• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.511-517
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• 1988

Movement order program of robot operating program is generally made by teach-in method. Therefore in most cases it is sufficient as long as the robot system shows a reguired repeatability for the working conditions. But the trend in the robot application moves to the automatic generation of the working programs. A mathematical robot model similar to the reality is necessary for the analysis of the kinematic transformation of the robot system. The purposes of this paper are to make a better describing form and to suggest an automatic algorithm for kinematic parameter identification.

• Journal of Electrical Engineering and Technology
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• v.10 no.4
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• pp.1830-1835
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• 2015

In this paper, we propose an algorithm for the automatic registration of two rigid parts using multiple 3D sensor systems on a robot. Four sets of structured laser stripe system consisted of a camera and a visible laser stripe is used for the acquisition of 3D information. Detailed procedures including extrinsic calibration among four 3D sensor systems and hand/eye calibration of 3D sensing system on robot arm are presented. We find a best pose using search-based pose estimation algorithm where cost function is proposed by reflecting geometric constraints between sensor systems and target objects. A pose with minimum gap and height difference is found by greedy search. Experimental result using demo system shows the robustness and feasibility of the proposed algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.6
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• pp.448-455
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• 2003

A system design technique of automatic thickness measurement and defect inspection system, which measures the thickness of the ALC(Autoclaved Lightweight Concrete) block and inspects the defect on a realtime basis is proposed. The image processing system was established with a CCD camera, an image grabber, and a personal computer without using assembled measurement equipment. The image obtained by this system was analyzed by a devised algorithm, specially designed for the enhanced measurement accuracy. For the realization of the proposed algorithm, the preprocessing method that can be applied to overcome uneven lighting environment, an enhanced edge decision method using 8 edge-pairs with irregular and rough surface, the unit length decision method in uneven condition with rocking objects, and the curvature calibration method of camera using a constructed grid are developed. The experimental results, show that the required measurement accuracy specification is sufficiently satisfied using our proposed method.

• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.350-356
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• 2020

Workers have been replaced by mobile manipulators for factory automation in recent years. One of the typical tasks for automation is that a mobile manipulator moves to a target location and picks and places an object on the worktable. However, due to the pose estimation error of the mobile platform, the robot cannot reach the exact target position, which prevents the manipulator from being able to accurately pick and place the object on the worktable. In this study, we developed an automatic alignment system using a low-cost camera mounted on the end-effector of a collaborative robot. Camera calibration and pose estimation methods were also proposed for the automatic alignment system. This algorithm uses a markerboard composed of markers to calibrate the camera and then precisely estimate the camera pose. Experimental results demonstrate that the mobile manipulator can perform successful pick and place tasks on various conditions.

• Journal of Environmental Impact Assessment
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• v.23 no.6
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• pp.432-444
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• 2014

When the water quality modelling is done with a manual calibration, it is possible that the researcher's opinion may affect the objectivity of the research. Hence, the role of the automatic calibration is highly important. This research applies a technique to automatically calibrate the water quality parameters by implementing an optimization method. This involves estimating the optimum water quality parameters targeting influential parameters towards the lake's BOD, DO, Phosphorus, Nitrogen and Phytoplankton. To accurately calculate the water temperature and hydraulic characteristics of a deep, stratifying lake, EFDC, a 3-dimensional hydraulic model which can be linked to the WASP7 was applied. With EFDC, the segment of the lake is formed and utilized as an input data of the WASP7. For the calibration of the water quality parameters of the WASP7, an influence coefficient algorithm and a genetic algorithm was applied. Of the five water quality variables for calibration, the normalized residuals of the observed and calculated values of DO, TN, CBOD were relatively small and the three water quality variables were calibrated properly. Yet the accuracy of the calibration of TP and Chl-a was relatively low.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.29 no.7
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• pp.484-490
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• 2018

This paper describes an algorithm for calculating load impedance by measuring voltage and current components using a VI sensor in a 13.56 MHz impedance automatic matching system. We propose an algorithm that improves the error rate by using an arbitrary complex calibration load instead of the conventional $50{\Omega}$ calibration load. The error rate is targeted to attain average values of $R_{IN}$ and $X_{IN}$ at 1% and 20% or less, respectively. First, the IF frequency is calculated using a mixer to reduce the error rate. Second, when the arbitrary complex load is used as the calibration load, the error rate $R_{IN}$ decreased from 4.7 % to 0.3 % on average, and $X_{IN}$ decreased from 102 % to 18.3 % on average.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.10 no.5
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• pp.909-916
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• 2009

