• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.543-548
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• 2000

In this study, an interactive programming method for robot in electronic part assembly task is proposed. Many of industrial robots are still taught and programmed by a teach pendant. The robot is guided by a human operator to the desired application locations. These motions are recorded and are later edited, within the robotic language using in the robot controller, and play back repetitively to perform robot task. This conventional teaching method is time-consuming and somewhat dangerous. In the proposed method, the operator teaches the desired locations on the image acquired through CCD camera mounted on the robot hand. The robotic language program is automatically generated and downloaded to the robot controller. This teaching process is implemented through an off-line programming software. The OLP is developed for an robotic assembly system used in this study. In order to transform the location on image coordinates into robot coordinates, a calibration process is established. The proposed teaching method is implemented and evaluated on an assembly system for soldering electronic parts on a circuit board. A six-axis articulated robot executes assembly task according to the off-line teaching in the system.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.153-158
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• 2000

This paper addresses an intelligent robot control system using an off-line programming to teach a precise assembly task of electronic components in a flexible way. The investigated task consists of three job: heat caulking test, soldering on a circuit board, and checking of soldering defects on the back cover of a camera. This study investigates the remodelling of the most complicated cell in terms of the accuracy and fault rate among the twelve cells in a camera back-cover assembly line. We have attempted to enhance back-cover assembly line. We have attempted to enhance soldering quality, to add task flexibility, to reduce failure rate, and to increase product reliability. This study modifies the cell structure, and improves the soldering condition. The developed all system implements the real-time control of assembly with vision data, and realized an easier task teaching on off-line programming.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.406-406
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• 2000

In this study, as a part developing an unmanned container terminal (UCT), Ive designed and implemented an Autonomous Ground Vehicle (AGV) that can deliver containers in the port fast and safely as they are scheduled. It is preferable to research the intelligent UCT/AGV for delivering containers all day long without causing any trouble. For the sake of safe and fast AGV driving, we implemented a multiple-sensor system with vision, ultrasonic, and IR sensors and we adapted the hight-speed wireless LAN that satisfies the IEEE 802.11 Standard for hi-directional communication between the main processor in AGV and a host computer. The Pentium-III processor board mounted on the bottom frame in AGV combines and computes the information from sensors and controls the AGV driving. There are also the 80C196KC micro-controllers to control the actuating and steering motors. In addition, a steering function that is defined newly in this paper is heavily concerned in the mechanical design, and it plays an important role when AGV moves along a curve. Experimental results show the fast and safe delivery operations are possible with this UCT/AGV

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.504-509
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• 1994

Recently SMT is used widely to place the SMD on bare board which is very small and highly integrated. And that is one of the issue directly in the electric products assembly process and especiallly in the field of optimizing electric product's performance, automatically tuning method which is highly demanded in the electronics industry. To tune product's performance, variable resistances's resistivity should be changed until it has good performance characteristics. In this paper to automatically regulate the 8mm camcoder's performance, it is proposed variable resistence's center position and orientation detection algorithm by image processing, which has very precise and accurate result. And we found optimal conditions which can have effects on image acquisition process. And real time processing is done by DSP to detect vr's center and orientation. This results make it possible to utilize proposed image processing algorithm and system directly in electronics industry.

• Journal of the Korea Society of Computer and Information
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• v.21 no.2
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• pp.17-23
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• 2016

NUI is a motion interface. It uses the body of the user without the use of HID device such as a mouse and keyboard to control the device. In this paper, we use a Pi Camera and sensors connected to it with small embedded board Raspberry Pi. We are using the OpenCV algorithms optimized for image recognition and computer vision compared with traditional HID equipment and to implement a more human-friendly and intuitive interface NUI devices. comparison operation detects motion, it proposed a more advanced motion sensors and recognition systems fused connected to the Raspberry Pi.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.10
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• pp.120-129
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• 2003

For successful establishment of the roughing CAM system based on reverse engineering, it is necessary to develop the measurement method for generation of roughing path from a physical footwear model. In this study, the development of the roughing path measurement system is presented. It consists of 3 CCD cameras, image acquisition board and the roughing path measurement algorithm. The 3 CCD cameras capture images of the sidewall and the bottom of the footwear and, from two images, the outer and inner lines are extracted using image-processing algorithm. The roughing path measurement algorithm generates the roughing path which is reflected on the change of resolution according to the distance between the CCD camera and the measured point. The experimental results show that the developed system can measure the roughing path within the allowable roughing error range.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2393-2395
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• 2001

The mobile robot is used as an instrument of transportation in automated plant. But the greater part of the moving method is the wheel-type. The wheel-type robot is easier control than the track-type, However the track-type is better than the wheel-type in bad landform(bend landform, an incline plane, stairs). In this paper, we propose the navigation algorithm of track-type robot in order to improve a defect of wheel-type. We experiment in bend landfrom and even ground to differentiate the navigation method. To estimate robot pose, we use the 80196 in a close distance and the vision-board in a long distance. Each data is managed in main PC and then the part of managing correspond to every sensor. We also use twelve supersonic wave-sensors to recognize external surroundings. As the result of experiment, we analyze the algorithm of control and make possible surroundings-adaptation.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2729-2731
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• 2001

In this paper, we studied on the real-time environment map building for the mobile robot navigation using the stereo camera system. Distance measurement are necessary to build the environment map. We used a area-based stereo matching for the distance measurement with the stereo camera system. To reduce the computation time, we used DSP processor on the vision board, took a suitable area size for stereo matching, and used hierarchical search method. Using the fast acquired distance values, the environment map was built.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.36.4-36
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• 2001

A robust and reliable path recognition system is one necessary component for the autonomous navigation of a mobile robot to help determining its current position in its navigation map. This paper describes a computer visual path-recognition system using on-board video camera as vision-based driving assistance for an autonomous navigation mobile robot. The common problem for a visual system is that its reliability was often influenced by different lighting conditions. Here, two different image processing methods for the path detection were developed to reduce the effect of the luminance: one is based on the RGB color model and features of the path, another is based on the HSV color model in the absence of luminance.

• IEMEK Journal of Embedded Systems and Applications
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• v.6 no.1
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• pp.8-15
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• 2011

This paper presents an effective method for detecting vehicles in front of the camera-assisted car during nighttime driving. The proposed method detects vehicles based on detecting vehicle headlights and taillights using techniques of image segmentation and clustering. First, in order to effectively extract spotlight of interest, a pre-signal-processing process based on camera lens filter and labeling method is applied on road-scene images. Second, to spatial clustering vehicle of detecting lamps, a grouping process use light tracking method and locating vehicle lighting patterns. For simulation, we are implemented through Da-vinci 7437 DSP board with visible light mono-camera and tested it in urban and rural roads. Through the test, classification performances are above 89% of precision rate and 94% of recall rate evaluated on real-time environment.