• 대한전자공학회논문지SP
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• 제42권2호
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• pp.101-112
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• 2005

사람이 두 눈을 통하여 3차원 공간을 지각하는 것과 같이 두 대의 카메라로부터 얻어진 스테레오 영상을 이용하여 3차원 정보를 얻을 수 있다. 스테레오 영상은 많은 데이터량을 가지기 때문에 최근 수년간 디지털 비디오 압축 기술의 발전과 함께 스테레오 영상을 효율적으로 압축하기 위한 기술이 개발되고 있다. 스테레오 영상을 압축하고 3차원 정보를 추출하는데 이용되는 양안차 추정은 일반적으로 두 스테레오 영상의 화소 간의 밝기 차이를 이용한다. 하지만 두 카메라의 초점거리, 방향, 상대적 위치, 조리개에 의해 입사되는 빛의 양 등의 미세한 차이에도 스테레오 영상 간의 밝기차가 발생한다. 밝기차가 있는 스테레오 영상은 부정확한 양안차 벡터와 이에 따른 낮은 압축 효율과 같은 문제점을 발생시킬 수 있다. 따라서 이런 스테레오 영상 간의 밝기차를 사전에 보상한 후 압축함으로써 압축의 효율을 높이고, 또한 재생 시 두 눈을 통하여 들어오는 서로 다른 시각 정보로 인한 눈과 두뇌의 피로를 덜어 줄 수 있다. 본 논문에서는 간단하면서도 효율적인 전처리 방법으로 전역 밝기 보상과 국부지역 밝기 보상 및 계층적 밝기 보상을 제안한다 실험결과는 제안된 보상 방법이 효율적으로 스테레오 영상을 압축하는 것을 보여준다.

• 비파괴검사학회지
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• 제25권2호
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• pp.110-116
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• 2005

비젼시스템을 검사, 물체위치 결정 및 용접 작업등에 실시간 응용하고자할 때 CCD카메라에서 얻어진 많은 데이터를 처리해야 하기 때문에 전산처리 속도를 줄이는 것이 매우 중요하다. 또한, 비젼시스템 모델에 포함되어 있는 매개변수를 추정하는데 있어서 Newton-Raphson 방법 같은 반복적인 기법을 사용하면 많은 전산처리 시간을 필요하게 되어 실시간 응용을 어렵게 한다. 위의 문제점을 해결하기 위해 확장칼만필터링 같은 효율적인 방법이 필요하다. 확장칼만필터링 방법은 CCD카메라로부터 얻어지는 측정데이터의 불확실성을 고려할 뿐만 아니라, 순환적인 처리 기법을 사용하므로 전산처리 속도 향상을 가져온다. 이리하여 본 연구는 비젼시스템 모델에 포함된 카메라 내부 및 외부 매개변수를 설명하는 6개 매개변수 추정과 이를 이용한 물체 치수를 추정하는데 확장칼만필터링 방법을 적용하였다. 마지막으로 개발된 추정기법의 실시간 적용의 타당성을 실험을 통하여 보였다.

• 천문학회보
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• 제40권1호
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• pp.84.1-84.1
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• 2015

The Baptistina family is one of the typical young asteroid families with an age estimated to be about 140-320 Myrs old (Masiero et al. 2012); considered to have not enough time to experience a significant collisional and dynamical evolution since it was formed. Therefore, it may offer a unique insight into spin rate distribution of relatively fresh fragments and physical mechanism of a family break-up event. Observations of the Baptistina family asteroids were conducted during 111 nights from 2013 Oct. to 2015 Feb., using 0.5 m- to 2 m- class telescopes at 6 observatories in the northern hemisphere. We used CCD cameras on the Sobaeksan Optical Astronomy Observatory (SOAO) 0.6 m telescope on Mt. Sobaek, Korea, the Lemmonsan Optical Astronomy Observatory (LOAO) 1.0 m telescope on Mt. Lemmon, USA, the Tubitak Ulusal Gozlemevi (TUG) 1.0 m telescope in Bakirlitepe, Turkey, the Bohyunsan Optical Astronomy Observatory (BOAO) 1.8 m telescope on Mt. Bohyun, Korea, the McDonald Observatory 2.1 m Otto Struve Telescope on Mt. Locke, USA, and the National Astronomical Research Institute of Thailand (NARIT) Observatory 2.4 m telescope on Mt. Doi Inthanon, Thailand. Here, we will present our preliminary results for lightcurve analyses of Baptistina family members.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1539-1543
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• 2004

