• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.231-233
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• 2007

In this paper we present a new visual approach for the robust bin-picking in a two-step concept for a vision driven automatic handling robot. The technology described here is based on two types of sensors: 3D laser scanner and CCD video camera. The geometry and pose(position and orientation) information of bin contents was reconstructed from the camera and laser sensor. these information can be employed to guide the robotic arm. A new thinning algorithm and constrained hough transform method is also explained in this paper. Consequently, the developed bin-picking demonstrate the successful operation with 3D hole object.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.27 no.4
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• pp.62-72
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• 2013

To operate an automatic picking system in distribution center with high precision and high dynamics, this paper presents a robust control scheme of a linear induction motor (LIM) using the mass estimation and disturbance force observer. The force disturbance which gives a direct influence on the control performance of LIM is estimated in real-time through the disturbance observer and compensated by a feedforward manner. To get a satisfactory performance even under the mass variation by reducing the disturbance force due to the mismatched mass during the speed transient such as the acceleration and deceleration periods, a mass estimation algorithm is proposed. A Simulink model for LIM is developed and the validity of the proposed scheme is verified through the comparative simulation studies using Matlab - Simulink.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.692-698
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• 1993

This paper presents a Bin-Picking method in which robot recognizes the positions and orientations of jumbled objects placed in a bin, then picks up distinctive objects from the top of the jumble. The jumbled objects are recognized comparing the characteristics extracted from stereo images with those in the CAD data. The 3-D information is obtained using the bipartite-matching method which compares image of one camera with the image of the other camera Then the robot picks up the object which will cause the least amount of disturbance to the jumble, and places it at a predetermined place. This paper contributes to the basic study of Bin-Picking, and can be used in an automatic assembly system without using part sorting or orienting devices.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.6
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• pp.511-518
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• 2013

To implement an automatic picking system (APS) in distribution center with high precision and high dynamics, this paper presents a design of a linear induction motor (LIM) drive and robust position controller based on integral variable structure control (IVSC) scheme. The force disturbance as well as the mechanical parameter variation such as the mass and friction coefficient gives a direct influence on the position control performance of APS. To guarantee a robust control performance in the presence of such uncertainty, a robust position controller is designed. A Simulink library is developed for the LIM model from the state equation. Through this model and comparative simulation based on Matlab - Simulink, it is proved that the proposed scheme has a robust control nature and is most suitable for APS.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.1
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• pp.7-14
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• 2015

To implement an automatic picking system (APS) in distribution center with high precision and high dynamics, this paper presents a high gain observer-based robust speed controller design for a linear induction motor (LIM) drive. The force disturbance as well as the mechanical parameter variations such as the mass and friction coefficient gives a direct influence on the speed control performance of APS. To guarantee a robust control performance, the system uncertainty caused by the force disturbance and mechanical parameter variations is estimated through a high gain disturbance observer and compensated by a feedforward manner. While a time-varying disturbance due to the mass variation can not be effectively compensated by using the conventional disturbance observer, the proposed scheme shows a robust performance in the presence of such uncertainty. A Simulink library has been developed for the LIM model from the state equation. Through comparative simulations based on Matlab - Simulink, it is proved that the proposed scheme has a robust control nature and is most suitable for APS.

• Proceedings of the Acoustical Society of Korea Conference
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• 1984.12a
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• pp.57-61
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• 1984

In this study, the system is proposed which can be used for recognition of Koean single vowles "ㅏ, ㅓ, ㅗ, ㅜ, ㅡ, ㅣ, ㅐ, ㅔ, ㅚ,", and automatic recognition is processed using $\mu$-computer. 3 men of not-being-studied are participated in this experiment. Using the period of vowels, one part of the steady state is selected for high speed recognition, and amplitude comparison method, LPC, PARCOR, and Formant are used for parameter of recognition. Formant is obtained by peak picking method using LPC, and then vowels are recognized by amplitude comparison method, LPC, PARCOR, and Formant. As a result, Recognition rates are 90.1% for amplitude comparison method, 93.1% for LPC, 100% for PARCOR, 88.8% for using formant.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.6
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• pp.3023-3031
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• 2013

In this paper, we propose a robot control data generation system applying context aware mechanism in order to control the robot manipulator which automatically sorts parcels. The context aware mechanism generates intelligent information to control a robot using context data such as the parcel shape, weight, location and barcodes. The proposed system collects context data of the parcel and generates robot control data to pick up and drop parcels. Then a robot manipulator, which receives control data of picking-up and dropping, processes the automated sorting of parcels according to delivery persons and delivery routes. It will contribute not only to save much time and cost but also to reduce the industrial accidents.

• Proceedings of the KIEE Conference
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• 1998.07c
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• pp.861-863
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• 1998

F.I(Fault Indicator) is equipped in automatic switchs for Distibution Automation System(DAS), and plays important role of providing the information for picking out a fault section. The restrictive sentence that F.I doesn't react for the inrush current is in the F.I specification. Nevertheless F.I has sometimes mal-functioned on the DAS in Kang-Dong branch office of KEPCO for latest 2 years. This Paper Proved the causes of the mal-function, and proposed the new F.I specification and operation methods against the mal-function causes.

• Proceedings of the Korean Society of Computer Information Conference
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• 2020.07a
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• pp.661-662
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• 2020

현대사회의 산업 현장에서 작업효율과 안전사고예방은 기업의 이익과 직결된다. 현장에서의 인력의 사용으로 인한 한계점을 가지고 있기 때문에 효율적이고 안정적으로 작업 효율을 내며 현장의 많은 안전사고를 미연에 방지하기 위해 많은 산업현장들은 4차 산업 혁명을 통해 수많은 작업들을 로봇을 이용한 자동화로 대체해 오고 있다. 단순히 짐을 옮기고 재고를 파악할 뿐인 간단한 작업임에도 불구하고 물류 피킹/분류 작업은 아직까지 인력을 사용한다. 인력을 한계를 극복하기 위해 작업 현장을 라인 트레이서를 통해 이동하고, 영상분석을 이용해 로봇 암으로 원하는 물건을 정확하게 피킹하고자 적재 하도록 설계한 '영상분석을 이용한 자동 피킹.분류시스템' 기술을 제안한다. 기존의 단순 반복 노동의 피킹/분류 작업을 수행하며 영상분석을 통해 어플리케이션을 이용하여 재고 관리또한 가능하다,

• Journal of KIISE:Computer Systems and Theory
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• v.33 no.1_2
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• pp.52-61
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• 2006

A crossword puzzle is one of the popular word games around the world in which you work out the answers and write them in the white squares of a pattern of small black and white squares. As the technology of computers develops, some people worked about making and solving crossword puzzle games, which led them to a commercial use. However, almost all of these commercial programs are ones where you do ready-made puzzles with a fixed size because it is very difficult to make puzzles in a certain size, picking up some among a great number of words to fit for them. Furthermore, these programs are only for a very few languages, such as English, French, not for Korean. Accordingly, ore took a look at what should be considered to make an automatic puzzle-generating program for Korean, and in this paper we implemented Korizzle, a system making the puzzles automatically. We introduce the algorithm used for Korizzle and evaluate the its performance.