• Journal of the Institute of Electronics Engineers of Korea SP
• /
• v.40 no.5
• /
• pp.312-321
• /
• 2003

In this paper, we implement robot which are ability to recognize obstacles and moving automatically to destination. we present two results in this paper; hardware implementation of image processing board and software implementation of visual feedback algorithm for a self-controlled robot. In the first part, the mobile robot depends on commands from a control board which is doing image processing part. We have studied the self controlled mobile robot system equipped with a CCD camera for a long time. This robot system consists of a image processing board implemented with DSPs, a stepping motor, a CCD camera. We will propose an algorithm in which commands are delivered for the robot to move in the planned path. The distance that the robot is supposed to move is calculated on the basis of the absolute coordinate and the coordinate of the target spot. And the image signal acquired by the CCD camera mounted on the robot is captured at every sampling time in order for the robot to automatically avoid the obstacle and finally to reach the destination. The image processing board consists of DSP (TMS320VC33), ADV611, SAA7111, ADV7l76A, CPLD(EPM7256ATC144), and SRAM memories. In the second part, the visual feedback control has two types of vision algorithms: obstacle avoidance and path planning. The first algorithm is cell, part of the image divided by blob analysis. We will do image preprocessing to improve the input image. This image preprocessing consists of filtering, edge detection, NOR converting, and threshold-ing. This major image processing includes labeling, segmentation, and pixel density calculation. In the second algorithm, after an image frame went through preprocessing (edge detection, converting, thresholding), the histogram is measured vertically (the y-axis direction). Then, the binary histogram of the image shows waveforms with only black and white variations. Here we use the fact that since obstacles appear as sectional diagrams as if they were walls, there is no variation in the histogram. The intensities of the line histogram are measured as vertically at intervals of 20 pixels. So, we can find uniform and nonuniform regions of the waveforms and define the period of uniform waveforms as an obstacle region. We can see that the algorithm is very useful for the robot to move avoiding obstacles.

• Investigative Magnetic Resonance Imaging
• /
• v.16 no.1
• /
• pp.55-66
• /
• 2012

Purpose : During brain MRI scanning, subject's head motion can adversely affect MRI images. To minimize MR image distortion by head movement, we developed an optical tracking system to detect the 3-D movement of subjects. Materials and Methods: The system consisted of 2 CCD cameras, two infrared illuminators, reflective sphere-type markers, and frame grabber with desktop PC. Using calibration which is the procedure to calculate intrinsic/extrinsic parameters of each camera and triangulation, the system was desiged to detect 3-D coordinates of subject's head movement. We evaluated the accuracy of 3-D position of reflective markers on both test board and the real MRI scans. Results: The stereo system computed the 3-D position of markers accurately for the test board and for the subject with glasses with attached optical reflective marker, required to make regular head motion during MRI scanning. This head motion tracking didn't affect the resulting MR images even in the environment varying magnetic gradient and several RF pulses. Conclusion: This system has an advantage to detect subject's head motion in real-time. Using the developed system, MRI operator is able to determine whether he/she should stop or intervene in MRI acquisition to prevent more image distortions.

• Journal of Broadcast Engineering
• /
• v.26 no.4
• /
• pp.409-418
• /
• 2021

Conformal coating is a technology that protects PCB(Printed Circuit Board) and minimizes PCB failures. Since the defects in the coating are linked to failure of the PCB, the coating surface is examined for air bubbles to satisfy the successful conditions of the conformal coating. In this paper, we propose an algorithm for detecting problematic bubbles in high-risk groups by applying image signal processing. The algorithm consists of finding candidates for problematic bubbles and verifying candidates. Bubbles do not appear in visible light images, but can be visually distinguished from UV(Ultra Violet) light sources. In particular the center of the problematic bubble is dark in brightness and the border is high in brightness. In the paper, these brightness characteristics are called valley and mountain features, and the areas where both characteristics appear at the same time are candidates for problematic bubbles. However, it is necessary to verify candidates because there may be candidates who are not bubbles. In the candidate verification phase, we used convolutional neural network models, and ResNet performed best compared to other models. The algorithms presented in this paper showed the performance of precision 0.805, recall 0.763, and f1-score 0.767, and these results show sufficient potential for bubble test automation.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.19 no.4
• /
• pp.132-137
• /
• 2018

