• 한국정밀공학회지
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• 제15권7호
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• pp.175-181
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• 1998

This paper describes realtime visual tracking system of moving object for three dimensional target using EKF(Extended Kalman Filter). We present a new realtime visual tracking using EKF algorithm and image prediction algorithm. We demonstrate the performance of these tracking algorithm through real experiment. The experimental results show the effectiveness of the EKF algorithm and image prediction algorithm for realtime tracking and estimated state value of filter, predicting the position of moving object to minimize an image processing area, and by reducing the effect by quantization noise of image.

• 한국산업융합학회 논문집
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• 제17권2호
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• pp.54-60
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• 2014

The equipment of SCARA robot in processing and assembly lines has rapidly increased. In order to achieve high productivity and flexibility, it becomes very important to develop the visual feedback control system with Off-Line Programming System(OLPS). We can save much efforts and time in adjusting robots to newly defined workcells by using OLPS. A proposed visual calibration scheme is based on position-based visual feedback. The calibration program firstly generates predicted images of objects in an assumed end-effector position. The process to generate predicted images consists of projection to screen-coordinates, visible range test, and construction of simple silhouette figures. Then, camera images acquired are compared with predicted ones for updating position and orientation data. Computation of error is very simple because the scheme is based on perspective projection, which can be also expanded to experimental results. Computation time can be extremely reduced because the proposed method does not requirethe precise calculation of tree-dimensional object data and image Jacobian.

• Design & Manufacturing
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• 제14권2호
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• pp.14-20
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• 2020

In OLED panel production process, it is necessary to cut a part of protective film as a preprocess for lighting inspection. The current method is to recognize only the fiducial mark of the cut-out panel. Bare Glass Cutting does not compensate for machining cumulative tolerances. Even though process defects still occur, it is necessary to develop technology to solve this problem because only the Align Mark of the panel that has already been cut is used as the reference point for alignment. There is a lot of defective lighting during panel lighting test because the correct protective film is not cut on the panel power and signal application pad position. In laser cutting process to remove the polarizing film / protective film / TSP film of OLED panel, laser processing is not performed immediately after the panel alignment based on the alignment mark only. Therefore, in this paper, we performed real time inspection which minimizes the mechanism tolerance by correcting the laser cutting path of the protective film in real time using Machine Vision. We have studied calibration algorithm of Vision Software coordinate system and real image coordinate system to minimize inspection resolution and position detection error and edge detection algorithm to accurately measure edge of panel.

• 한국자동차공학회논문집
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• 제11권3호
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• pp.214-219
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• 2003

This paper includes real-time tractive force estimation method using standard vehicle sensors such as wheel speed, brake pressure, throttle position, engine speed, and transmission carrier speed sensor. Engine map, torque converter lookup table, shaft torque observer, and brake gain adaptation method are used to estimate the tractive force. To verify this estimator, measurement which uses strain-based brake torque sensor and estimation results are presented. All results was performed using a real vehicle in a real-time.

• 한국전자거래학회지
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• 제13권2호
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• pp.101-115
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• 2008

최근 사회에서는 총기를 사용하는 범죄가 증가하고 있으며, 방화 및 테러에 이용될 수 있는 화학물질 및 방사선 물질들의 부실한 관리로 인해 많은 곳에서 관련 사고가 잇따르고 있다. 이에 따라, 위험물에 대한 위치를 추적함과 동시에 위험물에 대한 정확하고 신속한 정보를 제공하는 혁신적인 위험물 관리기술이 필요하다. 본 논문에서는 현재의 위험물 관리 기술의 한계성 및 문제점을 극복하기 위하여 RFID를 이용한 웹 기반의 실시간 위험물 모니터링 시스템의 구축 사례를 보인다. RFID를 이용한 웹 기반의 실시간 위험물 모니터링 시스템에 대한 아키텍처를 정의하고, RFID 태그에 위험물에 대한 정보를 저장하기 위한 방법을 정의하며, 웹 기반의 모니터링 시스템을 구현하여 실제로 위험물을 모니터링 하는 사례를 보인다. 논문에서 제시하는 실시간 위험물 모니터링 시스템은 위험물 정보를 관리하고 위험물을 제어하기 위한 위험물 모니터링 서버, 위험물과 모니터링 서버의 중계자 역할을 수행하는 위험물 모니터링 미들웨어, 위험물에 부착된 RFID 태그로부터 위험물의 정보를 읽기 위한 RFID 리더기, 위험물의 정보, 상태 및 위치에 대한 데이터를 저장하기 위한 데이터베이스로 구성된다. 이 시스템은 총기류, 방사선 물질, 유해성 화학물질 등 여러 가지 위험물에 대하여 RFID를 이용한 위치정보에 기반하여 위험물을 관리하는 시스템으로 위험물에 대한 반입, 반출 검사 및 실시간 위치정보를 획득할 수 있다. 또한 웹 기반의 시스템이고, 그래픽 사용자 인터페이스를 제공하므로 필요할 때는 언제 어디서나 웹을 통하여 위험물에 대한 시각적인 모니터링을 할 수 있다.

