• 전자공학회논문지
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• 제49권9호
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• pp.347-352
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• 2012

본 논문에서는 지능적인 경로 계획을 위한 스테레오 카메라 기반의 AGV의 작업자 식별 및 회피를 위한 2D 공간 지도 구성 기법을 제안하였다. 우선 스테레오 카메라로부터 입력된 영상 중 좌 영상에 YCbCr 컬러 모델 및 무게 중심법을 이용하여 이동중인 작업자의 얼굴 영역과 중심좌표를 검출하고, 검출된 좌표 값에 따라 스테레오 카메라 제어를 통해 이동하는 작업자를 실시간적으로 검출하게 된다. 다음으로, AGV 구동에 의해 추적 제어된 스테레오 카메라의 좌, 우 영상간의 시차정보와 카메라 내부 변환관계를 통해 깊이 정보를 검출한 후, 검출된 깊이 지도로부터 각 열에 존재하는 최소값을 이용한 2차원 공간좌표를 검출하여 AGV과 작업자간의 거리와 실제좌표는 물론 다른 물체들과의 상대 거리를 산출하게 되며, 산출된 위치 좌표를 토대로 AGV의 지능적인 경로 추정 및 판단에 따라 자율적인 주행을 수행하게 된다. 실시간적으로 입력되는 240 프레임의 스테레오 영상을 사용한 실험결과, 산출된 2차원 공간좌표는 검출된 작업자의 위치좌표와의 관계를 통해 작업자의 폭과 실제 측정한 값과의 오차율이 평균 1.8% 이하로 유지됨으로써 보다 지능적인 AGV 시스템의 구현 가능성을 제시하였다.

• 한국실내디자인학회논문집
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• 제17권6호
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• pp.161-169
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• 2008

Recently, appearance is recognized as competitiveness as well as self expressing means, so understanding of general people have been rapidly changed. Also, since modem people have interest in an operation as well as various cosmetic treatment fields, a plastic surgery clinic is expanding its region to laser treatment and skin care for modem people. However, the plastic surgery clinic is not located in a building for only hospitals, but located in general neighborhood living facilities or an office building, so medical treatment is performed at the place. It is often found that a building plan can not conform to conditions that the hospital requires. This study is to understand a plane deciding factor of the plastic surgery clinic by analyzing it in a limit of building space and functional aspects of the plastic surgery clinic. A study method is first to investigate space composition according to the function, area allocation according to the function and a space privacy region after classifying study objects into large, middle, small scales so as to understand a functional role of the plastic surgery clinic, and secondly to analyze on the base of length of long and short edges of space and a moving line system after classifying common space types of the plastic surgery clinic through plane analysis of the study objects. As a result of the study, functional space difference according to the scale was shown, and the common space types were affected by length of the long and short edges, and it can influence space composition.

• 융합신호처리학회 학술대회논문집
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• 한국신호처리시스템학회 2001년도 하계 학술대회 논문집(KISPS SUMMER CONFERENCE 2001
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• pp.173-176
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• 2001

본 논문에서는, 기지패턴에 대한 카메라 Calibration을 이용하여 물체의 깊이정보를 추출하기 위한 새로운 계측시스템을 구축하였다. 3차원 실세계좌표와 2차원 영상좌표계의 관계를 해석하였고, 이로부터 카메라의 Calibration 알고리즘을 확립하여 카메라의 내부 변수와 외부 변수를 구하였다. 3차원 공간의 계측면을 평면으로 가정하고 평면의 방정식과 좌표계 변환 방정식으로부터 뉴-턴 랩슨법을 이용하여 최소 값에 대응하는 근사치로 깊이정보를 추출하고 실시간 처리를 위해 이를 Look-up 테이블에 저장하였다. 실험시스템에서 슬릿 레이저 투광기를 물체에 조사하고 이로부터 x-z평면의 2D 영상을 획득하였다. 이 과정을 물체를 이동시키면서 연속으로 획득하여 3D 영상 정보를 얻었다. 3D 형상을 모니터에 표시하기 위해 OpenGL을 이용하여 계측된 3D 형상을 얻을 수 있었다. 계측 결과, 분해능에서 약 1%의 오차가 발생하였으며, 이는 선형 모-터의 진동성분과 계측시스템의 광학적 오차에 기인된 것이라 판단되었다. 이를 개선하기 위해 기구적 시스템의 안정과 정밀용 카메라를 사용하므로 해결할 수 있으리라 판단된다.

