• Proceedings of the Korean Society of Precision Engineering Conference
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• 1992.10a
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• pp.266-270
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• 1992

In this study an active vision system using a laser range finder is proposed for the navigation of a mobile robot in unknown environment. The laser range finder consists of a slitted laser beam generator, a scanning mechanism, CCD camera, and a signal processing unit. A laser beam from laser source is slitted by a set of cylindrical lenses and the slitted laser beam is emitted up and down and rotates around the robot by the scanning mechanism. The image of laser beam reflected on the surface of an object is engraved on the CCD array. A high speed image processing algorithm is proposed for the real-time navigation of the mobile robot. Through experiments it is proved that the accurate and real-time recognition of environment is able to be realized using the proposed laser range finder.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.280-283
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• 2003

In this paper, there was finding laser beam focal length using the camera at the work with laser preprocess. A process have some similarity that the laser direct writing was condition of unused other light source in order to a partical object of working substrate, so we worked finding focal length using yellow light. As we found focal lengths from three points of substrate edges, The focal length of all substrates was able to be computed by calculating a plane equation using these three point. Also we make a device and software that can automatically perform all of the processes.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2003.04a
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• pp.288-292
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• 2003

The main purpose of this paper is the development of the system which measures the earing rate of aluminum CAN with the CCD camera. In order to optimize imput image, the image object was segregated and the position of the image grasped. In the pre-processing the edges were detected by the Robert mask after improving the definition of image by the histogram equalization. The height of four each ear and angles which occur due to the characteristics of the aluminum CAN are measured manually with the digital vernier calipers in the industrial ground and in the case of the velocity, these require 30 seconds at least by three times measurement per height of one direction of the aluminum. But it took 0.02 seconds when this system was applied. Therefore this system is proven the satisfactory efficiency and reliability as compared to the control result of in industrial ground.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2000.04a
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• pp.129-133
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• 2000

It is reasonable to use the stereo vision and image processing technique to digitize 3D coordinates of grid points and to evaluate surface strains on a sheet metal parts. However this method has its intrinsic problems such as the difficulty in enhancement of bad images inevitable error due to digital image resolution of camera and frame grabber unreliability of strains and thickness evaluated from coarse grid on the corner area with large curvature and the limitation of the area that can be measured at a time. Therefore it is still hard to measure strain distribution over the entire surface of a medium,- or large-sized stamped part at a time even by using an automated strain measurement system. In this study the curvature correction algorithm based on the grid refinement and the geometry assembling algorithm based on the global error minimization (GEM) scheme are suggested. Several applications are presented to show the reliability and efficiency of these algorithms.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.4
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• pp.406-414
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• 1997

A real-time inspection system is developed using line scan cameras. Several improved algorithms are proposed for real-time detection of defects in this automated inspection system. The major improved algorithms include the preprocessing, the threshold decision, and the clustering algorithms. The preprocessing algorithms are for exact binarization and the threshold decision algorithm is for fast detection of defects in 1-D binary images. The clustering algorithm is also developed for fast classifying of the defects. The system is applied to PCBs(Printed Circuit Boards) inspection. The typical defects in PCBs are pits, dent, wrinkle, scratch, and black spots. The results show that most defects are detected and classified successfully.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.5
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• pp.396-403
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• 2000

A thermal imaging system is implemented for the measurement and the analysis of the thermal distribution of the target objects. The main part of the system is a thermal camera in which a focal plane array typed sensor is introduced. The sensor detects the mid-range infrared spectrum of target objects and then it outputs a generic video signal which should be processed to form a frame thermal image. Here, a digital signal processor(DSP) is applied for the high speed processing of the sensor signals. The DSP controls analog-to-digital converter, performs correction algorithms and outputs the frame thermal data to frame buffers. With the frame buffers can be generated a NTSC signal and transferred the frame data to personal computer(PC) for the analysis and a monitoring of the thermal scenes. By performing the signal processing functions in the DSP the overall system achieves a simple configuration. Several experimental results indicate the performance of the overall system.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.816-820
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• 1990

This paper is pre-stage for getting EGI which can be used for modeling of an object. It discusses the construction of the vision processing system and its algorithm for getting needle diagram from tie object image. We realize the algorithm with monocular camera system, using Reflectance Map theory and photometric stereo method. We can calculate the surface normal at any point in the image if we take multiple images at the different lighting conditions. From the 3 images taken from different lighting conditions through the experiment, we get the needle diagrams of the sphere and the object. We confirm the validness of the surface, normal acquisition algorithm comparing the experimental needle diagram with the ideal one obtained from the surface normal of the known object.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.1
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• pp.105-110
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• 2009

In this paper, we proposed a navigation algorithm of the mobile robot for obstacle avoidance using a circular path planning method. The proposed method makes circular paths in order to avoid obstacles in the front side of the mobile robot. An optimal path for approaching to the target is selected and the linear and angular speeds for stable moving of the mobile robot are controlled. Obstacles are detected by image processing which reduce image data obtained from a web camera. Performance of the proposed algorithm is shown by experiments with application to the Pioneer-2DX mobile robot.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.1
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• pp.89-93
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• 2009

This paper deals with obstacle avoidance for unmanned vehicle using stereo system. The "DARPA Grand Challenge 2005" shows that the robot can move autonomously under given waypoint. RADAR, IMS (Inertial Measurement System), GPS, camera are used for autonomous navigation. In this paper, we focus on stereo system for autonomous navigation. Our approach is based on Singh et. al. [5]'s approach that is successfully used in an unmanned vehicle and a planetary robot. We propose an improved algorithm for obstacle avoidance by modifying the cost function of Singh et. al. [5]. Proposed algorithm gives more sharp contrast in choosing local path for obstacle avoidance and it is verified in experimental results.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.8
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• pp.849-857
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• 2009

To guarantee the safety and reliability of obsolete thermal power plants, on site routine patrol in their facilities has been done by human workers. Due to their poor working environments, however, a patrol robot system has been gradually required instead of the human workers from the viewpoint of the workers' safety and work efficiency. For this purpose, this paper presents a patrol robot, controllers, and its control scheme. Especially, this robot system uses a line tracing algorithm, which uses a vision camera instead of IR sensors, and an RFID system for its patrol operation. We confirmed its effectiveness through experiments.