• Proceedings of the KSME Conference
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• 2000.11a
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• pp.596-601
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• 2000

In a robot/vision system, the vision sensor, typically a CCD array sensor, is mounted on the robot hand. The problem of determining the relationship between the camera frame and the robot hand frame is refered to as the hand-eye calibration. In the literature, various methods have been suggested to calibrate camera and for sensor registration. Recently, one-step approach which combines camera calibration and sensor registration is suggested by Horaud & Dornaika. In this approach, camera extrinsic parameters are not need to be determined at all configurations of robot. In this paper, by modifying the camera model and including the lens distortion effect in the perspective transformation matrix, a new one-step approach is proposed in the hand-eye calibration.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.1
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• pp.172-179
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• 2002

In a robot/vision system, the vision sensor, typically a CCD array sensor, is mounted on the robot hand. The problem of determining the relationship between the camera frame and the robot hand frame is refered to as the hand-eye calibration. In the literature, various methods have been suggested to calibrate camera and for sensor registration. Recently, one-step approach which combines camera calibration and sensor registration is suggested by Horaud & Dornaika. In this approach, camera extrinsic parameters are not need to be determined at all configurations of robot. In this paper, by modifying the camera model and including the lens distortion effect in the perspective transformation matrix, a new one-step approach is proposed in the hand-eye calibration.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.12
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• pp.73-79
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• 2003

Recently, the tole-robot operations to an unstructured environment have been widely researched. The human's interaction with the tole-robot system can be used to improve robot operation and performance for an unknown environment. The exact modeling based on real environment is fundamental and important process for this interaction. In this paper, we propose an extrinsic parameter calibration and data augmentation method that only uses a circular jig in the hand-eye laser virtual environment. Compared to other methods, easier estimation and overlay can be done by this algorithm. Experimental results using synthetic graphic demonstrate the usefulness of the proposed algorithm.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.11 s.176
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• pp.82-90
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• 2005

Recently, the in-line vision inspection has become the subject of growing research area in the visual control systems and robotic intelligent fields that are required exact three-dimensional pose. The objective of this article is to study the pc based in line visual inspection with the hand-eye structure. This paper suggests three dimensional structured light measuring principle and design method of laser sensor header. The hand-eye laser sensor have been studied for a long time. However, it is very difficult to perform kinematical analysis between laser sensor and robot because the complicated mathematical process are needed for the real environments. In this problem, this paper will propose auto-calibration concept. The detail process of this methodology will be described. A new thinning algorithm and constrained hough transform method is also explained in this paper. Consequently, the developed in-line inspection module demonstrate the successful operation with hole, gap, width or V edge.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.5
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• pp.83-83
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• 2004

The analysis of relative pose(position and rotation) between stereo cameras is very important to determine the solution that provides three-dimensional information for an arbitrary moving target with respect to robot-end. In the space of free camera-model, the rotational parameters act on non-linear factors acquiring a kinematical solution. In this paper the general solution of active stereo that gives a three-dimensional pose of moving object is presented. The focus is to achieve a derivation of linear equation between a robot′s end and active stereo cameras. The equation is consistently derived from the vector of quaternion space. The calibration of cameras is also derived in this space. Computer simulation and the results of error-sensitivity demonstrate the successful operation of the solution. The suggested solution can also be applied to the more complex real time tracking and quite general and are applicable in various stereo fields.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.5
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• pp.89-90
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• 2004

The analysis of relative pose(position and rotation) between stereo cameras is very important to determine the solution that provides three-dimensional information for an arbitrary moving target with respect to robot-end. In the space of free camera-model, the rotational parameters act on non-linear factors acquiring a kinematical solution. In this paper the general solution of active stereo that gives a three-dimensional pose of moving object is presented. The focus is to achieve a derivation of linear equation between a robot's end and active stereo cameras. The equation is consistently derived from the vector of quaternion space. The calibration of cameras is also derived in this space. Computer simulation and the results of error-sensitivity demonstrate the successful operation of the solution. The suggested solution can also be applied to the more complex real time tracking and quite general and are applicable in various stereo fields.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.11 s.188
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• pp.58-67
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• 2006

