• Journal of Aerospace System Engineering
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• v.10 no.1
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• pp.86-94
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• 2016

In this paper, position control of focal plane compensation device using piezoelectric actuator is conducted. The forcal plane compensation device installed on earth observation satellite camera compensates micro-vibration from reaction wheels. In this study, four experimental models of the open-loop compensation device are derived using MATLAB system identification toolbox in the input range of 0~50Hz. Subsequently, the PID controller for each model is designed and the performance test of each controller is conducted through MATLAB/Simulink. According to frequency response analysis of the closed-loop compensation device system, the PID controller designed for 38~50Hz input range has enough tracking performance for the whole 0~50Hz input range. The maximum output error is about $1{\mu}m$ for the input range. The simulation results has been verified by the experimental method.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.1
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• pp.15-24
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• 1996

This paper presents a new method for visual servoing to control the pose(position and orientation) of the robotic manipulators for grasping the 3-D moving object whose initial pose and moving informations are unknown by using the stereo camera. The stereo camera is mounted on the end-effector of robotic manipulator. In order to track the current pose of robotic manipulator to the desired pose, we use the image Jacobian, which is described by the differential transform, relating the change in image feature point to the change in the object's pose with respect to the camera. In this paper the simple PD controller is adopted for the robotic manipulator to track the desired pose. Finally, the effectiveness of the proposed method is confirmed by some computer simulations.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.25 no.11
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• pp.1535-1542
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• 2001

A high resolution digital cinematic Particle Image Velocimetry(PIV) has been developed. The system consists of a high speed CCD camera, a continuous Ar-ion laser and a computer with camera controller. To improve the spatial resolution, we adopt a Recursive Technique for velocity interrogation. At first, we obtain a velocity vector fur a larger interrogation window size based on the conventional two-frame cross-correlation PIV analysis using the FFT algorithm. Based on the knowing velocity information, more spatially resolved velocity vectors are obtained in the next iteration step with smaller interrogation windows. When the correct velocity vector at the first step is found to be critical, a Multiple Correlation Validation(MCV) technique is applied to decrease the spurious vectors. The MCV technique turns out to improve SNR(Signal to Noise Ratio) of the correlation table. The developed cinematic PIV method has been applied to the measurement of the unsteady flow characteristics of a Rushton turbine mixer. A total of 3,245 instantaneous velocity vectors were successfully obtained with 4 ms time resolution. The acquired spatial resolution corresponds to the conventional high resolution digital PIV system using a 1K ${\times}$ 1K CCD camera.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.27 no.6
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• pp.726-735
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• 2003

A Process of 3-D Particle image velocimetry, called here, as '3-D volume PIV' was developed for the full-field measurement of 3-D complex flows. The present method includes the coordinate transformation from image to camera, calibration of camera by a calibrator based on the collinear equation, stereo matching of particles by the approximation of the epipolar lines, accurate calculation of 3-D particle positions, identification of velocity vectors by 3-D cross-correlation equation, removal of error vectors by a statistical method followed by a continuity equation criterior, and finally 3-D animation as the post processing. In principle, as two frame images only are necessary for the single instantaneous analysis 3-D flow field, more effective vectors are obtainable contrary to the previous multi-frame vector algorithm. An Experimental system was also used for the application of the proposed method. Three analog CCD camera and a Halogen lamp illumination were adopted to capture the wake flow behind a bluff obstacle. Among 200 effective particle s in two consecutive frames, 170 vectors were obtained averagely in the present study.

• Journal of Korea Multimedia Society
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• v.20 no.9
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• pp.1491-1501
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• 2017

In this paper, we propose a method to measure respiration rate by dividing the respiration related region in depth image using level set method. In the conventional method, the respiration related region was separated using the pre-defined region designated by the user. We separate the respiration related region using level set method combining shape prior knowledge. Median filter and clipping are performed as a preprocessing method for noise reduction in the depth image. As a feasibility test, respiration activity was recorded using depth camera in various environments with arm movements or body movements during breathing. Respiration activity was also measured simultaneously using a chest belt to verify the accuracy of calculated respiration rate. Experimental results show that our proposed method shows good performance for respiration rate estimation in various situation compared with the conventional method.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.27 no.4A
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• pp.371-382
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• 2002

