• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.610-615
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• 2005

Visual servoing is the fusion of results from many elemental areas including high-speed image processing, kinematics, dynamics, control theory, and real-time computing. It has much in common with research into active vision and structure from motion, but is quite different from the often described use of vision in hierarchical task-level robot control systems. We present a new approach to visual feedback control using image-based visual servoing with the stereo vision in this paper. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using a binocular stereo vision. The stereo vision enables us to calculate an exact image Jacobian not only at around a desired location but also at the other locations. The suggested technique can guide a robot manipulator to the desired location without giving such priori knowledge as the relative distance to the desired location or the model of an object even if the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by the simulation and experimental results and compared with the case of conventional method for dual-arm robot made in Samsung Electronics Co., Ltd.

• Proceedings of the Korea Society of Information Technology Applications Conference
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• 2005.11a
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• pp.229-232
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• 2005

In this paper, an image-based "approach-align -grasp" visual servo control design is proposed for the problem of object grasping, which is based on the binocular stand-alone system. The basic idea consists of considering a vision system as a specific sensor dedicated a task and included in a control servo loop, and we perform automatic grasping follows the classical approach of splitting the task into preparation and execution stages. During the execution stage, once the image-based control modeling is established, the control task can be performed automatically. The proposed visual servoing control scheme ensures the convergence of the image-features to desired trajectories by using the Jacobian matrix, which is proved by the Lyapunov stability theory. And we also stress the importance of projective invariant object/gripper alignment. The alignment between two solids in 3-D projective space can be represented with view-invariant, more precisely; it can be easily mapped into an image set-point without any knowledge about the camera parameters. The main feature of this method is that the accuracy associated with the task to be performed is not affected by discrepancies between the Euclidean setups at preparation and at task execution stages. Then according to the projective alignment, the set point can be computed. The robot gripper will move to the desired position with the image-based control law. In this paper we adopt a constant Jacobian online. Such method describe herein integrate vision system, robotics and automatic control to achieve its goal, it overcomes disadvantages of discrepancies between the different Euclidean setups and proposes control law in binocular-stand vision case. The experimental simulation shows that such image-based approach is effective in performing the precise alignment between the robot end-effector and the object.

• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2370-2372
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• 1998

Recently we have developed an active stereo head-eye system with vergence, name it KIST HECter(Head-Eye System with Colored Stero Vision), based on the analysis of human's neck and eye motion at visual behavior. Our HECter is a five degree-of-freedom system composed of pan and tilt motion in neck part and independent vergence motion of binocular cameras and commonly shared elevation axis in eye part. And stereo vision Provides two color image, which are processed by powerful each TMS32080 vision board. The shape and size are designed to be almost same as human face. The ability to vergence has significant importance and gives many beneficial merits. On its mechanical implementation we adapt a non-parallelogram 4-bar linkage mechanism since it provides high accuracy in transfering motion and enables compact and flexible design.

• Journal of Korean Ophthalmic Optics Society
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• v.13 no.4
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• pp.127-134
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• 2008

Purpose: The purpose of this study was to determine the expected values of accommodation and vergence system for analysis of binocular vision. Methods: Seventy three healty subjects without past history of eye disease were selected for this study, Patients showing clinical binocular anomalies including manifest squint and intermittent heterotropia were excluded and data was collected on 54 patients(mean age, 25.3${\pm}$2.7 year). Near point of convergence, distance and near phoiras were measured based on objective deviation angle. And then AC/ A ratio, relative accommodation were measured and all of the data were compared with the Morgan's expected values. Results: The values of distance and near heterophoria were 1.24${\pm}$2.72${\Delta}$ and 2.70${\pm}$4.91${\Delta}$ respectively and the gradient AC/A ratio was 3.92${\pm}$2.17${\Delta}$/D which were all about the same compared with the Morgan's expected values. The values of distance negative fusional convergence was same, however, distance positive fusional convergence was 7${\Delta}$ greater than the Morgan's one. There were no significant differences in the range values of both near vergences while the range of distance vergence was relatively larger than the Morgan's one. Positive relative accommodation was +0.37D greater and negative relative accommodation was -0.63D greater than the Morgan's values. Conclusions: The findings in this study appear that the Morgan's expected values have a possibilities of including considerable proximal convergence value. In comparison with Morgan's values, Korean's normal expected values have much different values of especially BO limit, so if the Morgan's values are directly applied to binocular vision analysis for Korean people, it may lead to an inaccurate binocular vision diagnosis. This results can be used to diagnose the accommodation and vergence system of Korean normal young adults.

