• Agricultural and Biosystems Engineering
• /
• v.6 no.2
• /
• pp.47-53
• /
• 2005

AMachine vision is a promising tool for the autonomous guidance of farm machinery. Conventional CCD camera for the machine vision needs a desktop PC to install a frame grabber, however, a web camera is ready to use when plugged in the USB port. A web camera with a notebook PC can replace existing camera system. Autonomous steering control system of this research was intended to be used for combine harvester. If the web camera can recognize cut/uncut edge of crop, which will be the reference for steering control, then the position of the machine can be determined in terms of lateral offset and heading angle. In this research, a white line was used as a cut/uncut edge of crop for steering control. Image processing algorithm including capturing image in the web camera was developed to determine the desired travel path. An experimental vehicle was constructed to evaluate the system performance. Since the vehicle adopted differential drive steering mechanism, it is steered by the difference of rotation speed between left and right wheels. According to the position of vehicle, the steering algorithm was developed as well. Evaluation tests showed that the experimental vehicle could travel within an RMS error of 0.8cm along the desired path at the ground speed of $9\sim41cm/s$. Even when the vehicle started with initial offsets or tilted heading angle, it could move quickly to track the desired path after traveling $1.52\sim3.5m$. For turning section, i.e., the curved path with curvature of 3 m, the vehicle completed its turning securely.

• Journal of Periodontal and Implant Science
• /
• v.23 no.3
• /
• pp.595-604
• /
• 1993

Since $Gr{\"{o}}nadhl$ et al introduced a digital subtraction radiography into periodontal dignosis in 1983, many reports using this system has aimed to assess the peroiodontal disease activity and the alveolar bone changes after periodontal treatment. The present study was performed to evaluate the usefulness of digital subtraction radiography for asessing an alveolar bone changes in 3 months after periodontal flap surgery. Serial intraral raiographs were taken from 5 normal subjects and 6 periodontally diseased patients using customized bite blocks attached to film holder in fxation device and digitized by image processing system(consisting of IBM 386, digital frame grabber, CCD camera, Image-pro II software). And the reference parameters were measured by pixel unit and compared with respective radiographs. The serial radiographs showed a little and statistically insignificant difference in reference paramenters. The conventional intraoral radiographs, the subtraction images and the clor enhanced subtraction images were reviewed by 4 examiners and the examiner's agreement rates were compared. The subtraction images and its color enhanced images showed higher examiner's agreement rate than the conventional radiographs. And the propotions of sites diagnosed with bone loss or gain after periodontal surgery were highter in the subtraction images and its color enhanced images than in the conventional radiographs. Especially, in color enhanced images, the unber of bone agin sites tended to increase according to post-surgery periods. These results indicate that projection geometry could be standardized with the divice used in this study, and the subtraction radiography may be useful to assess an alveolar bone changes after periodntal flap surgery.

• Proceedings of the Korean Society of Medical Physics Conference
• /
• 2003.09a
• /
• pp.67-67
• /
• 2003

It is crucial to minimize setup errors of a cancer treatment machine using a high energy and to perform precise radiation therapy. Usually, port film has been used for verifying errors. The Korea Cancer Center Hospital (KCCH) has manufactured digital electronic portal imaging device (EPID) system to verify treatment machine errors as a Quality Assurance (Q.A) tool. This EPID was consisted of a metal/fluorescent screen, 45$^{\circ}$ mirror, a camera and an image grabber and could display the portal image with near real time KIRAMS has also made the acrylic phantom that has lead line of 1mm width for ligh/radiation field congruence verification and reference points phantom for using as an isocenter on portal image. We acquired portal images of 10$\times$10cm field size with this phantom by EPID and portal film rotating treatment head by 0.3$^{\circ}$, 0.6$^{\circ}$ and 0.9$^{\circ}$. To check field size, we acquired portal images with 18$\times$18cm, 19$\times$19cm and 20$\times$20cm field size with collimator angle 0$^{\circ}$ and 0.5$^{\circ}$ individually. We have performed Flatness comparison by displaying the line intensity from EPID and film images. The 0.6$^{\circ}$ shift of collimator angle was easily observed by edge detection of irradiated field size on EPID image. To the extent of one pixel (0.76mm) difference could be detected. We also have measured field size by finding optimal threshold value, finding isocenter, finding field edge and gauging distance between isocenter and edge. This EPID system could be used as a Q.A tool for checking field size, light/radiation congruence and flatness with a developed video based EPID.

• 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.

• Journal of the Korean Society for Nondestructive Testing
• /
• v.27 no.5
• /
• pp.426-431
• /
• 2007

When a high-energy ultrasound propagates through a solid body that contains a crack or a delamination, the two faces of the defect do not ordinarily vibrate in unison, and dissipative phenomena such as friction, rubbing and clapping between the faces will convert some of the vibrational energy to heat. By combining this heating effect with infrared imaging, one can detect a subsurface defect in material in real time. In this paper a realtime detection of the brazing defect of thin Inconel plates using the UIR (ultrasonic infrared imaging) technology is described. A low frequency (23 kHz) ultrasonic transducer was used to infuse the welded Inconel plates with a short pulse of sound for 280 ms. The ultrasonic source has a maximum power of 2 kW. The surface temperature of the area under inspection is imaged by an infrared camera that is coupled to a fast frame grabber in a computer. The hot spots, which are a small area around the bound between the two faces of the Inconel plates near the defective brazing point and heated up highly, are observed. And the weak thermal signal is observed at the defect position of brazed plate also. Using the image processing technology such as background subtraction average and image enhancement using histogram equalization, the position of defective brazing regions in the thin Inconel plates can be located certainly.

