• 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.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.979-983
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• 1991

A novel 2-dimensional matched filter of the parallel-jaw type using fuzzy logics is proposed for bin picking. Specifically, averaged pixel intensity of the windowed region for the filtering is considered to be fuzzy. Also membership function for darkness and brightness are designed by employing the intensite histogram of image. Then a rule is given to know how much a windowed region can be a possible holdsite. Furthermore eight rules are made to determine the part orientation, where Mamadi's resoning method is applied. To show the validities of our proposed technique. some experimental results are illustrated and compared with the results by conventional matched filter technique.

• Polymer(Korea)
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• v.37 no.6
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• pp.702-710
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• 2013

Zaltoprofen loaded polyoxalate (POX) microspheres were prepared by an emulsion solvent-evaporation/extraction method like oil-in-water (O/W) for sustained release of zaltoprofen. The influence of several preparation parameters such as fabrication temperature, stirring speed, intensity of the sonication, initial drug ratio, molecular weight ($M_w$) of POX, concentration of POX and concentration of emulsifier has been investigated on the zaltoprofen release profiles. Physicochemical properties and morphology of zaltoprofen loaded POX microspheres were investigated by scanning electron microscopy (SEM), X-ray diffraction (XRD), differential scanning calorimeter (DSC) and Fourier transform infrared (FTIR). Through the analyzed results, it was demonstrated that the characteristics of the microspheres greatly affected by the prepared condition. The releases behavior of zaltoprofen was investigated for 10 days in vitro. It was confirmed that the release behavior of zaltoprofen can be controlled by the manufacturing factor of solvent-evaporation/extraction method.

• Polymer(Korea)
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• v.33 no.6
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• pp.596-601
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• 2009

We prepared nanoparticles containing insoluble aceclofenac by the method of solid dispersions using spray dryer to improve solubility of aceclofenac. We used PVP-K30 as a water soluble carrier for the solid dispersion and poloxamer as a surfactant. Characterization of aceclofenac solid dispersion was performed by SEM, DSC, XRD and FT-IR. The results of SEM, DSC and XRD demonstrated that aceclofenac is amorphous in solid dispersion. The formation of salt by hydrogen bond between aceclofenac and PVP K-30 was confirmed by FT-IR. The dissolution rate measured in intestinal juice showed the method of solid dispersion improved aceclofenac solubility as compared with a conventional drug($Airtal^{(R)}$). In conclusion, the method of solid dispersion using spray dryer would improve solubility of aceclofenac in oral administration.

• Journal of the Semiconductor & Display Technology
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• v.22 no.1
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• pp.72-77
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• 2023

In many manufacturing settings, including the semiconductor industry, products are completed by producing and assembling various components. Sorting out from randomly mixed parts and classification operations takes a lot of time and labor. Recently, many efforts have been made to select and assemble correct parts from mixed parts using robots. Automating the sorting and classification of randomly mixed components is difficult since various objects and the positions and attitudes of robots and cameras in 3D space need to be known. Previously, only objects in specific positions were grasped by robots or people sorting items directly. To enable robots to pick up random objects in 3D space, bin picking technology is required. To realize bin picking technology, it is essential to understand the coordinate system information between the robot, the grasping target object, and the camera. Calibration work to understand the coordinate system information between them is necessary to grasp the object recognized by the camera. It is difficult to restore the depth value of 2D images when 3D restoration is performed, which is necessary for bin picking technology. In this paper, we propose to use depth information of RGB-D camera for Z value in rotation and movement conversion used in calibration. Proceed with camera calibration for accurate coordinate system conversion of objects in 2D images, and proceed with calibration of robot and camera. We proved the effectiveness of the proposed method through accuracy evaluations for camera calibration and calibration between robots and cameras.

• Journal of Biosystems Engineering
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• v.30 no.3 s.110
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• pp.155-160
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• 2005