• Journal of Korean Ophthalmic Optics Society
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• v.17 no.2
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• pp.153-158
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• 2012

Purpose: The purpose of this study was to evaluate the convergence accommodation to convergence (CA/C) ratio and to investigate relationships among age, accommodative amplitude and PD (interpupillary distance) of adults in their early twenties with normal binocular vision. Methods: 44 subjects (mean age, $21.75{\pm}1.16$ years) with healthy eyes were examined. The CA/C ratios were measured by using the difference of Gaussian (DOG) target with retinoscopy. Results: The mean CA/C ratio was $0.052{\pm}0.017$ D/$\Delta$. A moderate negative correction was present between CA/C ratio and age (r = -0.50, p = 0.0005), and a highly positive correction was found between CA/C ratio and accommodative amplitude (r = 0.79, p<0.0001). There was no relation between PD and CA/C ratio. Conclusions: The CA/C ratio presented was mean value for adults in their early twenties with healthy eye between 19 and 25 years of age. There was a high correlation between accommodative amplitude and CA/C ratio. Therefore, the CA/C ratio will be useful basic information for comparison in age, gender and binocular anomalies with similar data from other countries.

• Journal of Korean Ophthalmic Optics Society
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• v.15 no.2
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• pp.137-144
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• 2010

Purpose: This study was to evaluate the clinical performance of 1-Day disposable toric soft contact lenses (TSCL) and to compare the visual performance with glasses and TSCL. Methods: In a two-week investigation of 'prism ballast' designed TSCL, occular refractions in 15 (30 eyes) healthy subjects were within the range of -2.75 D TO -8.00 D spherical power and -0.75 DC to -2.25 DC cylinderical power (with-the-rule). Subjects were assessed the clinical performance (orientation, centration, movement, tightness, rotation recovery, symptoms) of TSCL and compared binocular vision and contrast sensitivity with corrected glasses and TSCL at initial and two-week follow-up visits. Results: The prism-ballast design TSCL achieved better orientation, rotation recovery and symptoms over 2 week period. There was no statistically significant difference between spectacles and TSCL with respect to measuring binocular vision and contrast sensitivity. Conclusions: The clinical performance was good with prism-ballast design toric soft contact lenses. Evaluation of binocular vision and contrast sensitivity did not show the differences between spectacles and TSCL correction. This study suggests that TSCL wearers can be achieved similar visual performance for spectacles wearers.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2000.11a
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• pp.432-435
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• 2000

로봇의 지능적 작업을 위해서는 3차원 공간에 대한 감각기능이 필수적이며, 이러한 목적으로 시각장치가 사용되었을 경우 보정은 여타 절차에 선행하게 된다. 실제 보정 과정중 중요한 것은 제어점들과 그들의 영상점을 획득하는 일과 이를 이용한 광학적, 기하학적 카메라의 파라메터 결정에 있다. 본 논문에서는 빔프로젝터와 컴퓨터에 의해 제어되는 양안시 장치를 활용하여 많은 수의 3차원 제어점들과 이들의 영상좌표값들을 간편하게 획득하는 방법을 서술한다. 또, 위치가 고정된 카메라의 경우와 달리 능동 카메라 장치는 그 파라메터의 일부가 변수가 되는데, 이 경우에 유용한 선형의 보정 기법을 제안한다.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.168.1-168
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• 2001

This article describes a novel model-based compensating neural network (NN) model developed to be used in our active binocular head controller, which addresses both the kinematics and dynamics aspects in trying to precisely track a moving object of interest to keep it in view. The compensating NN model is constructed using two classes of self-tuning neural models: namely Neural Gas (NG) algorithm and SoftMax function networks. The resultant servo controller is shown to be able to handle the tracking problem with a minimum knowledge of the dynamic aspects of the system.

