studies, a calibration for torque estimation will be conducted.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.586-588
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• 2004

Although stable control algorithm has been implemented to the biped robot, the stability is not guaranteed because of encoder errors and/or rigid body elastics. Hence precise body pose estimation is required for more natural and long term walk. Specially pelvis sloping by gravity or uneven ground on landing place are most critical reason for undulated motion. In order to overcome these difficulties an estimation system for foot position and orientation using PSD sensors and Gyro sensors is proposed along with calibration algorithm and experimental verification.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.263-266
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• 2002

An optical method for surface roughness estimation based on statistical analysis of the light intensity of a scattered laser beam pattern. The method is very simple but has a disadvantage that no more information than the averaged roughness is estimated. In this study a new try was conducted to derive more advanced surface information from the details of the light intensity distribution. Some periodic ripples among the light intensity distribution being assumed to relate with scratch left on the machined surface, a corresponding surface profile is estimated from the ripples using FFT and IFFT algorithm. IFFT technique is used to extract some dominant signal components among the intensity distribution. Compared to the measured profiles by a stylus type surf-tester, the profiles obtained through the proposed method are probably acceptable in a sense of the profile shape. Calibration of the amplitude needs more works in the future.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.3
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• pp.248-254
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• 2006

It is necessary to improve the exactness and adaptation of the working environment for the intelligent robot system. The vision sensor have been studied for a long time at this points. However, it has many processes and difficulties for the real usages. This paper proposes a visual servoing in the virtual environment to support OLP(Off-Line-Programming) path compensation and supplement the problem of complexity of the old kinematical calibration. Initial robot path could be compensated by pixel differences between real and virtual image. This method removes the varies calibrations and 3D reconstruction process in real working space. To show the validity of the proposed approach, virtual space servoing with stereo camera is carried out with WTK and openGL library for a KUKA-6R manipulator and updated real robot path.

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.365-366
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• 2008

광학입자 계수기는 실내환경, 대기오염 및 콜린룸 등 입자크기분포 측정장비로 가장 많이 사용된다. 광학입자 계수기에 샘플링된 업자는 관측체적 내로 1개씩 통과 하며 산란된 빚은 집광장치에 의해 광검출기로 전달한다. 이때 산란광의 양에 비례하여 전압 (전류)의 세기로 변환하여 전기적 선호로서 나타나는 Pulse의 높이는 Calibration Data에 따라 업자의 크기로 변환하고 Pulse의 개수는 입자의 개수로 표시된다. 입자의 크기와 개수등 이용하여 부피로 환산 한 후 부유하는 입자의 평균 밀드를 이용하여 질량으로 환산시킨다. 이렇게 측정된 미세먼지 농도는 ZigBee 통신을 사용하여 구축한 시스템을 통해서 중앙부에서 실시간으로 먼지 농도를 알 수 있다. 특히 멀티흡 기능을 이용하여 건물 구조가 복잡하거나 층간의 통신, 꺾인 부분이나 사무실 안과 밖과 같은 무선 통신이 원할 하지 못하는 경우를 극복하여 미세먼지의 농도 값을 측정 할 수도 있다.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.24 no.12
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• pp.122-130
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• 2010

This paper presents an active ranging system based on laser structured-light image. The structured-light image processing is computationally efficient in comparison with the conventional stereo image processing, since the burdensome correspondence problem is avoidable. In order to achieve robustness against environmental illumination noise, an efficient image processing algorithm, i.e., integration of difference images with structured-light modulation is proposed. Distance equation from the measured structured light pixel distance and system parameter calibration are addressed in this paper. Experiments and analysis are carried out to verify performance of the proposed ranging system.

• Proceedings of the Korea Information Processing Society Conference
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• 2017.04a
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• pp.423-426
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• 2017

최근 스마트 기기의 사용 증가로 인해 자세 관련 질환도 크게 증가하고 있다. 이는 올바르지 않은 자세로 스마트 기기를 사용하는 것에 기인한 것으로 많은 사람들이 자신의 자세를 인식하지 못한 채 올바르지 않은 자세로 스마트 기기를 사용한다. 본 연구에서는 컴퓨터 및 스마트폰의 사용자가 자신의 앉은 자세 정보를 데이터로 인식하기 위해서 키넥트 센서에서 제공하는 골격 모델의 특징점을 추출하여 사용하였다. 이를 바탕으로 앉은 자세의 각도를 계산하여 자세의 올바름의 정도를 알려주는 앉은 자세 측정값 모델 방법과 이 모델에 기반한 시스템을 제안하였다. 본 논문에서는 제안하는 자세 측정 모델 및 시스템의 설계 및 구현을 설명하였고, 실험을 통해서 제안된 모델의 상용화 가능성을 살펴보았다.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.5
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• pp.92-98
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• 2003

A wind turbine monitoring system is essential equipment fur the performance evaluation and mechanical load analysis of a wind turbine. A monitoring system using LabVIEW is developed in this study. This system monitors signals from a meteorological mast, wind turbine generator, and tower. The discrete signals which are sampled at t Hz are automatically saved on a data file in the unit of a day. Besides these basic functions, the developed monitoring system has the other several capabilities. One of them is the information access from a remote PC through the internet. A vision image of the test site area and data files that are produced by LabVIBW software can be uploaded to the main computer located in a remote site. An emergency backup system using UPS fur the power loss on the monitoring HW is also prepared, A detail explanation for the developed wind turbine monitoring system is presented in this study.

• Bulletin of the Korean Space Science Society
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• 2008.10a
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• pp.31.4-32
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• 2008

The microwave instruments are used many areas of the space remote sensing and space science applications. The imaging radar of synthetic aperture radar (SAR) is well known microwave radar sensor for earth surface and ocean research. Unlike radar, microwave radiometer is passive instrument and it measures the emission energy of target, i.e. brightness temperature BT, from earth surface and atmosphere. From measured BT, the geophysical data like cloud liquid water, water vapor, sea surface temperature, surface permittivity can be retrieved. In this paper, the radiometer characteristics, system configuration and principle of BT measurement are described. Also the radiometer instruments TRMM, GPM, SMOS for earth climate, and ocean salinity research are introduce. As first korean microwave payload on STSAT-2, the DREAM (Dual-channels Radiometer for Earth and Atmosphere Monitoring) is described the mission, system configuration and operation plan for life time of two years. The main issues of DREAM unlike other spaceborne radiometers, will be addressed. The calibration is the one of main issues of DREAM mission and how it contribute on the space borne radiometer. In conclusion, the radiometer instrument to space science application will be considered.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2780-2782
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• 2005

In this paper, we present a mobile robot localization solution by using a Ubiquitous Vision System (UVS). The collective information gathered by multiple cameras that are strategically placed has many advantages. For example, aggregation of information from multiple viewpoints reduces the uncertainty about the robots' positions. We construct UVS as a multi-agent system by regarding each vision sensor as one vision agent (VA). Each VA performs target segmentation by color and motion information as well as visual tracking for multiple objects. Our modified identified contractnet (ICN) protocol is used for communication between VAs to coordinate multitask. This protocol raises scalability and modularity of thesystem because of independent number of VAs and needless calibration. Furthermore, the handover between VAs by using ICN is seamless. Experimental results show the robustness of the solution with respect to a widespread area. The performance in indoor environments shows the feasibility of the proposed solution in real-time.