• 한국통신학회논문지
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• 제34권10B호
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• pp.1076-1085
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• 2009

본 논문에서는 3차원 동영상의 시간적 중복성과 룩업 테이블을 이용한 효과적인 3차원 동영상 홀로그램 생성방법을 제안한다. 기존의 N-LT를 이용한 홀로그램 생성 기법은 미리 생성된 요소 프린지 패턴을 단순 이동 시켜 물체에 대한 홀로그램을 고속으로 생성할 수 있게 하였다. 하지만, 3차원 동영상 홀로그램의 경우는 정지영상에 대한 홀로그램에 비해 방대한 양으로 인하여 실시간 홀로그램을 생성하는데 많은 시간이 필요하게 되어 실직적인 제한이 있었다. 반면 이러한 3차원 동영상은 인접한 프레임은 유사한 정보를 갖는다는 시간적 중복성을 갖고 있고, 이러한 특성을 동영상 압축에 이용하고 있다. 따라서 본 논문에서는 이러한 3차원 동영상의 시간적 중복성을 이용하여 계산하여야 하는 데이터의 양을 현저하게 줄임으로써 3차원 동영상에 대한 홀로그램을 고속으로 생성할 수 있는 새로운 방법을 제안하고 실험을 통하여 검증하였다.

• 융복합기술연구소 논문집
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• 제1권2호
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• pp.6-15
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• 2011

This paper reports the design and fabrication of a micro-electro-mechanical-system(MEMS)-based electrostatic angular microactuator for a dual-stage servo. The proposed actuator employs a novel electrode pattern named "skewed electrode array(SEA)" scheme. It is shown that SEA has better linearity than a parallel plate type actuator and stronger force than a comb-drive based actuator. The moving and the fixed electrodes are arranged to make the driving force perpendicular to the rotating moment of arm. By changing the electrode overlap length, the magnitude of electrostatic force and stable displacement will be changed. In order to optimize the design, an electrostatic FE analysis was carried out and an empirical force model was established for SEA. A new assembly method which will allow the active electrodes to be located beneath the slider was developed. The active electrodes are connected by inner and outer rings lifted on the base substrate, and the inner and outer rings are connected to platform on which the slider locates. Electrostatic force between active electrodes and platform can be used for exiting out of plane modes, so this provides the possibility of the flying height control. A microactuator that can position the pico-slider over ${\pm}0.5{\mu}m$ using under 20 volts for a 2 kHz fine-tracking servo was designed and fabricated using SoG process.

• 대한기계학회논문집
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• 제16권7호
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• pp.1294-1306
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• 1992

본 연구에서는 IBPR 방법을 바탕으로 캐비티형상이 동일평면상에 있지 않은 경우에 대한 준3차원 유동해석과 주입기구가 있는 경우에 대한 유동해석을 별도로 수 행하여 실험결과와 비교하였다.해석결과는 실험과 잘 일치하였으며 그를 통해 앞서 개발한 IBRP방법이 보다 일반적인 경우에서의 캐비티 유동해석으로 확장, 응용될 수 있음을 확인할 수 있었다.