Due to the variety of signal processing and complicated mathematical analysis, it is not easy to accomplish 3D bin-picking with non-contact sensor. To solve this difficulties the reliable signal processing algorithm and a good sensing device has been recommended. In this research, 3D laser scanner and CCD camera is applied as a sensing device respectively. With these sensor we develop a two-step bin-picking method and reliable algorithm for the recognition of 3D bin object. In the proposed bin-picking, the problem is reduced to 2D intial recognition with CCD camera at first, and then 3D pose detection with a laser scanner. To get a good movement in the robot base frame, the hand eye calibration between robot's end effector and sensing device should be also carried out. In this paper, we examine auto-calibration technique in the sensor calibration step. A new thinning algorithm and constrained hough transform is also studied for the robustness in the real environment usage. From the experimental results, we could see the robust bin-picking operation under the non-aligned 3D hole object.

• Journal of Korean Ophthalmic Optics Society
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• v.14 no.3
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• pp.65-73
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• 2009

Purpose: This study was conducted to investigate the changes in distance refractive power and reading addition that occur after wearing corrective glasses for prebyopia. Methods: The subjects aged 42 to 75 years who had no ophthalmologic diseases and did not undergo cataract or retina surgery, had a corrected visual acuity of 20/20 and did not have a previous history of wearing corrective glasses for presbyopia. These subjects were divided into 3 groups: the control, reading spectacles and multifocals wearing group and they were measured for distance refractive power and reading addition at their visit. The maximum follow-up period was 73 months. Results: As for distance refractive power, the power tends to shift to hyperopia depending on age (r=0.486, p<.001) and 50.0% of the subjects increased plus power during this study period. Plus power Increments per year in distance refractive power in the reading spectacle wearing group were significantly different with control and multifocals wearing group (p<.05). On the other hand, the multifocals wearing group's increments were not different with control. Increments in reading addition were also increased in the reading spectacles group than in the control and multifocals wearing groups (p<.05). Conclusions: The age related hyperopic shift could be occurred in the elderly people, routine refraction is mandatory. And reading spectacles could induce an age related hyperopic shift and the additional need for reading addition that the prescription of multifocals may reduce changes in distance refractive power and reading addition.

• Clinical and Experimental Reproductive Medicine
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• v.37 no.2
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• pp.89-98
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• 2010

Sex and its tropic hormones influence the lacrimal system, corneal anatomy and disease, aqueous humor dynamics and glaucoma, crystalline lens and cataract, and retinal disease. Dry eye occurs especially frequently during pregnancy, oral contraceptive use, and after menopause, during which androgen levels decrease. Androgen control development, differentiation, and lipid production of sebaceous glands throughout the body, and androgen deficiency also leads to meibomian gland dysfunction and evaporative dry eye. On the other hand, estrogen causes a reduction in size, activity, and lipid production of sebaceous glands. Sex and its tropic hormones also influence the corneal anatomy and disease, and corneal thickening occurred on the second day of the menstrual cycle and around the time of ovulation and appeared to be related to estrogen levels. Fuchs' dystrophy is more commonly seen in postmenopausal women than men and may be linked to hormonal changes that occur with aging. In addition, overexpression of estrogen and progesterone receptors in the conjunctiva of vernal keratoconjunctivitis patients. Serum progesterone levels also may be associated with intraocular pressure especially in pregnant women, and for the women. For women with cataracts, hormone levels were typical of menopause, and there was a significant negative correlation between estradiol and follicular stimulating hormone levels. In addition, serum testosterone levels are associated with the development of diabetic retinopathy. Although the role of sex hormones on the eye is largely unknown, and the results should be interpreted with caution until replicated, the functions of sex hormones in ocular disease remains to be investigated, because they may be involved in structure and function of the ocular components, which are important in the pathogenesis of ocular disease.