This paper presents the automatic vision algorithm to generate and calibrate reference phase plane to improve the accuracy of 3D measuring machine of using phase shifting projection moire method, which is not traditional N-bucket method, but is based on direct image processing method to the pattern projection image. Generally, to acquire accurate reference phase plane, the calibration specimen with well treated surface is needed, and detailed calibration method should be performed. For the cost reduction of specimen manufacturing and the calibration time reduction, on the specimen, not specially designed, with general accuracy level, an efficient calibration procedure for the reference phase generation is proposed. The proposed vision algorithm is developed to extract the line center points of the projected line pattern from acquired images, derive the line feature information consisting of its slope and intercept by using sampled feature points, and finally generate the related reference phase between line pairs. Experimental results show that the proposed method make reference phase plane with a good accuracy under noisy environment and the proposed algorithm can reduce the total cost to make high accurate calibration specimen, also increase the accuracy of reference phase plane, and reduce the complex calibration procedure to move grid via N-bucket algorithm precisely.

• Journal of Korea Water Resources Association
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• v.45 no.1
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• pp.15-27
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• 2012

SWMM (Storm Water Management Model) has been widely used in the world as a typical model for flood runoff analysis of urban areas. However, the calibration of the model is difficult, which is an obstacle to easy application. The purpose of the study is to develop an automatic calibration module of the SWMM linked with SCE-UA (Shuffled Complex Evolution-University of Arizona) algorithm. Generally, various objective functions may produce different optimization results for an optimization problem. Thus, five single objective functions were applied and the most appropriate one was selected. In addition to the objective function, another objective function was used to reduce peak flow error in flood simulation. They form a multiple objective function, and the optimization problem was solved by determination of Pareto optima. The automatic calibration module was applied to the flood simulation on the catchment of the Guro 1 detention reservoir and pump station. The automatic calibration results by the multiple objective function were more excellent than the results by the single objective function for model assessment criteria including error of peak flow and ratio of volume between observed and calculated flow. Also, the verification results of the model calibrated by the multiple objective function were reliable. The program could be used in various flood runoff analysis in urban areas.

• Journal of KSNVE
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• v.8 no.5
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• pp.879-886
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• 1998

An automated calibration system of sound level meters was developed and tested. As a standard sound source, the speaker unit(Forstex FE208) cabineted by 440$\times$390$\times$490 $\textrm{mm}^3$(LHW) volume wood box was adopted. Including this source, the driving part was found out to have a good linearity of sound pressure output vs AC voltage input. The Hybrid-Bisect/Newton-Raphson method modified by the linearity was adopted as a searching algorithm. Uisng GPIB interface, the console PC make the control, measurements, and calculations and finally make the accumulation of useful data and results automatically by the instructon in the program coded by C languate. Several trials of automatic calibration using this developed system give the reliable results.

• Journal of Korea Water Resources Association
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• v.47 no.4
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• pp.343-356
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• 2014

The SWMM (storm water management model) has been widely used in the world and is a watershed runoff simulation model used for a single event or a continuous simulation of runoff quantity and quality. However, there are many uncertain parameters in the watershed runoff continuous simulation module and the water quality module, which make it difficult to use the SWMM. The purpose of the study is to develop an automatic calibration module of the SWMM not only for watershed runoff continuous simulation, but also water quality simulation. The automatic calibration module was developed by linking the SWMM with the SCE-UA (shuffled complex evolution-University of Arizona) that is a global optimization algorithm. Estimation parameters of the SWMM were selected and search ranges of them were reasonably configured. The module was validated by calibration and verification of the watershed runoff continuous simulation model and the water quality model for the Donghyang Stage Station Basin. The calibration results for watershed runoff continuous simulation model were excellent and those for water quality simulation model were generally satisfactory. The module could be used in various studies and designs for watershed runoff and water quality analyses.