• Journal of Biosystems Engineering
• /
• v.26 no.6
• /
• pp.571-578
• /
• 2001

Production of green pepper has increased for ten years in Korea, as customer's preference of a pepper tuned to fiesta one. This study was conducted to develop an on-line fading algorithm of green pepper using machine vision and aimed to develop the automatic on-line grading and sorting system. The machine vision system was composed of a professive scan R7B CCD camera, a frame grabber and sets of 3-wave fluorescent lamps. The length and curvature, which were main quality factors of a green pepper were measured while removing the stem region. The first derivative of the thickness profile was used to remove the stem area of the segmented image of the pepper. A new boundary was generated after the stem was removed and a baseline of a pepper which was used for the curvature determination was also generated. The developed algorithm showed that the accuracy of the size measurement was 86.6% and the accuracy of the bent was 91.9%. Processing time spent far grading was around 0.17 sec per pepper.

• Journal of ILASS-Korea
• /
• v.13 no.4
• /
• pp.212-219
• /
• 2008

To develop the twin-fluid atomizer having the excellent performance of painting, the spray characteristics of how a wide area can be painted efficiently by one time spraying were studied in this paper. Spray phenomena are affected by the many factors determining the spray field such as the spraying pressure of gas, the spraying pressure and viscosity of liquid paints, the opening duration of needle valve, the design dimension of nozzle, and so on. As the results of experiments, these factors affecting on spray characteristics were suggested as followings; 1) The optimum spraying pressure of gas was $0.015{\sim}0.02\;kPa$, and the appropriate spraying pressure of liquid paint was 0.01kPa, In these situations, the setting up pressures must be compensated as much as the losing amount of pressure because a decompression occurred when operating valves. 2) The duration of opening the needle valve must be sustained for $1{\sim}2$ seconds to inject gas after spraying the liquid paint. This operating of the needle valve was necessary to avoid the affect on the changing of liquid column length, and to prevent the droplet deposit at the initial time of spraying. 3) The spray tip penetration was gained form the experimental equation, and the effective spraying angle was $85^{\circ}{\pm}5^{\circ}$ just at he appropriate spraying pressure of gas. The distribution of the area sprayed had the variation in $350{\pm}50\;mm$ because of the spraying pressure of gas, the its distance from the spray tip, and the lift of the needle valve.

• Restorative Dentistry and Endodontics
• /
• v.26 no.4
• /
• pp.263-272
• /
• 2001

The aim of this study was to investigate the influence of four different light curing modes on the marginal leakage of Class V composite resin restoration. Eighty extracted human premolars were used. Wedge-shaped class Y cavities were prepared on the buccal surface of the tooth with high-speed diamond bur without bevel. The cavities were positioned half of the cavity above and half beyond the cemento-enamel junction. The depth, height, and width of the cavity were 2 mm, 3 mm and 2 mm respectively. The specimens were divided into 4 groups of 20 teeth each. All the specimen cavities were treated with Prime & Bond$^{R}$ NT dental adhesive system (Dentsply DeTrey GmbH, Germany) according to the manufacturer's instructions and cured for 10 seconds except group VI which were cured for 3 seconds. All the cavities were restored with resin composite Spectrum$^{TM}$ TPH A2 (Dentsply DeTrey GmbH, Germany) in a bulk. Resin composites were light-cured under 4 different modes. A regular intensity group (600 mW/${cm}^2$, group I) was irradiated for 30 s, a low intensity group (300 mW/${cm}^2$, group II) for 60 s and a ultra-high intensity group (1930 mW/${cm}^2$, group IV) for 3 s. A pulse-delay group (group III) was irradiated with 400 mW/${cm}^2$ for 2 s followed by 800 mW/${cm}^2$ for 10 s after 5 minutes delay. The Spectrum$^{TM}$ 800 (Dentsply DeTrey GmbH, Germany) light-curing units were used for groups I, II and III and Apollo 95E (DMD, U.S.A.) was used for group IV. The composite resin specimens were finished and polished immediately after light curing except group III which were finished and polished during delaying time. Specimens were stored in a physiologic saline solution at 37$^{\circ}C$ for 24 hours. After thermocycling (500$\times$, 5-55$^{\circ}C$), all teeth were covered with nail varnish up to 0.5 mm from the margins of the restorations, immersed in 37$^{\circ}C$, 2% methylene blue solution for 24 hours, and rinsed with tap water for 24 hours. After embedding in clear resin, the specimens were sectioned with a water-cooled diamond saw (Isomet$^{TM}$, Buehler Co., Lake Bluff, IL, U.S.A.) along the longitudinal axis of the tooth so as to pass the center of the restorations. The cut surfaces were examined under a stereomicroscope (SZ-PT Olympus, Japan) at ${\times}$25 magnification, and the images were captured with a CCD camera (GP-KR222, Panasonic, Japan) and stored in a computer with Studio Grabber program. Dye penetration depth at the restoration/dentin and the restoration/enamel interfaces was measured as a rate of the entire depth of the restoration using a software (Scion image, Scion Corp., U.S.A.) The data were analysed statistically using One-way ANOVA and Tukey's method. The results were as follows : 1. Pulse-Delay group did not show any significant difference in dye penetration rate from other groups at enamel and dentin margins (p>0.05) 2. At dentin margin, ultra-high intensity group showed significantly higher dye penetration rate than both regular intensity group and low intensity group (p<0.05). 3. At enamel margin, there were no statistically significant difference among four groups (p>0.05). 4. Dentin margin showed significantly higher dye penetration rate than enamel margin in all groups (p<0.05).