• Agricultural and Biosystems Engineering
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• v.1 no.2
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• pp.106-110
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• 2000

An integrated on-line inspection system was constructed with seven cameras, half mirrors to split images. 720 nm and 970 nm band pass filters, illumination chamber having several tungsten-halogen lamps, one main computer, one color frame grabber, two 4-channel multiplexors, and flat plate conveyer, etc. A total of seven images, that is, one color image form the top of an apple and two B/W images from each side (top, right and left) could be captured and displayed on a computer monitor through the multiplexor. One of the two B/W images captured from each side is 720nm filtered image and the other is 970 nm. With this system an on-line grading software was developed to evaluate appearance quality. On-line test results with Fuji apples that were manually fed on the conveyer showed that grading accuracies of the color, defect and shape were 95.3%, 86% and 88.6%, respectively. Grading time was 0.35 second per apple on an average. Therefore, this on-line grading system could be used for inspection of the final products produced from an apple sorting system.

• Journal of Power System Engineering
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• v.21 no.4
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• pp.42-50
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• 2017

A velocity controller using a modified model reference adaptive controller (M-MRAC) and a projection operator for a fish sorting belt conveyor system with uncertainty parameters, input saturation and bounded disturbances is proposed in this paper. To improve the tracking performance and robustness of the proposed controller in the presence of bounded disturbances, the followings are done. Firstly, the reference model for the conventional model reference adaptive controller (CMRAC) is replaced by a modified reference model for a M-MRAC to reduce unexpected high frequency oscillation in control input signal when the adaptation rate is increased. Secondly, estimated parameters in an adaptive law are varied smoothly under bounded external disturbances and a projection operator is utilized in an adaptive law for the proposed M-MRAC controller to be robust. Thirdly, an auxiliary error vector is introduced for compensating the error dynamics of the system when the saturation input occurs. Finally, the experimental results are shown to verify the better effectiveness and performance of the proposed controller under the bounded disturbance and saturated input than that of a CMRAC.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2000.11c
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• pp.551-559
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• 2000

An integrated on-line inspection system was constructed with seven cameras, half mirrors to split images, 720 nm and 970 nm band pass filters, illumination chamber having several tungsten-halogen lamps, one main computer, one color frame grabber, two 4-channel multiplexors, and flat plate conveyer, etc., so that a total of seven images, that is, one color image from the top side of an apple and two B/W images from each side (top, right and left) could be captured and displayed on a computer monitor through the multiplexor. One of the two B/W images captured from each side is 720nm filter image and the other is 970nm. With this system an on-line grading software was developed to evaluate appearance quality. On-line test results to the Fuji apples that were manually fed on the conveyer showed that grading accuracies of the color, defective and shape were 95.3%, 86% and 91%, respectively. Grading time was 0.35 sec per apple on an average. Therefore, this on-line grading system could be used for inspection of the final products produced from an apple sorting system.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.2
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• pp.224-229
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• 2005

Generally, genetic algorithm (GA) has too much time and space complexity when it is running in the typical processor. Therefore, we are forced to use the high-performance and expensive processor by this reason. It also works as a barrier to implement real device, such a small mobile robot, which is required only simple rules. To solve this problem, this paper presents and proposes enhanced processor-architecture for the faster GA processing. A typical processor architecture can be enhanced and specialized by two approaches: one is a sorting network, the other is a residue number system (RNS). A sorting network can improve the time complexity of which needs to compare the populations' fitness. An RNS can reduce the magnitude of the largest bit that dictates the speed of arithmetic operation. Consequently, it can make the total logic size smaller and innovate arithmetic operation speed faster.

• Journal of the Semiconductor & Display Technology
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• v.22 no.1
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• pp.72-77
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• 2023

In many manufacturing settings, including the semiconductor industry, products are completed by producing and assembling various components. Sorting out from randomly mixed parts and classification operations takes a lot of time and labor. Recently, many efforts have been made to select and assemble correct parts from mixed parts using robots. Automating the sorting and classification of randomly mixed components is difficult since various objects and the positions and attitudes of robots and cameras in 3D space need to be known. Previously, only objects in specific positions were grasped by robots or people sorting items directly. To enable robots to pick up random objects in 3D space, bin picking technology is required. To realize bin picking technology, it is essential to understand the coordinate system information between the robot, the grasping target object, and the camera. Calibration work to understand the coordinate system information between them is necessary to grasp the object recognized by the camera. It is difficult to restore the depth value of 2D images when 3D restoration is performed, which is necessary for bin picking technology. In this paper, we propose to use depth information of RGB-D camera for Z value in rotation and movement conversion used in calibration. Proceed with camera calibration for accurate coordinate system conversion of objects in 2D images, and proceed with calibration of robot and camera. We proved the effectiveness of the proposed method through accuracy evaluations for camera calibration and calibration between robots and cameras.

