• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.3
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• pp.16-22
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• 2019

Off-line programming and robot calibration through simulation are essential when setting up a robot in a robot automation production line. In this study, we developed a new robot calibration method to match the CAD data of the production line with the measurement data on the site using 3D scanner. The proposed method calibrates the robot using 3D point cloud data through Iterative Closest Point algorithm. Registration is performed in three steps. First, vertices connected by three planes are extracted from CAD data as feature points for registration. Three planes are reconstructed from the scan point data located around the extracted feature points to generate corresponding feature points. Finally, the transformation matrix is calculated by minimizing the distance between the feature points extracted through the ICP algorithm. As a result of applying the software to the automobile welding robot installation, the proposed method can calibrate the required accuracy to within 1.5mm and effectively shorten the set-up time, which took 5 hours per robot unit, to within 40 minutes. By using the developed system, it is possible to shorten the OLP working time of the car body assembly line, shorten the precision teaching time of the robot, improve the quality of the produced product and minimize the defect rate.

• Journal of the Korea Society of Computer and Information
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• v.21 no.10
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• pp.11-19
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• 2016

The size of a display is large, The form becoming various of that do not apply to previous methods of gaze tracking and if setup gaze-track-camera above display, can solve the problem of size or height of display. However, This method can not use of infrared illumination information of reflected cornea using previous methods. In this paper, Robust pupil detecting method for eye's occlusion, corner point of inner eye and center of pupil, and using the face pose information proposes a method for calculating the simply position of the gaze. In the proposed method, capture the frame for gaze tracking that according to position of person transform camera mode of wide or narrow angle. If detect the face exist in field of view(FOV) in wide mode of camera, transform narrow mode of camera calculating position of face. The frame captured in narrow mode of camera include gaze direction information of person in long distance. The method for calculating the gaze direction consist of face pose estimation and gaze direction calculating step. Face pose estimation is estimated by mapping between feature point of detected face and 3D model. To calculate gaze direction the first, perform ellipse detect using splitting from iris edge information of pupil and if occlusion of pupil, estimate position of pupil with deformable template. Then using center of pupil and corner point of inner eye, face pose information calculate gaze position at display. In the experiment, proposed gaze tracking algorithm in this paper solve the constraints that form of a display, to calculate effectively gaze direction of person in the long distance using single camera, demonstrate in experiments by distance.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.39B no.7
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• pp.449-458
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• 2014

In the context-aware services, localization is an important technical element. Due to the easy to use and low cost, it was widely enabled with RF properties such as RSSI. However, RSSI is known to be not appropriated for indoor localization, because it tends to show big variance in time and is greatly effected with the multipath. This paper proposes a distance estimation process and its constituted methods for indoor localization, by making use of the other WLAN's RF property, CSI(Channel State Information). Firstly we define a comprehensive localization process, and suggest a calibration algorithm of environment factors in the path loss propagation model. Then, by implementing them with a commercial WLAN module, an the proposed process and methods are evaluated in terms of usefulness.

• 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.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.3
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• pp.57-68
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• 1993

Air Wiping technique is widely used because of easy and efficient coating control in present CGL. Coaring weight is decided by nozzle header pressure, strip line speed and distance between strip and nozzle. Coating defects are results from unbalance of these factors and coating equipment calibration inaccuracy. Therefore, this study is mainly dealing with the cause of coating defects such as edge overcoating and coating deviation. The coptimum working condition is suggested by formulated coating model using collected working data. We developed two demension analysis program for air flow in nozzle and calculated dynamic pressure and air velocity with this program. The productivity and coating guality are improved by applying the result of this reserach.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.43 no.6
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• pp.1001-1009
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• 1994

The present paper deals with a new developed sensor for measuring the time-varying magnetic fields and describes the experimental results of trasient magnetic field that takes place during the operations of electric appliance. The operation principle of the self-integrating magnetic field sensor by using coaxial cable is analyzed and a calibration investigation is carried out. The frequency bandwidth of the magnetic field measurement system is from 40 Hz to about 300 kHz. The magnetic field induced by the starting and/or operation of electric appliance mainly includes the odd harmonics such as the third, the fifth and the seventh harmonics. The magnetic field intensity caused during the operation of ultrasonic washer is inversely proportional to distance, this correspodns to induction component. As a result, it was known that the odd harmonics of magnetic field in the desing of electromagnetic shield employed for protecting electronic circuit and control devices have to be considered.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.268-271
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• 2003

The Volumetric Interferometer using two spherical wavefronts emitted from the ends of two single mode fibers has been suggested to measure 3-dimensional absolute coordinates. In this paper, we try to improve the performance of the volumetric interferometer using multi-CCDs. We get coordinates matching matrixes between CCDs and can obtain more information in the space with multi-CCDs. Also we find out the best arrangement of multi-CCDs by computer simulations. In the simulation we can know that it will be better to increase the distance between CCDs to improve performance. For the performance test, we do a repeatability test, a comparison test with 2-D stage and the self-calibration using artifact.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.9 no.1
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• pp.87-107
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• 2015

Considering the localization estimation issue in mixed line-of-sight (LOS)/non-LOS(NLOS) environments based on received signal strength (RSS) measurements in wireless sensor networks, a grid-based correlation method based on the relationship between distance and RSS is proposed in this paper. The Maximum-Likelihood (ML) estimator is appended to further improve the localization accuracy. Furthermore, in order to reduce computation load and enhance performance, an improved recursively version with NLOS mitigation is also proposed. The most advantages of the proposed localization algorithm is that, it does not need any prior knowledge of the propagation model parameters and therefore does not need any offline calibration effort to calibrate the model parameters in harsh environments, which makes it more convenient for rapid implementation in practical applications. The simulation and experimental results evidence that the proposed localization algorithm exhibits good localization performance and flexibilities for different devices.

• Proceedings of the IEEK Conference
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• 2003.07e
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• pp.2020-2023
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• 2003

In this paper, our proposed system uses the regional Gabor wavelet and Neural Network to implement face recognition similar to human face recognition system, because the Gator wavelet expresses visual recognition system of human mathematically and the regional Neural Network is robust to white noise and partial illumination. This system consists of two stages of building database and recognizing face. One is composed by using the supervised learning of Neural Network. At this time, the Neural Network is applied to the upper and the lower part of face images respectively. The Backpropagation algorithm is used to learn Neural Network. Another consists of calibration of slope of face image, measurement of illumination variant using deviation with average face image and similarity comparison using Euclidean distance measure.

• Proceedings of the KSME Conference
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• 2000.04b
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• pp.692-697
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• 2000

In Particle Tracking Velocimetry, the analysis of double-exposed photographic plate can be carried out either by means of Young's fringe analysis or by a digital image processing technique. In this study, we used digital image processing to two images in one frame far analyzing in-cylinder flow fields, and compared PTV with PSV(Particle Streak Velocimetry). Additionally, this technique was verified by two different calibration method. One is interpolation by invert distance, the other is interpolation by area ratio. Finally, the results between two interpolation methods were similar in whole flow fields.