• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.998-1004
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• 2008

In this paper, a visual servoing control technique of humanoid robot arms is implemented for tracking a moving object. An embedded time-delayed controller is designed on an FPGA(Programmable field gate array) chip and implemented to control humanoid robot arms. The position of the moving object is detected by a stereo vision camera and converted to joint commands through the inverse kinematics. Then the robot arm performs visual servoing control to track a moving object in real time fashion. Experimental studies are conducted and results demonstrate the feasibility of the visual feedback control method for a moving object tracking task by the humanoid robot arms called the ROBOKER.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.2
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• pp.1-10
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• 1997

In this paper, an improved lower bound on the burst-error correcting capability of th ecyclic product code is presented and through the analysis of this new bound clustered cyclic product (CCP abbr.)code is proposed. The CCP code, to improve the burst-error correcting capability, combines the idea of clustering and the transmission method of cyclic product code. That is, a cluster which is defined in this paper as a group of consecutive code symbols is employed as a new transmission unit to the code array transmission of cyclic product code. the burst-error correcting capability of the CCP code is improved without a loss in the random-error correcting capability and performance comparison in the digital video camera records (DVCR) system shows the superiority of the proposed CCP code over conventional product codes.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.271-274
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• 2002

The 3-D measurement using interference pattern projection is very attractive because of its high measuring speed and high sensitivity. When a sinusoidal amplitude grating was projected on an object, the surface-height distribution of the object is translated into a phase distribution of the deformed grating image. The patters was generated by a interferometer, and a PZT was used to shift the fringes on the target surface. The phase-acquisition algorithms are so sufficiently simple that high-resolution phase maps using a CCD camera can be generated in a short time. A working system requires a interferometer, a PZT, and a detector array interfaced to a microcomputer. Results of measurements on the diffused test objects are described.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2005.05a
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• pp.437-442
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• 2005

In this paper, we proposed the 2-dimensional inspection algorithm for micro-BGA(Ball Grid Array) device using a vision system. The proposed method uses the subpixel algorithm for high precision. The proposed algorithm preferentially extracts the package area of device in the input image. After the extraction of package area, each ball areas are extracted by ball search window method. The parameters for inspection are calculated for the extracted ball area. In the simulation results, we have the average error within $17{\mu}m$.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.2
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• pp.116-124
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• 2011

A service robot can identify its own position relative to landmarks, the locations of which are known in advance. The main contribution of this research is that it gives various ways of making the self-localizing error smaller by referring to special landmarks which are developed as high gain reflection material and coded array associations. In this paper, the authors propose a set of indices to evaluate the accuracy of self-localizing methods using the selective reflection landmark and infrared projector, and the indices are derived from the sensitivity enhancement using 3D distortion calibration of camera. And then, the accurarcy of self-localizing a mobile robot with landmarks based on the indices is evaluated, and a rational way to minimize to reduce the computational cost of selecting the best self-localizing method. The simulation results show a high accuracy and a good performance.

• Journal of the Korean Institute of Telematics and Electronics
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• v.26 no.11
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• pp.1872-1879
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• 1989

In this paper, we implement optical holographic associative memory based on the two-dimensional neural network model by using commercial LCTV as a spatial light modulator. The system consists of the simple Vander Lugt correlator utilizing plane Fourier hologram and the pinhole array. The associated output signal is detected on a two-dimensional CCD camera and electronically thresholded and fed back to the input plane of the system. Through the experimental demonstration of nonlinear holographic associative memory, it is suggested that commercial LCTV can be used as a new coherent spatial light modurator.

• Proceedings of the KIEE Conference
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• 1993.11a
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• pp.198-200
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• 1993

This paper represents the experimental results of electrohrdrodynamic(EHD) micropump driven by traveling- wave voltage. We fabricated 60 electrodes array with $100{\mu}m$ width and $100{\mu}m$ interval on the pyrex glass. On that glass we fabricated the micro channel which had the cross section of 3mm by 0.5mm. This pump was driven by 6 phase square traveling-wave voltage. We used the corn oil for experiments and increased the temperature of fluid by resistive heater. An optical microscope with CCD camera and monitor was used for observation. The fluid velocity was large for the large driving voltage and the high temperature. This EHD pump had the fluid velocity in specific frequency (near 1Hz) which had relation to the charge relaxation time in that oil.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.120.1-120
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• 2001

This paper proposes a prototype of a safe and reliable wheelchair robot with Human Robot Interaction (HRI). Since the wheelchair users are usually the handicapped, the wheelchair robot must guarantee the safety and reliability for the motion while considering users intention, A single color CCD camera is mounted for input user´s command based on human-friendly gestures, and a ultra sonic sensor array is used for sensing external motion environment. We use face and hand directional gestures as the user´s command. By combining the user´s command with the sensed environment configuration, the planner of the wheelchair robot selects an optimal motion. We implement a prototype wheelchair robot, MR, HURI (Mobile Robot with Human Robot Interaction) ...

• Proceedings of the IEEK Conference
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• 2003.07b
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• pp.847-850
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• 2003

An Eye Ball Sensor (EBS) is a system that locates the point where the user gazes on. The conventional EBS using a CCD camera needs many peripherals, software computation causing high cost and power consumption. This paper proposes a compact EBS using smart CMOS Image Sensor (CIS) pixels. The proposed single chip EBS does not need any peripheral and operates at higher speed and lower cost than the conventional EBS. The test chip was designed and fabricated for 32$\times$32 smart CIS pixel array with a 0.35 um CMOS process occupying 5.3$\textrm{mm}^2$ silicon area.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1992.10a
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• pp.266-270
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• 1992

In this study an active vision system using a laser range finder is proposed for the navigation of a mobile robot in unknown environment. The laser range finder consists of a slitted laser beam generator, a scanning mechanism, CCD camera, and a signal processing unit. A laser beam from laser source is slitted by a set of cylindrical lenses and the slitted laser beam is emitted up and down and rotates around the robot by the scanning mechanism. The image of laser beam reflected on the surface of an object is engraved on the CCD array. A high speed image processing algorithm is proposed for the real-time navigation of the mobile robot. Through experiments it is proved that the accurate and real-time recognition of environment is able to be realized using the proposed laser range finder.