• Journal of Korea Water Resources Association
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• v.37 no.5
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• pp.387-395
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• 2004

A computer model was proposed to simulate channel changes and bed material sorting of the meandering channels with different grain size in time and space simultaneously. The bed at the outside of the meandering channel with mixed sediments was scoured deeply and composed of coarser materials, and at the inside was aggradated and composed of finer materials. The sorting process started at the upstream inflection point and was finished at the downstream inflection point. At the natural with complicated boundaries and non-uniform grain sizes, the bed near the outside at the bend and narrow width was scoured deeper with coarse materials than in the channel with uniform grain sizes. The point bars showed lip at the inside near the bend and the bed materials were finer The bed at the outside near the bend and in the narrow width was scoured deeply with the coarser materials.

• Journal of Biosystems Engineering
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• v.29 no.2
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• pp.167-174
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• 2004

Density is a physical property which contains information relating to the internal quality of fruits and vegetables, and can be used as an index for nondestructive quality evaluation. Density sorting has been employed by farmers for some agricultural products since ancient times. In this study, an automatic density measuring system based on the platform scale or water displacement method was developed for density sorting of watermelon. It consisted of water tan, load cell, net tray, electric motor, limit switch, control system and its program. The resolution of density was 0.001 g/㎤. In order to calibrate and evaluate the accuracy, the density was measured using a balloon kept in cold water. It showed 1.002 g/㎤ which almost correspond to real density of water. Test results with 6 watermelons and 3 replications showed that the standard deviations of the dens were 0.001∼0.004 g/㎤. The relationship between density and internal quality of watermelon was investigated using the system. The densities of hollow watermelons were less than 0.950 g/㎤, it was apparent that the density of the watermelon was related to the degree of hollowness. But the soluble solid contents and internal defects could not be estimated from the density.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2008.10a
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• pp.716-719
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• 2008

Recently industrial launderers face challenges in order to remain efficient and competitive. This paper describes the wireless laundry assorting system to prevent the economic loss caused by sorting the laundries incorrectly. Proposed system consists of wireless modules, barcode reader, and PC with base module. The wireless modules communicate with base module, and display the customer's information and amount of total and/or current sorting laundries. Proposed system works with leading services to further improve the efficiency of laundry processes.

• Korean Journal of Poultry Science
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• v.22 no.4
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• pp.233-238
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• 1995

A computer vision system was built to generate images of a single, stationary egg. This system includes a CGD camera, a frame grabber, and incandescent back lighting system. Image processing algorithms were developed to inspect egg shell and to sort eggs. Those values of both gray level and area of dark spots in the egg image were used as criteria to detect holes in egg and those values of both area and roundness of dark spots in the egg image were used to detect cracks in egg. For a sample of 300 eggs, this system was able to correctly analyze an egg for the presence of a defect 97.5% of the time. The weights of eggs were found to be linear to both the projected area and the perimeter of eggs viewed from above. Those two values were used as criteria to sort eggs. The coefficients of determination(r$^2$) for the regression equations between weights and those two values were 0.967 and 0.972 in the two sets of experiment. Accuracies in grading were found to be 95.6% and 96.7% as compared with results from sizing by electronic weight scale.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1996.06c
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• pp.834-841
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• 1996

Egg production in Korea is becoming automated with a large scale farm. Although many operations in egg production have been and cracks are regraded as a critical problem. A computer vision system was built to generate images of a single , stationary egg. This system includes a CCD camera, a frame grabber board, a personal computer (IBM PC AT 486) and an incandescent back lighting system. Image processing algorithms were developed to inspect egg shell and to sort eggs. Those values of both gray level and area of dark spots in the egg image were used as criteria to detect holes in egg and those values of both area and roundness of dark spots in the egg and those values of both area and roundness of dark spots in the egg image were used to detect cracks in egg. Fro a sample of 300 eggs. this system was able to correctly analyze an egg for the presence of a defect 97.5% of the time. The weights of eggs were found to be linear to both the projected area and the perimeter of eggs v ewed from above. Those two values were used as criteria to sort eggs. Accuracy in grading was found to be 96.7% as compared with results from weight by electronic scale.