• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.12
• /
• pp.1089-1093
• /
• 2013

Depth extraction using the structured illumination method is popularly applied since it has the benefit of measuring the object without contact. With multiple spatial frequencies and phase-shifting techniques, it is possible to extract the depth of objects with large discontinuity. For applications such as 3D (Three Dimensional) displays, 3D information of the object is required and is useful if corresponding to each view of the display. For this purpose, hypercentric optics is appropriate to measure the depth information of an object with a large field of view that is applicable for a 3D display. By experiment, we present the feasibility for phase-shifting profilometry using hypercentric optics to obtain the depth information of an object with the field of view appropriate for a 3D display.

• Journal of Institute of Control, Robotics and Systems
• /
• v.9 no.7
• /
• pp.507-514
• /
• 2003

Inspection and shape measurement of three-dimensional objects are widely needed in industries for quality monitoring and control. Recently the shape measurement using interferometric principle is found to be a successful methodology among other visual or optical technologies. Especially, the measuring method using wavelength scanning interferometer(WSI) has a great advantage in comparison with other conventional jnterferometric methods in that the absolute distance from the reference surface can be directly obtained from the amount of jnterferometric phase change. However, the measurement methods using WSI proposed by other researchers have low measurement resolution so far because they can't measure fractional phase change. To avoid this shortcoming we propose a new algorithm in this paper, which can obtain a small amount of even fractional phase change by sinusoidal function fitting. To evaluate the effectiveness of the proposed sinusoidal function fitting algorithm, a series of measuring experiments are conducted for discontinuously shaped specimens which have various height. The proposed algorithm shows much more enhanced measurement resolution than other existing conventional algorithms such as zero crossing algorithm and Fourier transform algorithm.

• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.1
• /
• pp.57-65
• /
• 2000

In this paper, a model reference adaptive control for the atomic force microscope (AFM) of tapping mode is investigated. The dynamics between the AFM system and al sample is mathematically modeled as a second order spring-mass-damper system with oscillatory inputs. The attractive and repulsive forces between the tip of the AFM system and the sample are derived using the Lennard-Jones potential energy. By non-dimensionalizing the displacement of the tip and the input frequency, the chaotic behavior near a resonance frequency is better depicted through the non-dimensionalized equations. Four nonlinear analysis techniques, a phase portrait, sensitive dependence on initial conditions, a power spectral density function, and a Pomcare map are investigated. Because the equations of motion derived in this paper involve unknown parameter values such as the damping effect of the air and the interaction constants between materials, the standard model reference adaptive control is adopted. Two control objectives, the prevention of chaos and the tracking of reference signal, are pursued. Simulation results are included.

• Journal of Institute of Control, Robotics and Systems
• /
• v.10 no.8
• /
• pp.673-679
• /
• 2004

In this paper, we develop the displacement measurement system of multiple moving objects based on image processing techniques. The image processing method adopts inertia moment theory for obtaining the centroid measurement of the targets and basic processing algorithm of gray, binary, closing, labeling and so on. To get precise displacement measurement in spite of multiple moving targets, a CGD camera with zoom is used and the position of camera is changed by a pan/tilt system. The fiducial marks on the fixed positions are used as the sensing points for the image processing to recognize the position errors in direction of XY-coordinates. The precise alignment device is pan/tilt of XY-type and the pan/tilt is controlled by DC servomotors which are driven by a microprocessor. Morover, the centers of fiducial marks are obtainted by an inertia moment method. By applying the developed precise position control system for multiple targets, the displacement of multiple moving targets are detected automatically and are also stored in the database system in a real time. By using database system and internet, the displacement datum can be confirmed at a great distance and analyzed. Finally, the effectiveness of developed system is shown in experimental results and realized the precision about 0.12[mm] in the position control of XY-coordinates.

• Journal of Institute of Control, Robotics and Systems
• /
• v.3 no.6
• /
• pp.602-612
• /
• 1997

With GPS carrier phase measurements from more than two antenna which attached to the vehicle, precise attitude can be easily obtained if the integer ambiguity included in carrier phase measurement is resolved. Recently some special products which use dual frequencies or has one receiver engine with multiple antenna are announced. But there are still strong requirements for the conventional single frequency off-the-shelf receiver. To meet these requirements, an efficient integer ambiguity resolution technique is indispensable. In this paper, a new technique to resolve integer imbiguity with single frequency receivers is proposed. The proposed method utilize the known baseline length as a constraint of independent elements of integer ambiguities. With this constraints, the size of search volume can be greatly reduced. Thus the true integer ambiguity can be easily determined with less computational burden and number of measurements. The proposed method is applied to real data to show its effectiveness.