• 제어로봇시스템학회논문지
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• 제20권11호
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• pp.1153-1163
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• 2014

An efficient 3D SLAM (Simultaneous Localization and Map Building) method is developed for urban building environments using a tilted 2D LRF (Laser Range Finder), in which a 3D map is composed of perpendicular/horizontal planar polygons. While the mobile robot is moving, from the LRF scan distance data in each scan period, line segments on the scan plane are successively extracted. We propose an "expected line segment" concept for matching: to add each of these scan line segments to the most suitable line segment group for each perpendicular/horizontal planar polygon in the 3D map. After performing 2D localization to determine the pose of the mobile robot, we construct updated perpendicular/horizontal infinite planes and then determine their boundaries to obtain the perpendicular/horizontal planar polygons which constitute our 3D map. Finally, the proposed SLAM algorithm is validated via extensive simulations and experiments.

• 의료ㆍ복지 건축 : 한국의료복지건축학회 논문집
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• 제11권1호
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• pp.33-41
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• 2005

The construction can proceed in different ways according to the acquired profitability of the hospital during the construction and to the features of departments or areas. This study is an analysis of remodeling construction processes to resolve major tasks of remodeling. The remodeling strategies gained from this study can be summed up as follows: 1) Remodeling work in hospitals involves the acquire relocation of space through extensive area renovations and then moving back to the space, and lastly working on the empty space. Thus, it is more advantageous in terms of construction work to demolish the existing buildings than to acquire the relocation space through extensions or renovations. That is, demolition after the maximum utilization of the existing buildings is the most desirable in terms of space availability. 2) The construction methods for remodeling are two: a method of carrying out construction by dividing the plane areas into several individual ones and of working on it floor by floor. In case of ward areas, and the outpatient area, the construction proceeds after securing the relocation space and partially setting construction areas in order to minimize the decrease in profitability due to the smaller number of beds and treatment rooms during construction. If the outpatient diagnosis/ treatment area and the supply area relocate together with the ward areas, there may be extra expenses. Thus, doing construction by area, while partially operating those areas or after relocating the whole areas.

• 대한임베디드공학회논문지
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• 제19권1호
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• pp.1-8
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• 2024

Robotic arms have been widely utilized in various labor-intensive industries such as manufacturing, agriculture, and food services, contributing to increasing productivity. In the development of industrial robotic arms, camera sensors have many advantages due to their cost-effectiveness and small sizes. However, estimating object positions is a challenging problem, and it critically affects to the robustness of object manipulation functions. This paper proposes a method for estimating the 3D positions of objects, and it is applied to a pick-and-place task. A deep learning model is utilized to detect 2D bounding boxes in the image plane, and the pinhole camera model is employed to compute the object positions. To improve the robustness of measuring the 3D positions of objects, we analyze the effect of lens distortion and introduce a false positive filtering process. Experiments were conducted on a real-world scenario for moving medicine bottles by using a camera-based manipulator. Experimental results demonstrated that the distortion removal and false positive filtering are effective to improve the position estimation precision and the manipulation success rate.

• 제어로봇시스템학회논문지
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• 제20권10호
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• pp.1057-1062
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• 2014

This paper proposes a tip-over detection method for a mobile robot using a support inscribed circle defined as an inscribed circle of a support polygon. A support polygon defined by the contact points between the robot and the terrain is often used to analyze the tip-over. For a robot moving on uneven terrain, if the intersection between the extended line of gravity from the robot's COG and the terrain is inside the support polygon, tip-over will not occur. On the contrary, if the intersection is outside, tip-over will occur. The terrain is detected by using an RGB-D sensor. The terrain is locally modeled as a plane, and thus the normal vector can be obtained at each point on the terrain. The support polygon and the terrain's normal vector are used to detect tip-over. However, tip-over cannot be detected in advance since the support polygon is determined depending on the orientation of the robot. Thus, the support polygon is approximated as its inscribed circle to detect the tip-over regardless of the robot's orientation. To verify the effectiveness of the proposed method, the experiments are carried out using a 4-wheeled robot, ERP-42, with the Xtion RGB-D sensor.