• 한국정밀공학회지
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• 제19권9호
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• pp.133-141
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• 2002

In this paper, we propose a hierarchical motion controller with stand-alone vision system to enhance the flexibility of the robot soccer system. In addition, we simplified the model of dynamic environments of the robot using petri-net and simple state diagram. Based on the proposed model, we designed the robot soccer system with velocity and position controller that includes 4-level hierarchically structured controller. Some experimental results using the stand-alone vision system from host system show improvement of the controller performance by reducing processing time of vision algorithm.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2002년도 춘계학술발표논문집 (상)
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• pp.657-660
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• 2002

현재 Embedded system 에서 많은 기업체들이 리눅스를 채용하고 있고, 이러한 임베디드 리눅스는 실시간 운영체제가 필요한 로봇제어기에서부터 PDA, set-top box등 여러 분야에 걸쳐 응용되고 있다. 본 논문에서는 StrongARM SA-1110 CPU을 이용하여 만들어진 임베디드 시스템에 리눅스를 사용하여 독립형 비전모듈을 개발한 내용을 기술한다. 또한, WinCE 를 사용하여 개발된 비전모듈과의 성능을 비교하여 리눅스를 이용한 독립형 비전모듈을 평가하고, 머신비전 분야에서의 리눅스 응용 가능성을 제시하였다.

• 한국정보기술응용학회:학술대회논문집
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• 한국정보기술응용학회 2005년도 6th 2005 International Conference on Computers, Communications and System
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• pp.285-288
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• 2005

We propose a novel programmable miniature vision module based on a custom designed analog VLSI (aVLSI) chip. The vision module consists of the optical flow vision sensor embedded with commercial off-the-shelves digital hardware; in our case is the Intel XScale PXA270 processor enforced with a programmable gate array device. The aVLSI sensor provides gray-scale imager data as well as smooth optical flow estimates, thus each pixel gives a triplet of information that can be continuously read out as three independent images. The particular computational architecture of the custom designed sensor, which is fully parallel and also analog, allows for efficient real-time estimations of the smooth optical flow. The Intel XScale PXA270 controls the sensor read-out and furthermore allows, together with the programmable gate array, for additional higher level processing of the intensity image and optical flow data. It also provides the necessary standard interface such that the module can be easily programmed and integrated into different vision systems, or even form a complete stand-alone vision system itself. The low power consumption, small size and flexible interface of the proposed vision module suggests that it could be particularly well suited as a vision system in an autonomous robotics platform and especially well suited for educational projects in the robotic sciences.

• 대한전자공학회논문지
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• 제27권6호
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• pp.944-953
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• 1990

This paper describes design and implementation of a real-time high-precision vision system for an automation of SMT(surface mounting technology ). Also, a part inspection algorithm which calculates the position and direction of SMD(surface mounted device) accurately and performs the ruling using those information are presented, and a parallel processing technique for implementing those algorithms is also described. For a real-time implementation of iage acquisition and processing, several hardware modules, namely, multi-functional A/D-D/A board, frame memory board are developed. Particularly, a PE (processing element) board which employs the DSP56001 DSP (digital signal processor) is developed for the purpose of concurrent processing of part inspection algorithms. A stand-alone vision system is built by integration of the developed hardware modules and related softwares.

• 융합신호처리학회논문지
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• 제4권1호
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• pp.56-63
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• 2003

본 논문은 실제 무인주행자동차에 적용할 수 있는 비전 기반의 소형 자율이동로봇 개발에 관한 연구를 제시한다. 이전의 자율주행차량은 하드웨어 설계의 복잡성, 실장의 어려움과 많은 계산량으로 인해 PC에 대한 의존도가 높았다. 본 논문에서는 고속에서 정확한 조향 및 빠른 이동을 할 수 있고, 단일 카메라를 사용한 독립형 시스템으로 지능적 인식을 할 수 있는 소형 자율이동로봇을 제안한다. 제안된 시스템은 폭 25~30cm, 총길이 200cm로 만들어진 트랙에서 실험하였다. 실험 로봇은 직선 트랙에서 평균 32.9km/h, 곡률반경 30~40m인 곡선트랙에서 평균 22.3km/h의 속도로 주행할 수 있었다 이 시스템은 실제 무인 자동차를 쉽게 만들기 위해 사용할 수 있는 차선 인식 알고리즘을 적용한 소형 자율이동로봇 시스템에 대한 하나의 모델을 제시할 수 있었다.