Although the number of chemical accidents has been declining since the Chemical Control Act of 2015, there have been repeated occurrences of similar types of accidents at printed circuit board (PCB) manufacturing facilities. These accidents were caused by the overflow of hydrochloric acid and hydrogen peroxide, which are toxic chemicals used in the printed circuit board manufacturing process. An analysis of the $Cl^-$ content to identify the cause of the accident showed that in the mixed route of hydrochloric acid and hydrogen peroxide, which are accidental substances, the $Cl^-$ concentration was 66.85 ppm in the hydrogen peroxide sample. Through reaction experiments, it was confirmed that the deformation of a PVC storage tank and generation of chlorine gas, which is a toxic gas, occurred due to reaction heat occurring up to $50.5^{\circ}C$. This paper proposes a facility safety management plan, including overcharge, overflow prevention, leak detection device, and separation tank design for mixing prevention in printed circuit board manufacturing facility etch process. To prevent the recurrence of accidents of the same type, the necessity of a periodic facility safety inspection and strengthening of the safety education of workers was discussed.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.13 no.11
• /
• pp.5471-5478
• /
• 2012

In this paper, we propose a new short-circuit detecting method which can detect bad short-circuits, one of bad types occurring in PCB(Printed Circuit Board), by using SURF(Speeded-Up Robust Features) algorithm. The basic procedure in the proposed method sequentially consists of extracting features from both sample and inputted images by SURF, performing perspective transform by feature matching and matching results, extracting check areas of interest, binary coding and extracting short-circuits, and verifying results. The proposed method focuses on the robustness which can detect bad short-circuits even though the position and angle of PCB are not uniform and arbitrarily placed. Experimental results show that our method enables to detect bad short-circuits regardless of the location and angle of PCB placed variously and validate that the proposed method outperforms the conventional methods detecting bad short-circuits manually on the aspect of both the detection rate and time.

• Journal of the Korean Society of Visualization
• /
• v.14 no.3
• /
• pp.38-45
• /
• 2016

Separation of particles based on different sizes, detection of pathogenic bacteria and isolation of leukocytes from whole blood are typical applications of spiral or helical microchannels. The present study focuses on developing a CD4+ T-cell counting device for monitoring HIV/AIDS patients with the aid of a helical minichannel used for a sample cartridge. For the experiment, $10{\mu}m$ sized microbeads were used for visualization with a fluorescence imaging system. Alignment of microbeads was investigated in a stationary and spinning sample cartridge filled with glycerol-water mixtures of different densities. The helical minichannel was spun using a DC motor controlled by an Arduino board with a Bluetooth shield. It was found that when the sample cartridge was made stationary, no bead alignment was achieved for a medium with density (0% and 20% glycerol) lower than that of the beads, but when it was spun at 2000-3000 rpm for 1-4 min, an alignment was obtained at the top of the channel facilitating optical detection and enumeration of those microbeads. Since an alignment of microbeads was achieved for a medium with density as that of blood plasma, the same approach can be applied for aligning and counting CD4+ T-lymphocytes in whole blood samples collected from patients.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2002.05a
• /
• pp.369-372
• /
• 2002