• 대한기계학회논문집A
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• 제21권3호
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• pp.361-368
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• 1997

In order to eliminate position errors existing at the steady state in the motion control of robotic manipulators, a new fuzzy control algorithm is propeosed using three variables, position error, velocity error and integral of position errors as input variables of the fuzzy controller. Although the number of input variables of the fuzzy controller is increased from two to three, the number of fuzzy control rules is just increased by two. Three dimensional look-up table is used to reduce the computational time in real-time control, and a technique reducing the amount of necessary memory is introduced. Simulation and experimental studies show that the position errors at the steady state are decreased more than 90% compared to those of existing fuzzy controller when the proposed fuzzy controller is applied to the 2 axis direct drive SCARA robot manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1316-1319
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• 1996

This paper proposes the algorithm for the correction of a position and orientation of small object such as chip in the precise construction process. In the past, it is general to correct position and orientation of object using human sight and simple vision sensors. But recently, researches using image processing devices have been studied to improve the corrective precision of a position and orientation of object. In this piper, maximum-axis moment and p-theta algorithm are used to correct the position and orientation. Algorithm of maximum-axis moment is widely applied to hetero-object except being applied to a perfect rectangle. This is reason that moments of the X and Y-axis are equal. Therefore, being the shape of a perfect rectangle, the object is applied to other algorithm. In the light of time problem, real-time control is as important as correction of object. To solve it, we use the DSP(Digital Signal Processing) which is far more fast than PC.

• 한국정밀공학회지
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• 제21권5호
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• pp.91-98
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• 2004

Human uses level difference and time difference to get space information. Therefore this paper shows that method to presume direction of sound source by time difference and to mark presumed position. The position means direction from geometrical center of sensors to the sound source. To get the time difference of microphones input level, we will be explained about arrangement of microphones which used for the sensor to take the sound signal. It is included distance among the 3 microphones and distance between microphones and sound source. Secondly, input signals are transmitted to CPU througth digital process. CPU is used to DSP(Digital Signal Processor) for manage the signal by real time. Finally, the position of sound source is perceived by an explained algorithm in this paper.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1991년도 하계학술대회 논문집
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• pp.763-766
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• 1991

The moving of each axis in the robot manipulator can be represented with the motion of cartesian space. This paper shows the robot manipulator of the straight line trajectory planning algorithms in the cartesian space. The relation formulas between cartesian space and joint space are induced to accomplish a desired trajectory in the cartesian space and the velocity vector of sampling time in the cartesian space is transformed into the velocity vector of joint by the interpolation method. The error of trajectory in moving is removed by obtaining the real position for the present joint position and the desired distance is made by comparing the real position and the next position. Through the simple tests for suggested algorithms are confirmed the validity of algorithms.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 하계학술대회 논문집 A
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• pp.346-348
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• 1997

This paper presents microprocessor-based real-time speed and position detection by inductive radio loop in new transportation system, such as magnetically levitated train system, rubber tyred train, and linear-motor car. The constant elapsed time method is used in this study for high accurate detection over a wide speed range. And for reliability and safety of the system, it is duplicated and data-bus level comparison is performed by fail-safe comparator.