The objective of this research was to establish a domestically available cooling storage technique by cold-air in winter, using winter cool air ventilation fur determining rough rice cooling method in the storage and dry bin. The rough rice storage characteristics of two test conditions, winter cool-air ventilation storage and ambient temperature storage, were evaluated from January to July 2001, using a storage and dry bin of 300-ton capacity. Results of this research are as follows: Grain temperature was from $-5.1\~-8.5^{\circ}C$ after winter cool-air ventilation, and grain initial temperature for ambient temperature bin storage was $0.3\~1.9^{\circ}C$. Moisture content of rough rice decreased from $0.28\;to\;0.93\%$ and from $1.53\;to\;1.92\%$ to compare with original moisture contents for winter cool-air ventilation, and for ambient temperature bin storage, respectively. Broken ratio of brown rice from winter cool-air ventilation bin increased from $0.16\;to\; 0.92\%$, and brown rice broken ratio was from $2.24\;to\;2.86\%$ for ambient temperature bin storage to compare with initial broken ratio. Hardness of stored rice increased along storage period increase in alt storage methods, and cooling bin storage increased rice hardness of 0.271kgf: this increasing was lower then the other methods from 0.059 to 2.239kgf. Germination rates were decreased approximately 9.03, 3.14 and $3.20\%$ for upper, middle, and bottom of ventilating winter air bin, respectively, and germination rates of 2.70, 3.47 and $4.14\%$ were approximately decreased for upper, middle, and bottom parts of ambient temperature bin storage, respectively.

• Carbon letters
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• v.18
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• pp.30-36
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• 2016

Well-dispersed Ag₃VO₄ nanoparticles @polyacrylonitrile (PAN) nanofibers were synthesized by an easily controlled, template-free method as a photo-catalyst for the degradation of methylene blue. Their structural, optical, and photocatalytic properties have been studied by X-ray diffraction, transmission electron microscopy, field-emission scanning electron microscopy equipped with rapid energy dispersive analysis of X-ray, photoluminescence, and ultraviolet-visible spectroscopy. The characterization procedures revealed that the obtained material is PAN nanofibers decorated by Ag₃VO₄ nanoparticles. Photocatalytic degradation of methylene blue investigated in an aqueous solution under irradiation showed 99% degradation of the dye within 75 min. Finally, the antibacterial performance of Ag₃VO₄ nanoparticles @PAN composite nanofibers was experimentally verified by the destruction of Escherichia coli. These results suggest that the developed inexpensive and functional nanomaterials can serve as a non-precious catalyst for environmental applications.

• International Journal of Computer Science & Network Security
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• v.21 no.3
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• pp.103-111
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• 2021

Obesity affects individuals of all gender and ages worldwide; consequently, several studies have performed great works to define factors causing it. This study develops an effective method to trace obesity levels based on supervised data mining techniques such as Random Forest and Multi-Layer Perception (MLP), so as to tackle this universal epidemic. Notably, the dataset was from countries like Mexico, Peru, and Colombia in the 14- 61year age group, with varying eating habits and physical conditions. The data includes 2111 instances and 17 attributes labelled using NObesity, which facilitates categorization of data using Overweight Levels l I and II, Insufficient Weight, Normal Weight, as well as Obesity Type I to III. This study found that the highest accuracy was achieved by Random Forest algorithm in comparison to the MLP algorithm, with an overall classification rate of 96.7%.

• International Journal of Air-Conditioning and Refrigeration
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• v.6
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• pp.1-13
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• 1998

The basic heat transfer process that occurs in a building can best be illustrated by an electrical circuit network. Present paper reports the dynamic simulation of annual energy consumption in an office building by the thermal resistance capacitance network method. Unsteady thermal behaviors and annual energy consumption in an office building were examined in detail by solving the simultaneous circuit equations of thermal network. The results are used to evaluate the accuracy of the modified BIN method for the energy consumption analysis of a large building. Present thermal resistance-capacitance method predicts annual energy consumption of an office building with the same accuracy as that of response factor method. However, the modified BIN method gives 15% lower annual heating load and 25% lower cooling load than those from the present method. Equipment annual energy consumptions for fan, boiler and chiller in the HVAC system are also calculated for various control systems as CAV, VAV, FCU+VAV and FCU+CAV. FCU+CAV system appears to consume minimum annual energy among them.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.2
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• pp.223-229
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• 2017

Recently, robotic bin-picking tasks have drawn considerable attention, because flexibility is required in robotic assembly tasks. Generally, stereo camera systems have been used widely for robotic bin-picking, but these have two limitations: First, computational burden for solving correspondence problem on stereo images increases calculation time. Second, errors in image processing and camera calibration reduce accuracy. Moreover, the errors in robot kinematic parameters directly affect robot gripping. In this paper, we propose a method of correcting the bin-picking error by using trinocular vision system which consists of two stereo cameras andone hand-eye camera. First, the two stereo cameras, with wide viewing angle, measure object's pose roughly. Then, the 3rd hand-eye camera approaches the object, and corrects the previous measurement of the stereo camera system. Experimental results show usefulness of the proposed method.