• Journal of Korean Ophthalmic Optics Society
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• v.10 no.3
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• pp.159-164
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• 2005

Accommodation and convergence is combination movement which is closely connected with each other. When one of them is stimulated, both of functions occur at the same time. Specially, the convergence by the accommodation's stimulation is called as accommodative convergence. That has excess or deficiency according to refraction state of eye. This study was performed by using both of Gradient method and Heterophoria method to 41 adults who have no any ophthalmic disease. 1. As the result of investigation about the distribution of heterophoria at distance, there were orthophoria of 5 subjects, exophoria of 32 and esophoria of 4. Exoporia occupied at the hightest rate. The distribution of heterophoria at near cover a wider range more than at distance. 2. When we measured the horizontal heterophoria amount in the state of relaxation of accommodation power of lens, exophoria amount increased in case of 38 subjects. 3. The person who has $4{\sim}6{\Delta}/D$ which conform to normal AC/A ratio occupied 27 subjects(66%) in Heterophoria method and 16(39%) in Gradient method, respectively.

• Journal of Korean Ophthalmic Optics Society
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• v.11 no.3
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• pp.281-291
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• 2006

The aim of this study was performed the clinical test using Netspeg lens for good visual acuity on subjects with abnormal refraction status. The subjects of one hundreds adults (fifty males, fifty females, mean=21 years, range=19 to 24) were recorded. The subjects were researched the history including the systemic health, medication, genetics, allergy, systemic disease and ocular disease. The refraction test was recorded the monocular and binocular using objective method. Visual acuity was performed the binocular status using the Netspeg lens and CR-39. Stereopsis test was performed the titmus fly and TNO at near distance using Netspeg lens and CR-39. The P-VEP test was used the 16 pattern size(Bausch Lomb, production in USA) with three channels. Also Subjects viewed the p-vep stimulus with binocular vision through the corrected visual acuity using the Netspeg lens and CR-39. The contrast sensitivity test was performed the contrast sensitivity chart(pelli-Robertson, USA) at 1m distance using the Netspeg lens and CR-39. The ultrastructure of surface on the Netspeg lens and CR-39 was observed the SEM(JMS-5800, made in Japan). The results of this study was as follows: 1. In corrected visual acuity of abnormal refraction using the Netspeg lens and CR-39, the Netspeg lens wearer were acquired the good visual field and clear visual acuity comparative to CR-39 wearer in the subject vision test. however the comfort of visual acuity was similar results in the Netspeg lens and CR-39. Also the subjects of Netspeg lens wearer was good visual acuity more than CR-39 wearer and in the analysis of P-VEP, the amplitude of wave on Netspeg lens used appears to be better through the CR-39(p>0.5). Besides, on the contrast sensitivity, the Netspeg lens wearer was good results than CR-39. The value on stereopsis with TNO by Netspeg lens wearer was better than CR-39 in results. However, in the stereopsis test with Titmus, the Netspeg lens and CR-39 wearer was similar results. 2. The ultrastructure of Netspeg lens surface was the smooth and fine shape more than CR-39. Also, Netspeg lens have a fine line structure in ultrastructure. In conclusion, the results of this study conformed that the surface ultrastructure of Netspeg lens used is more specific pin hole design structure than CR-39. This study indicated that the vision of Netspeg lens used have a better than CR-39 in the corrected visual acuity for abnormal refraction eye. Therefore, In this paper, we suggested that the ultrastructure and line structure of Netspeg lens was related to good visual function. However the visual function of the aspheric Netspeg and ultra waterproof Netspeg lens was similar results.