• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.276-276
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• 2000

This paper presents the efficient algorithms for the pose determination of a circular object with and without a priori knowledge of the object radius. The developed algorithms valid for a circular object are the result of the elaboration of Ma's work [2], which determines the pose of a conic object from two perspective views. First, the geometric constraint of a circular object and its projection on the image plane of a camera is described. The number of perspective views required for the object pose determination with and without a priori knowledge of the object radius is also discussed. Second, with a priori knowledge of the object radius, the pose of a circular object is determined from a single perspective view. The object pose information, expressed by two surface normal vectors and one position vector, is given in a closed form and with no ambiguity. Third, without a priori knowledge of the object radius, the pose of a circular object is determined from two perspective views. While the surface normal vectors are obtained from the first view, the position vector is obtained from the two views.

• International Journal of Korean Welding Society
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• v.2 no.2
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• pp.57-60
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• 2002

Generally, the laser vision sensor makes it possible design a highly reliable and precise range sensor at a low cost. When the laser vision sensor is applied to lap joint welding, however. there are many limitations. Therefore, a specially-designed hardware system has to be used. However, if the multi-lines are used instead of a single line, multi-range data .:an be generated from one image. Even under a set condition of 30fps, the generated 2D range data increases depending on the number of lines used. In this study, a laser vision sensor with a multi-line pattern is developed with conventional CCD camera to carry out high speed seam tracking in lap joint welding.

• Journal of the Korean Society of Visualization
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• v.10 no.1
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• pp.9-14
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• 2012

In this study, a piezoelectric inkjet nozzle with a rectangular shaped channel has been developed, and the characteristics of droplet formation have been investigated according to the variation of pulse widths in bipolar waveform. The channel of the nozzle was fabricated transparently by a precision machining technique. A tantalum membrane which was attached to a piezoelectric material covers the channel. By applying two types of bipolar waveforms to the piezoelectric actuators, droplet formation through the nozzle was monitored by a CCD camera. For the variety of the first and second pulse widths in the bipolar waveforms, the regimes of single and double droplet formations are presented. The change of droplet velocity which depends on the pulse width and the type of waveform is also discussed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.543-548
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• 1994

This is the paper on the development of assemnly automation and visual inspection system for smart card reader connector. The automation consists of 3 main process injection, assembly and inspection. During the injection, the main pin of a reel. transferred under uniform tension, is cut with an injection interval and positioned precisely to an injection mold by roll feeder after injection. The main base is stacked to a magazine for main pin's exact positionning to a mold . For last effective production, The turn table and pick & place are driver with gears and came by a single monter. We developed the small parts handling technigue for stable supply of micro ist pin and 2nd pin and could determine the orientation and position of those pins. For reliable inspection, We used the vision system which examins the guality of arranged pins with a CCD camera. The connector models which can be manufactured with this system are 8 pin and 10 pin type. The user can select the connector model for production and adjust the torerable error range during the inspection of arranged pins.

• Journal of the Korean Society of Visualization
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• v.4 no.2
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• pp.32-36
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• 2006

Recently there are many researches about single flow and two-phase flow phenomena in the mini and microchannel. But from this result the principle in the microchannel was not explained clearly. In this paper two-phase flow pattern was visualized in the micro-multi-branched-channel using a high speed camera. Microchannel was fabricated with PDMS and glass slide. The velocity profile was obtained by a Micro PIV. Then flow boiling at the near inlet area was occurred and vapor was moved in the micro-multi-branched-channel.

• The Transactions of the Korean Institute of Electrical Engineers C
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• v.50 no.3
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• pp.136-143
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• 2001

A micro particle manipulator, which is devised for trapping particles at fixed positions by negative dielectrophoretic force (DEP force), has been fabricated and experimented. It is composed of square type electrode arrays fabricated by nickel electroplating with the height of 28 ${\mu}m$. To improve the quality of electroplated nickel electrodes, plating conditions have been optimized. Micro particles used in this study are polystyrene spheres and their to the specific position and trapped. The DEP force along the moving path of the particles has been estimated by the motion equation of a single particle. The displacement of a particle with an elapsed time was measured using a high-speed camera (1000 frames/sec). The velocity and acceleration of the particle were calculated from the measured data. The DEP force acting on the particle was estimated.

• Journal of ILASS-Korea
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• v.12 no.4
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• pp.198-203
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• 2007

In the present work, surface wetting effect on spread-splash regime and transition criterion of the water and ethanol droplets impacting an unheated dry wall has been experimentally investigated. The droplet was directed on a polished STS plate and a glass slide, and the impinging behavior was visualized and recorded using a CCD camera. Droplet diameter and velocity approaching the wall were measured as well. The critical Sommerfeld number representing the spread-splash boundary for the ethanol droplet impinging on the substrates turned out to be smaller compared to that for the water droplet impinging on the substrates with the surface roughness condition remained unchanged. The shift of the transition boundary is considered to be due to the effect of the surface wettability represented by static contact angle and surface tension of droplet.

• Journal of the Optical Society of Korea
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• v.19 no.5
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• pp.531-536
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• 2015

This paper presents a new graphical method for selecting a pair of optical glass and housing materials to simultaneously achromatize and athermalize a multilens system composed of many elements. To take into account the lens spacing and housing, we quantify the lens power, chromatic power, and thermal power by weighting the ratio of the paraxial ray height at each lens to them. In addition, we introduce the equivalent single lens and the expanded athermal glass map including a housing material. Even though a lens system is composed of many elements, we can simply identify a pair of glass and housing materials that satisfies the athermal and achromatic conditions. Applying this method to design a black box camera lens equipped with a 1/4-inch image sensor having a pixel width of $2{\mu}m$, the chromatic and thermal defocusings are reduced to less than the depth of focus, over the specified ranges in temperature and frequency.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.4
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• pp.346-352
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• 2011

This paper presents a system of road extraction for traffic images from a single camera. The road in the images is subject to large changes in appearance because of environmental effects. The proposed system is based on the integration of color correlograms and random forest. The color correlogram depicts the color properties of an image properly. Using the random forest, road extraction is formulated as a learning paradigm. The combined effects of color correlograms and random forest create a robust system capable of extracting the road in very changeable situations.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.839-840
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• 2006

Our paper proposes a novel moving object tracking scheme for biped robot using a single camera. For walking control of a biped robot we analyze the dynamics of a three-dimensional inverted pendulum model. This analysis leads us a simple linear dynamics. And, the control parameter of the biped robot is derived from the feedback signal which converges the position of a image feature to the feature position of a desired image and the feedforward signal which compensates the motion component due to the moving object.