• Journal of Biosystems Engineering
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• v.26 no.1
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• pp.21-28
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• 2001

Major deficiencies of current automation scheme including various robots for bioproduction include the lack of task adaptability and real time processing, low job performance for diverse tasks, and the lack of robustness of take results, high system cost, failure of the credit from the operator, and so on. This paper proposed a scheme that could solve the current limitation of task abilities of conventional computer controlled automatic system. The proposed scheme is the man-machine hybrid automation via tele-operation which can handle various bioproduction processes. And it was classified into two categories. One category was the efficient task sharing between operator and CCM(computer controlled machine). The other was the efficient interface between operator and CCM. To realize the proposed concept, task of the object identification and extraction of 3D coordinate of an object was selected. 3D coordinate information was obtained from camera calibration using camera as a measurement device. Two stereo images were obtained by moving a camera certain distance in horizontal direction normal to focal axis and by acquiring two images at different locations. Transformation matrix for camera calibration was obtained via least square error approach using specified 6 known pairs of data points in 2D image and 3D world space. 3D world coordinate was obtained from two sets of image pixel coordinates of both camera images with calibrated transformation matrix. As an interface system between operator and CCM, a touch pad screen mounted on the monitor and remotely captured imaging system were used. Object indication was done by the operator’s finger touch to the captured image using the touch pad screen. A certain size of local image processing area was specified after the touch was made. And image processing was performed with the specified local area to extract desired features of the object. An MS Windows based interface software was developed using Visual C++6.0. The software was developed with four modules such as remote image acquisiton module, task command module, local image processing module and 3D coordinate extraction module. Proposed scheme shoed the feasibility of real time processing, robust and precise object identification, and adaptability of various job and environments though selected sample tasks.

• Conservation Science in Museum
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• v.26
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• pp.143-160
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• 2021

The Seoul Baekje Museum has been conducting excavations at the Ancient Tomb Complex in Seokchon-dong, Seoul (Historic Site No. 243), known to be tombs of the royal family and the ruling class during the Hanseong period of the Baekje Kingdom. In this study, gold earrings that were revealed during the excavation underwent scientific analysis and conservation treatment. Stereo microscopy, SEM, X-ray imaging, CT, and XRF were applied in the analysis, and the characteristics, internal structure, and composition of the earrings as well as their production method were investigated. The results confirmed that the main hoops of the gilt-bronze earrings were made of copper cores gilt using mercury amalgamation. The findings also revealed that the hexahedron in the middle pendant was made by connecting small rings using molten gold powder, and the pendant sphere at the end was formed by soldering two hemispheres. As for the two thin-hoop earrings, they showed similar surface compositions but were made using different methods, with one made from a copper core wrapped with a gold plate and the other made by bending a gold rod. The gold content varied depending on the item and the place of measurement, but overall the earrings showed a relatively high gold content of approximately 19 to 21K. The purity of the golden earrings and the sophisticated manufacturing techniques applied indicate the high status of the buried person and of the tomb complex in Seokchong-dong.