• Title/Summary/Keyword: position and orientation

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Application of Area Based Matching for the Automation of Interior Orientation (내부표정의 자동화를 위한 영역중심 영상정합기법 적용)

  • 유복모;염재홍;김원대
    • Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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    • v.17 no.4
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    • pp.321-330
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    • 1999
  • Automation of observation and positioning of fiducial marks is made possible with the application of image matching technique, developed through the cooperative research effort of computer vision and digital photogrammetry. The major problem in such automation effort is to minimize the computing time and to increase the positional accuracy. Except for scanning and ground control surveying, the interior orientation process was automated in this study, through the development of an algorithm which applies the image matching and image processing techniques. The developed system was applied to close-range photogrammetry and the analysis of the results showed 54% improvement in processing time. For fiducial mark observation during interior orientation, the Laplacian of Gaussian transformation and the Hough transformation were applied to determine the accurate position of the center point, and the correlation matching and the least squares matching method were then applied to improve the accuracy of automated observation of fiducial marks. Image pyramid concept was applied to reduce the computing time of automated positioning of fiducial mark.

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Development of a Robotic Transplanter Using Machine Vision for Bedding Plants (기계시각을 이용한 육묘용 로봇 이식기의 개발)

  • 류관희;김기영;이희환;한재성;황호준
    • Journal of Bio-Environment Control
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    • v.6 no.1
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    • pp.55-65
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    • 1997
  • This study was conducted to develop a robotic transplanter for bedding plants. The robotic transplanter consisted of machine vision system, manipulator attached with the specially designed gripper, and plug tray transfer system. Results of this study were as follows. 1. A machine vision system for a robotic transplanter was developed. The success rates of detecting empty cells and bad seedlings in 72-cell and 128-cell plug-trays for cucumber seedlings were 98.8% and 94.9% respectively. The success rates of identifying leaf orientation for 72- cell and 128-cell plug-trays were 93.5% and 91.0%, respectively. 2. A cartesian coordinate manipulator for a robotic transplanter with 3 degrees of freedom was constructed. The accuracy of position control was $\pm$ 1mm. 3. The robotic transplanter was tested with a shovel-type finger. Without considering leaf orientation, the success rates of transplanting healthy cucumber seedlings for 72-cell and 128-cell plug-trays were 95.5% and 94.5%, respectively. Considering leaf orientation, the success rates of transplanting healthy cucumber seedling in 72-cell and 128-cell plug-trays were 96.0% and 95.0%, respectively.

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Application of LabView-Based Parameter Scheduling Programming for a 6-Axis Articulated Robot (LabView기반 6축 수직 다관절 로봇의 파라미터 스케쥴링 프로그래밍에 관한 연구)

  • Kim, Seong-Bhn;Chung, Won-Jee;Kim, Hyo-Gon
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.24 no.3
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    • pp.327-333
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    • 2015
  • As industrial robots come into wider use, their control techniques are being developed along with enhancements in their performance. Specially, the dynamic performance of a 6-axis articulated industrial robot is greatly changed according to the position and orientation of the robot. This means that the PI parameter tuning of the robot and orientation of the robot. This mconsidering the dynamic characteristics of robot mechanism. In this study, $LabView^{(R)}$ programming was applied to automatically conduct parameter scheduling for various robot motions. Using forward and inverse kinematics of RS2, we can divide the working envelope of RS2 into 24 subspaces. We then conduct the gain-tuning according to each subspace. Finally, we program the actual gain scheduling, in which the optimized gain-tuning for each subspace to be passed should be changed for various robot motions using $LabView^{(R)}$.

Obtaining 3-D Depth from a Monochrome Shaded Image (단시안 명암강도를 이용한 물체의 3차원 거리측정)

  • Byung Il Kim
    • Journal of the Korean Institute of Telematics and Electronics B
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    • v.29B no.7
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    • pp.52-61
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    • 1992
  • An iterative scheme for computing the three-dimensional position and the surface orientation of an opaque object from a singel shaded image is proposed. This method demonstrates that calculating the depth(distance) between the camera and the object from one shaded video image is possible. Most previous research works on $'Shape from Shading$' problem, even in the $'Photometric Stereo Method$', invoved the determination of surface orientation only. To measure the depth of an object, depth of the object, and the reflectance properties of the surface. Assuming that the object surface is uniform Lambertian the measured intensity level at a given image pixel*x,y0becomes a function of surface orientation and depth component of the object. Derived Image Irradiance Equation can`t be solved without further informations since three unknown variables(p,q and D) are in one nonlinear equation. As an additional constraints we assume that surface satisfy smoothness conditions. Then equation can be solved relaxatively using standard methods of TEX>$'Calculus of VariationTEX>$'. After checking the sensitivity of the algorithm to the errors ininput parameters, the theoretical results is tested by experiments. Three objects (plane, cylinder, and sphere)are used. Thees initial results are very encouraging since they match the theoretical calculations within 20$\%$ error in simple experiments.> error in simple experiments.