In this research, a vision system for detecting tool breakage which is hardly detected by such indirect in-process measurement method as acoustic emission, cutting torque and motor current was developed and embedded into a PC-NC system. The vision system consists of CMOS image sensors, a slit beam laser generator and an image grabber board. Slit beam laser was emitted on the tool surface to separate the tool geometry well from the various obstacles surrounding the tool. An image of tool is captured through two steps of signal processing, that is, median filtering and thresholding and then the tool is estimated normal or broken by use of change of the centroid of the captured image. An air curtain made by the jetting high-pressure air in front of the lens was devised to prevent the vision system from being contaminated by scattered coolant, cutting chips in cutting process. To embed the vision system to a Siemens PC-NC controller 840D NC, an HMI(Human Machine Interface) program was developed under the Windows 95 operating system of MMC103. The developed HMI is placed in a sub window of the main window of 840D and this program can be activated or deactivated either by a soft key on the operating panel or M codes in the NC part program. As the tool breakage is detected, the HMI program emit a command for automatic tool change or send alarm to the NC kernel. Evaluation test in a high speed tapping center showed the developed system was successful in detection of the small-radius tool breakage.

• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.2
• /
• pp.207-216
• /
• 2000

This paper introduces an effective system design method to develop a customer oriented product using a design optimization process and to select a set of critical design paramenters,. The process results in the development of a successful product satisfying customer needs and reducing development risk. The proposed scheme adopted a five step QFD(Quality Function Deployment) in order to extract design parameters from customer needs and evaluated their priority using risk factors for extracted design parameters. In this process we determine critical design parameters and allocate them to subsystem designers. Subsequently design engineers develop and test the product based on these parameters. These design parameters capture the characteristics of customer needs in terms of performance cost and schedule in the process of QFD, The subsequent risk management task ensures the minimum risk approach in the presence of design parameter uncertainty. An application of this approach was demonstrated in the development of weld quality monitoring system. Dominant design parameters affect linearity characteristics of weld defect feature vectors. Therefore it simplifies the algorithm for adopting pattern classification of feature vectors and improves the accuracy of recognition rate of weld defect and the real time response of the defect detection in the performance. Additionally the development cost decreases by using DSP board for low speed because of reducing CPU's load adopting algorithm in classifying weld defects. It also reduces the cost by using the single sensor to measure weld defects. Furthermore the synergy effect derived from the critical design parameters improves the detection rate of weld defects by 15% when compared with the implementation using the non-critical design parameters. It also result in 30% saving in development cost./ The overall results are close to 95% customer level showing the effectiveness of the proposed development approach.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2003.05a
• /
• pp.132-137
• /
• 2003

This performance is motivated to develop a tracking antenna system for receive the satellite broadcasting signal in the coast sailing ship. Therefore, this system is made to small size, light weight and simple operation which is must to low cost system for popularization of small size ship and adaptive possibilities with useful on a ship in the coast using 1 axis Az-mount. The antenna mount structure is a compact size and easy operation to the Az-axis type which is operated by step motor. The antenna unit is a domestic made plate type of patch array and ship's moving detection is using the gyro sensor for ship's moving control. We are designed to algorithm, which walking is abreast for step track and ship's moving compensation. Ship's moving compensation is adapted to the closed loop control method by detection from gyro sensor. This system is consisted of micro processor, ADC, comparative amplifier, step motor driver, mount mechanism and algorithm. We have analysised the tracking performance of prototype on sailing ship board.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.25 no.1
• /
• pp.92-102
• /
• 2017

For an automotive surveillance radar system, fast-chirp train based FMCW (Frequency Modulated Continuous Wave) radar is a very effective method, because clutter and moving targets are easily separated in a 2D range-velocity map. However, pedestrians with low echo signals may be masked by strong clutter in actual field. To address this problem, we proposed in the previous work a clutter cancellation and moving target indication algorithm using the coherent phase method. In the present paper, we initially composed the test set-up using a 24 GHz FMCW transceiver and a real-time data logging board in order to verify this algorithm. Next, we created two indoor test environments consisting of moving human and stationary targets. It was found that pedestrians and strong clutter could be effectively separated when the proposed method is used. We also designed and implemented these algorithms in FPGA (Field Programmable Gate Array) in order to analyze the hardware and time complexities. The results demonstrated that the complexity overhead was nearly zero compared to when the typical method was used.