• Journal of Institute of Control, Robotics and Systems
• /
• v.4 no.2
• /
• pp.273-279
• /
• 1998

철강석 또는 석탄의 적치장에서는 이들 원석을 퍼내어 용광로로 보내주는 불출기(reclaimer)가 사용되고 있다. 불출기를 자동화하려면 야적파일에 불출용 회전 버킷(bucket)을 자동착지시키는 방법이 요구된다. 본 논문에서는 야적 파일 표면위의 버킷 착지점을 추출하는 방법을 제시한다. 이 방법은 파일의 3차원 형상 검출, 파일의 등고선 추출, 불출기의 역기구학해의 도출 및 착지점 추출 알고리즘으로 이루어진다. 파일의 3차원 형상과 거리를 측정하기 위한 3차원 형상 검출기가 2차원 레이저 검출기에 수평주사(scanning)용 모터를 부착하여 개발하였고, 다 단계의 영상처리를 통해 버킷이 작업할 수 있도록 파일의 작업 등고선을 추출하였다. 불출기가 회전 버킷에 의해 기구학적으로 여유자유도로 이루어 졌음을 보였으며, 역기구학 해를 구하는 방법을 아울러 제시하였다. 그리고 버킷의 착지점을 과부하 방지와 단위 시간당 생산성을 최대화하는 성능기준에 근거하여 구하였다. 또한 개발된 시스템을 제철소 원석 야적장의 불출기에 설치 시험하여 타당성을 입증하였다.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.7
• /
• pp.609-614
• /
• 2015

Implanted telemetry systems provide the ability to monitor different species of animals while they move within their cages. Species monitored include mice, rats, rabbits, dogs, pigs, primates, sheep, horses, cattle, and others. A miniature transmitter implanted in each animal measures one or more parameters. Parameters measured include arterial pressure, intra-pleural pressure, left ventricular pressure, intra-ocular pressure, bladder pressure, ECG, EMG, EEG, EOG, temperature, activity, and other parameters and transmits the data via radio frequency signals to a nearby receiver. Every conventional dedicated transmitter contains one or more sensors, cpu and battery. Due to the expected life of the battery, the measuring time is limited. To overcome these problems, electromagnetic inductive coupling based wireless power transmission technology using multiple transmit coils were proposed, with each coil having a different active area driven by the coil driver. In this research, a parallel resonance based coil driver and serial resonance based coil driver are proposed. From the experiments we see that the parallel coil driver shows better performance under a low impedance and multiple coils configuration. However, the serial coil driver is more efficient for high impedance transmit coils.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.8
• /
• pp.713-718
• /
• 2012

Lumber spine range of motion has been used to measure of physical and functional impairment by various tools from a ruler to 3D kinematic devices. However, pre-existing tools have problems in either movement or accuracy and reliability limitations. Accurate devices are limited by fixed space whereas simple devices are limited in measuring complex movements with less accuracy. In order to solve the location, movement and accuracy limitations at once, we have developed a novice measurement device equipped with accelerometer sensor and gyroscope sensor for getting three-dimensional information of motion. Furthermore, Kalman filter was applied to the algorithm to improve accuracy. In addition, RF wireless communication was added for the user to conveniently check measured data in real time. Finally, the measurement method was improved by considering the movement by a reference point. An experiment was conducted to test the accuracy and reliability of the device by conducting a test-retest reliability test. Further modification will be conducted to used the device in various joints range of motion in clinical settings in the future.

• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.2
• /
• pp.202-205
• /
• 2010

When we render 3D sound images using headphones or speakers, the main key of this technology is the Head-related transfer function (HRTF) database. Even though there are various HRTF databases, they have some drawbacks such as detrimental effects caused by imperfect measuring environment and insufficient measurement points. Moreover there is no database with Korean subjects. We are planning to develop the HRTF database for Korean. As a first step to establish the HRTF database aimed at Korean, the new HRTF measurement system with minimized aforementioned drawbacks is designed. In this paper, the newly designed HRTF measurement system is introduced and the overall effects caused by the diffraction of the apparatus, especially the headrest and backrest of the chair, are analyzed. The backrest of the chair does not distort the HRTFs significantly while the headrest makes significant distortion on the HRTFs and it could have significant effects on directional perception. We determined acceptable head rotation angle and head position of the subject for accurate HRTF measurement based on the experiments with B&K HATS. We conclude that the 3 degrees of the head rotation and the 1.5cm front/back/left/right shift of the head do not distort the HRTFs significantly.

• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.12
• /
• pp.1002-1010
• /
• 2016

This paper describes the design of a cellphone curved glass measuring device using by camera. The measuring device was composed of two camera, two backlight system, a body and so on, and the program was made for a camera calibration and noise removal, and also the program was made for height measurement of a cellphone curved glass using by subpixel algorism. And then a new technique for measuring the height of the cell phone curved glass was proposed. The characteristics test of height measurement of gage blocks and cell phone curved glasses was carried out, the error of the height measurement of gage block is less than ${\pm}0.005$ and the error of the height measurement of the cell phone curved glasses is less than ${\pm}0.005$. Thus it thought that the designed cellphone curved glass measuring device and the new technique for measuring the height was used to measure the height of the cellphone curved glass.