A camera model with optical axes parallel has been widely used for stereo vision applications. A pair of input ages are obtained from a convergent-looking stereo camera model based on the human visual system in this per, and each image is divided into quadrant regions with respect to the fixation point. The reasoning of quadrant partitions is based on the human visual system and is proven by a geometrical method. Image patches : constructed from the right and left stereo images. A modified cepstrum filter is applied to the patches and disparity vectors are determined by peak detection algorithm. The three-dimensional information for synthetic ages is obtained from the measured disparity and the convergent stereo camera model. It is shown that the experimental results of the proposed method for various stereo images are accurate around the fixation point like the human visual system.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 1998.06b
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• pp.147-153
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• 1998

This paper provides a method for video augmentation using image interpolation. In computer graphics or augmented reality, 3D information of a model object is necessary to generate 2D views of the model, which are then inserted into or overlayed on environmental views or real video frames. However, we do not require any three dimensional model but images of the model object at some locations to render views according to the motion of video camera which is calculated by an SFM algorithm using point matches under weak-perspective (scaled-orthographic) projection model. Thus, a linear view interpolation algorithm is applied rather than a 3D ray-tracing method to get a view of the model at different viewpoints from model views. In order to get novel views in a way that agrees with the camera motion the camera coordinate system is embedded into model coordinate system at initialization time on the basis of 3D information recovered from video images and model views, respectively. During the sequence, motion parameters from video frames are used to compute interpolation parameters, and rendered model views are overlayed on corresponding video frames. Experimental results for real video frames and model views are given. Finally, discussion on the limitations of the method and subjects for future research are provided.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.8
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• pp.824-833
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• 2006

In this paper, the image modelling of road's lane markings is established using view frustum(VF) model. From this model, a measurement system of lane markings and obstacles is proposed. The system also involve the real time processing of the 3D position coordinate and the distance data from the camera to the points on the 3D world coordinate by virtue of the camera calibration. In order to reduce their measurement error, an useful algorithm for which analyze the geometric variations due to traveling vehicle's fluctuation using VF model is proposed. In experiments, without correction, for instance, the $0.4^{\circ}$ of pitching rotation gives the error of $0.4{\sim}0.6m$ at the distance of 10m, but the more far distance cause exponentially the more error. We con finned that this algorithm can be reduced less than 0.1m of error at the same condition.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.8
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• pp.788-793
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• 2015

This paper proposes a path planning algorithm to reduce the inspection time of AOI (Automatic Optical Inspection) machines for SMT (Surface Mount Technology) in-line system. Since the field-of-view of the camera attached at the machine is much less than the entire inspection region of board, the inspection region should be clustered to many groups. The image acquisition time depends on the number of groups, and camera moving time depends on the sequence of visiting the groups. The acquired image is processed while the camera moves to the next position, but it may be delayed if the group includes many components to be inspected. The inspection delay has influence on the overall job time of the machine. In this paper, we newly considers the inspection delay time for path planning of the inspection machine. The unified approach using genetic algorithm is applied to generates the groups and visiting sequence simultaneously. The chromosome, crossover operator, and mutation operator is proposed to develop the genetic algorithm. The experimental results are presented to verify the usefulness of the proposed method.

• Proceedings of the IEEK Conference
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• 2002.06d
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• pp.331-334
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• 2002

In this paper, we present two types of vision algorithm that mobile robot has CCD camera. for obstacle avoidance. This is simple algorithm that compare with grey level from input images. Also, The mobile robot depend on image processing and move command from PC host. we has been studied self controlled mobile robot system with CCD camera. This system consists of digital signal processor, step motor, RF module and CCD camera. we used wireless RF module for movable command transmitting between robot and host PC. This robot go straight until recognize obstacle from input image that preprocessed by edge detection, converting, thresholding. And it could avoid the obstacle when recognize obstacle by line histogram intensity. Host PC measurement wave from various line histogram each 20 Pixel. This histogram Is ( x , y ) value of pixel. For example, first line histogram intensity wave from ( 0, 0 ) to ( 0, 197 ) and last wave from ( 280, 0 ) to ( 280, 197 ). So we find uniform wave region and nonuniform wave region. The period of uniform wave is obstacle region. we guess that algorithm is very useful about moving robot for obstacle avoidance.