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Impedance-Control Based Peg-in-Hole Assembly with a 6 DOF Manipulator (6축 머니퓰레이터를 이용한 임피던스 제어 기반의 원형 펙 조립)

  • Kim, Byeong-Sang;Kim, Young-Loul;Song, Jae-Bok;Son, Seung-Woo
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.35 no.4
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    • pp.347-352
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    • 2011
  • The maximum accuracy of position control by using an industrial robot is about $100{\mu}m$, whereas the maximum tolerated imprecision in the position of precision parts is about several tens of micrometers. Therefore, it is very difficult to assemble parts by position control only. Moreover, in the case of precision assembly, jamming or wedging can easily occur because of small position/orientation errors, which may damage the parts to be assembled. To overcome these problems, we investigated a force control scheme that provides proper motion in response to the contact force. In this study, we constructed a force control system that can be easily implemented in a position-controlled manipulator. Impedance control by using an admittance filter was adopted to perform stable contact tasks. It is shown that the precision parts can be assembled well by adopting impedance control and blind search methods.

Analysis of Research Trend on Cognitive Orientation to daily Occupational Performance (CO-OP) in Korea: A Systematic Review (국내 인지기반 작업수행(Cognitive Orientation to daily Occupational Performance; CO-OP) 중재의 연구 동향 분석: 체계적 고찰)

  • Yoo, Yung-Mee;Choi, Yoo-Im
    • Therapeutic Science for Rehabilitation
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    • v.11 no.4
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    • pp.7-22
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    • 2022
  • Objective : This study aims to provide clinical evidence by systematically reviewing domestic CO-OP intervention studies. Methods : 13 papers suitable for selection criteria were finally selected and conducted. The analysis was divided into general characteristics and qualitative levels. Results : As a result of analyzing the contents of study, research has been conducted continuously since 2015, and the level of evidence for CO-OP intervention study was mainly single subject design. The subjects of the study were applied to both children and adults, and as the target activity areas of CO-OP intervention, children were shown to be play and leisure, and adults were instrumental daily living. COPM/PQRS were frequently used for evaluation to examine effectiveness of interventions. For domain specific strategies, children used body position, attention to doing, task specification, and verbal motor mnemonic. For adults, body position, attention to doing, task specification, and feeling to movement, verbal motor mnemonic, verbal rote script were used. Conclusion : It was found that CO-OP intervention is continuously being applied in occupational therapy, and age and diagnosis group are expanding. It is significant in that it provided evidence for implementing CO-OP interventions in clinical practice through a systematic review of domestic CO-OP intervention studies.

Study on the Preferred Orientation Using White Neutron

  • Lee, Yun-Peel
    • Nuclear Engineering and Technology
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    • v.6 no.4
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    • pp.219-230
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    • 1974
  • The previous expression for the diffracted neutron intensity by a highly oriented polycrystalline is modified using the Kunitomi's formula of the crystal reflectivity The method of studying the preferred orientation in metals with white neutron is proposed utilizing the above formula and the fact that the real position of the diffraction of certain grain in the sample can be found by the comparison of the smaller angle part of the maxwellian curve of the calculated intensity of neutrons diffracted and the experimenal curves. The most probable wavelength of thermal neutrons from the reactor is found by the measurement of the neutron spectrum with the correction for the crystal about the multiple reflection and the absorption of neutrons and turned out to be 1.025 $\pm$ 0.001$\AA$. The preferred orientations of some electric steel sheets, mostly with the cube-on-face orientations, are investigated by the present method. The orientations of most grains relative to the rolling directions are found to be within 5 degrees. It is found the most of theories for large crystals may be extended to highly oriented polycrystalline materials without extensive modification.

