• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
• /
• pp.1014-1017
• /
• 1992

This paper proposed LM method for solving bin-picking problem in robot vision. It has the processing steps such as image enchancement, image thresholding, region labelling, and moment computation. To determine a target object form bined objects, the modified labelling method is used. To determine position and orientation of holdsite, the moment method is used. Finally, some experiment results are illustated and compared with the results of conventional shrinking algorithm. The proposed LM method has reduced processing time.

• 대한안전경영과학회지
• /
• 제24권3호
• /
• pp.23-28
• /
• 2022

Rack is a place to store products. Workers pick products from rack storage. After picking up, workers move to another location by forklift. Driving speed, worker condition, and number/frequency of operation is responsible for forklift accidents. When an accident occurs, products get damaged. Therefore, it is important to prevent one. As the research result, To prevent forklift accidents, the minimum order quantity, the minimum number of operations, and low speed operation are required.

• 산업공학
• /
• 제17권4호
• /
• pp.450-458
• /
• 2004

S-Distribution Center supplies parts to three plants of K-automobile manufacturing company. Since the three plants employ the JIT production system, it is important for S-Distribution Center to deliver small quantities of parts frequently and quickly on time. This paper presents a case study on the improvement of order-picking operation in S-Distribution Center. The study is focused on the reductions of move time and waiting time by redesigning the parts storage location, picking-order terminal location, retrieval policy, and equipment operation policy. The proposed operation system for S-Distribution Center is evaluated through a simple computation analysis and computer simulation. Furthermore, the reducible numbers of equipment and order pickers are investigated by performing a sensitivity analysis.

• Journal of Biosystems Engineering
• /
• 제28권5호
• /
• pp.439-448
• /
• 2003

An image processing algorithm was developed for a robot system which was used in gene study. The robot system achieved a job of colony picking. The colony included DNA of an organism. The robot picked up the colony in petri-dish, which included the cultivated colony in medium, by a picking pin, and moved the colony to wellplates. The vision system consisted of an image acquisition system which acquired the image information of colony, an illumination device which irradiated the object once when it got the image of it, a computer and so on. The image processing algorithm distinguished the colony and detected colony positions. Performance test of the developed algorithm showed that the distinguishing success rate of colony and detecting success rate of colony positions were over 96%.

• Industrial Engineering and Management Systems
• /
• 제4권2호
• /
• pp.136-144
• /
• 2005

This research deals with an order picking problem in automated storage and retrieval systems (AS/RS). When retrieval requests consist of multiple items and the items are in multiple stock locations, the storage/retrieval (S/R) machine must travel to numerous storage locations to complete each order. The aim of this research is to propose algorithms for the resolution of order picking problems with multiple stock locations to minimize the total time traveled by the S/R machine. We present and compare three alternatives for solving the problem based on enumeration, ordinary heuristic and genetic algorithms. We used a set of 180 different problems that are solved by these three algorithms. The results show that our proposed genetic algorithm is more efficient than the other two.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
• /
• pp.692-698
• /
• 1993

This paper presents a Bin-Picking method in which robot recognizes the positions and orientations of jumbled objects placed in a bin, then picks up distinctive objects from the top of the jumble. The jumbled objects are recognized comparing the characteristics extracted from stereo images with those in the CAD data. The 3-D information is obtained using the bipartite-matching method which compares image of one camera with the image of the other camera Then the robot picks up the object which will cause the least amount of disturbance to the jumble, and places it at a predetermined place. This paper contributes to the basic study of Bin-Picking, and can be used in an automatic assembly system without using part sorting or orienting devices.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
• /
• pp.231-233
• /
• 2007

In this paper we present a new visual approach for the robust bin-picking in a two-step concept for a vision driven automatic handling robot. The technology described here is based on two types of sensors: 3D laser scanner and CCD video camera. The geometry and pose(position and orientation) information of bin contents was reconstructed from the camera and laser sensor. these information can be employed to guide the robotic arm. A new thinning algorithm and constrained hough transform method is also explained in this paper. Consequently, the developed bin-picking demonstrate the successful operation with 3D hole object.

• Bulletin of the Korean Chemical Society
• /
• 제30권11호
• /
• pp.2665-2668
• /
• 2009

A new algorithm for determining noise level is proposed for more reliability in interpreting spectral data for complex Fourier transform ion cyclotron resonance (FTICR) mass spectra of petroleum. In the new algorithm, a moving window with a fixed number of data points was adopted, instead of a fixed m/z width. In the analysis of petroleum, it was found that a moving window of 50,000 or more data points was optimal. This optimized automated peak picking performed well even with frequency-dependant noise in the mass spectrum. Additionally, this fast, automated peak picking algorithm was suitable for the analysis of a large set of samples.

• 대한전기학회논문지
• /
• 제41권8호
• /
• pp.938-946
• /
• 1992

A novel 2-dimensional matched filter of the parallel-jaw type using fuzzy logic is proposed for bin picking. Specifically, the averaged pixel intensity of the windowed region for the filtering is considered to be fuzzy. Also membership functions for darkness and brightness are designed by employing the intensity histogram of the image. Then a rule is given to know how much a windowed region can be a possible holdsite. Furthermore eight rules are made to determine the part orientation, where Mamdani's reasoning method is applied. The proposed technique shows better performances than that of the conventional matched filtering technique in the following senses` 1) most of holdsites determined by the proposed technique are not concentrated at the locations nearly the end of part and 2) our filter is rather insensitive to noises than the conventional method. To show the validities of our proposed technique, some experimental results are illustrated and compared with the results by conventional matched filter technique.

• Journal of information and communication convergence engineering
• /
• 제1권2호
• /
• pp.82-87
• /
• 2003

We are able to work on the shared virtual space in Web-based Collaborative Design System using only Internet and Web browser. Then the users will share 3D objects and must be able to pick the objects effectively which they want to manipulate. In this paper, picking is implemented not only by computing intersection of mouse pointer with the objects of the virtual world, but also by using capabilities and attributes of scene graph node, by setting bounds intersection testing instead of geometric intersection testing, by limiting the scope of the pick testing, using Java 3D. These methods can reduce the computation of picking and can pick 3D objects effectively and easily using the system of hierarchy.