• 한국정보기술응용학회:학술대회논문집
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• 한국정보기술응용학회 2005년도 6th 2005 International Conference on Computers, Communications and System
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• pp.229-232
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• 2005

In this paper, an image-based "approach-align -grasp" visual servo control design is proposed for the problem of object grasping, which is based on the binocular stand-alone system. The basic idea consists of considering a vision system as a specific sensor dedicated a task and included in a control servo loop, and we perform automatic grasping follows the classical approach of splitting the task into preparation and execution stages. During the execution stage, once the image-based control modeling is established, the control task can be performed automatically. The proposed visual servoing control scheme ensures the convergence of the image-features to desired trajectories by using the Jacobian matrix, which is proved by the Lyapunov stability theory. And we also stress the importance of projective invariant object/gripper alignment. The alignment between two solids in 3-D projective space can be represented with view-invariant, more precisely; it can be easily mapped into an image set-point without any knowledge about the camera parameters. The main feature of this method is that the accuracy associated with the task to be performed is not affected by discrepancies between the Euclidean setups at preparation and at task execution stages. Then according to the projective alignment, the set point can be computed. The robot gripper will move to the desired position with the image-based control law. In this paper we adopt a constant Jacobian online. Such method describe herein integrate vision system, robotics and automatic control to achieve its goal, it overcomes disadvantages of discrepancies between the different Euclidean setups and proposes control law in binocular-stand vision case. The experimental simulation shows that such image-based approach is effective in performing the precise alignment between the robot end-effector and the object.

• 제어로봇시스템학회논문지
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• 제8권12호
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• pp.1036-1040
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• 2002

To process data of digital linescan camera, the frame grabber is essential to handle the data in low-level and in high speed more than 30 MHz stably. Traditional approaches to the development of hardware in vision system for the special purpose are mai y based on PC system, and are expensive and gigantic. Therefore, there are many difficulties in applying those in the field. So we investigate, in this paper, the implementation of FPGA for real-time processing of digital linescan camera. The system is not based on PC, but electronic device such as micropncessor. So it is expected that the use of FPGAs for low-level processing represents a fast, stable and inexpensive system. The experiments are carried out on the web guiding system in order to show the efficiency of the new image processor.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2004년도 춘계종합학술대회
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• pp.149-153
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• 2004

본 논문은 처리속도와 호환성을 고려하여 DSP프로세서를 이용한 영상의 임펄스 노이즈 제거 필터 설계에 관한 연구이다. 시스템의 하드웨어 구현은 32비트 DSP 독립타겟보드 및 CCD 카메라에서 NTSC 영상의 입력을 획득하는 비전보드로 구성되며 시스템 제어를 위한 호스트 컴퓨터로 구성된다. 디노이징 기법은 적응 미디언 필터를 적용하였다. 실험결과 90%와 PSNR 22㏈정도의 제거 효과가 있다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.53.1-53
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• 2001

We have used many Instrumentations to acquire the performance data of vehicles for many years. but these could not satisfied with environment specifications (vibration, shock, temperature) and data processing speed to applicate the performance test for armored military vehicles because of having developed as a common vehicles/fixed installation equipments. So new rugged embedded measurement system required to do large data acquisition and high processing speed (Maximum sample rate : 1.25MHz/ch) with rugged environment specifications. We have developed embedded measurement system by using PXI(PCI eXtension for Instrumentation)bus interface which were composed of stand alone controller and versatile data acquisition boards(analog, digital, vision ...

• 제어로봇시스템학회논문지
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• 제10권2호
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• pp.171-177
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• 2004

Many instrumentations have been used to acquire the performance data of military systems fer many years. But they could not satisfy environmental specifications(vibration, shock, temperature) and processing speed to apply for the performance test of military systems because of having developed as common vehicles/fixed installation equipments. Thus a new rugged embedded measurement system is required to process large data in high processing speed(Maximum sample rate:1.25Mhz/ch) with rugged environmental specifications. We have developed embedded measurement systems by using PXI(PCI extension for Instrumentation)bus interface composed of a stand alone controller and versatile data acquisition boards(analog, digital, vision, temperature and small signal conditioner) on PC-based environment to solve these problems. Operation programs have been developed using Lab_View and the performances have been validated experimentally.