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DEM Generation by the Matching Line Using Exterior Orientation Parameters of the IKONOS Geo Imagery (IKONOS 위성영상의 외부표정요소로부터 정합선 수립에 의한 DEM 생성)

  • Lee, Hyo-Seong;Ahn, Ki-Weon
    • Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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    • v.24 no.4
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    • pp.367-376
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    • 2006
  • This study determines the optimum polynomial of exterior orientation parameters(EOPs) as a function of line number of linear array scanner. To estimate priori EOPs, meta data of IKONOS scene and ground control points are used. We select a first order polynomial and a constant for position elements modeling and rotation elements modeling. Positioning accuracy of the determined EOPs is compared with that of RPCs bias-corrected by the least squares adjustment. There is almost no difference between accuracies of the two methods. To obtain digital elevation model(DEM), matching line is established by the EOPs. The DEM is compared with DEM generated by ERDAS IMAGINE software, which utilizes the bias-corrected RPCs. Height differences of DEMs by the two methods are ranged within a allowable standard deviation. The produced DEM, therefore, shows accuracy similar to the verified method.

Georeferencing of Indoor Omni-Directional Images Acquired by a Rotating Line Camera (회전식 라인 카메라로 획득한 실내 전방위 영상의 지오레퍼런싱)

  • Oh, So-Jung;Lee, Im-Pyeong
    • Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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    • v.30 no.2
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    • pp.211-221
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    • 2012
  • To utilize omni-directional images acquired by a rotating line camera for indoor spatial information services, we should register precisely the images with respect to an indoor coordinate system. In this study, we thus develop a georeferencing method to estimate the exterior orientation parameters of an omni-directional image - the position and attitude of the camera at the acquisition time. First, we derive the collinearity equations for the omni-directional image by geometrically modeling the rotating line camera. We then estimate the exterior orientation parameters using the collinearity equations with indoor control points. The experimental results from the application to real data indicate that the exterior orientation parameters is estimated with the precision of 1.4 mm and $0.05^{\circ}$ for the position and attitude, respectively. The residuals are within 3 and 10 pixels in horizontal and vertical directions, respectively. Particularly, the residuals in the vertical direction retain systematic errors mainly due to the lens distortion, which should be eliminated through a camera calibration process. Using omni-directional images georeferenced precisely with the proposed method, we can generate high resolution indoor 3D models and sophisticated augmented reality services based on the models.

Phase identification and degree of orientation measurements far fine-grained rock forming minerals using micro-area X-ray diffractometer -$Al_{2}SiO_{5}$ Polymorphs- (미소부 X-선 회절분석기를 이용한 미립조암광물의 상동정 및 배향도 측정 -$Al_{2}SiO_{5}$ 3상다형-)

  • 박찬수;김형식
    • The Journal of the Petrological Society of Korea
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    • v.9 no.4
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    • pp.205-210
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    • 2000
  • Measurements of phase identification and degree of orientation for fine-grained (about 0.3 mm in diameter) minerals in rock samples performed by micro-area X-ray diffractometer.$Al_{2}SiO_{5}$ polymorphs (andalusite, kyanite and sillimanite) were chosen for the measurements and target minerals were existed on thin sections. Micro-area X-ray diffractometer is composed of 3(${\omega}\;{\chi}\;{\phi}$)-circle oscillating goniometer and position sensitive proportional counter (PSPC). $CuK_{\alpha}$ radiation was used as X-ray source and a pin hole ($50\;\mu\textrm{m}$$ in diameter) collimator was selected to focus radiation X-ray onto the target minerals. Phase identification and diffracted X-ray peak indexing were carried out by 3(${\omega}\;{\chi}\;{\phi}$)-circle oscillation measurement. Then, 2(${\omega}\;{\phi}$)-circle oscillation measurement was made for the purpose of searching the prevailing lattice plane of the minerals on thin section surface. Finally, for a selected peak by 2-circle oscillation measurement, X-ray pole figure measurement was executed for the purpose of check the degree of orientation of the single lattice direction and examine its pole distribution. As a result of 3-circle oscillation measurement, it was possible that phase identification among $Al_{2}SiO_{5}$ polymorphs. And from the results of 2-circle oscillation measurement and X-ray pole figure measurement, we recognized that poles of andalusite (122), kyanite (200) and sillimanite (310) lattice plances were well developed with direction normal to each mineral surface plane respectively. Therfore, the measurements used with micro-area X-ray diffractometer in this study will be a useful tool of phase identification and degree of orientation measurement for fine-grained rock forming minerals.

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