This paper describes platform overview, system integration and dynamic walking control of the humanoid robot, KHR-2 (KAIST Humanoid Robot - 2). We have developed KHR-2 since 2003. KHR-2 has totally 41 DOF (Degree Of Freedom). Each arm including a hand has 11 DOF and each leg has 6 DOF. Head and trunk also has 6 DOF and 1 DOF respectively. In head, two CCD cameras are used for eye. In order to control all joints, distributed control architecture is adopted to reduce the computation burden of the main controller and to expand the devices easily. The main controller attached its back communicates with sub-controllers in real-time by using CAN (Controller Area Network) protocol. We used Windows XP as its OS (Operating System) for fast development of main control program and easy extension of peripheral devices. And RTX, HAL(Hardware Abstraction Layer) extension program, is used to realize the real-time control in Windows XP environment. We present about real-time control of KHR-2 in Windows XP with RTX and basic walking control algorithm. Details of the KHR-2 are described in this paper.

• 제어로봇시스템학회논문지
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• 제21권12호
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• pp.1178-1184
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• 2015

In conventional robotics, charge-coupled device (CCD) and complementary metal-oxide-semiconductor (CMOS) cameras have been utilized for acquiring vision information. These devices have problems, such as narrow optic angles and inefficiencies in visual information processing. Recently, biomimetic vision sensors for robotic applications have been receiving much attention. These sensors are more efficient than conventional vision sensors in terms of the optic angle, power consumption, dynamic range, and redundancy suppression. This paper presents recent research trends on biomimetic vision sensors and discusses future directions.

• 대한기계학회논문집B
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• 제27권12호
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• pp.1716-1723
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• 2003

A stereoscopic PIV(Particle Image Velocimetry) technique was employed to measure the 3 dimensional flow structure of turbulent wake behind a marine propeller with 5 blades. The out-of-plane velocity component was determined using two CCD cameras with the angular displacement configuration. Four hundred instantaneous velocity fields were measured for each of four different blade phases and ensemble averaged to investigate the spatial evolution of the propeller wake in the near-wake region from the trailing edge to one propeller diameter(D) downstream. The phase-averaged velocity fields show the potential wake and the viscous wake developed along the blade surfaces. Tip vortices were generated periodically and the slipstream contraction occurs in the near-wake region. The out-of-plane velocity component and strain rate have large values at the locations of tip and trailing vortices. As the flow goes downstream, the turbulence intensity, the strength of tip vortices and the magnitude of out-of-plane velocity component at trailing vortices are decreased due to viscous dissipation, turbulence diffusion and blade-to-blade interaction.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집E
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• pp.548-554
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• 2001

A GA(Genetic Algorithm) based 3D-PTV technique has been developed. The measurement system consists of three CCD cameras, Ar-ion laser, an image grabber and a host computer. The fundamental of the developed technique was based on that one-to-one correspondence is found between two tracer particles selected at two different image frames taking advantage of combinatorial optimization of the genetic algorithm. The fitness function controlling reproductive success in the genetic algorithm was expressed by a kind of continuum theory on the sparsely distributed particles in space. In order to verify the capability of the constructed measurement system, a performance test was made using the LES data set of an impinging jet. The developed 3D-PTV system was applied to the measurement of flow characteristics of the wake of a circular cylinder.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.70-75
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• 1993

We represent a method of 3-D object recognition using multi images in this paper. The recognition process is executed as follows. Object models as prior knowledgement are generated and stored on a computer. To extract features of a recognized object, three CCD cameras are set at vertices of a regular triangle and take images of an object to be recognized. By comparing extracted features with generated models, the object is recognized. In general, it is difficult to recognize 3-D objects because there are the following problems such as how to make the correspondence to both stereo images, generate and store an object model according to a recognition process, and effectively collate information gotten from input images. We resolve these problems using the method that the collation on the basis of features independent on the viewpoint, the generation of object models as enumerating some candidate models in an early recognition level, the execution a tight cooperative process among results gained by analyzing each image. We have made experiments based on real images in which polyhedral objects are used as objects to be recognized. Some of results reveal the usefulness of the proposed method.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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• pp.579-584
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• 2004

In this paper, we present the mechanical, electrical system design and system integration of controllers including sensory devices of the humanoid, KHR-2 (KAIST Humanoid Robot - 2). We have developed KHR-2 since 2003. Total number of DOF of KHR-2 is 41. Each arm including a hand has 11 DOF and each leg has 6 DOF. Head and trunk also has 6 DOF and 1 DOF respectively. In head, two CCD cameras are used for eye. To control all axes efficiently, distributed control architecture is used to reduce computation burden of main controller and to expand devices easily. So we developed the sub-controller as a servo motor controller and a sensor interfacing devices using microprocessor. The main controller attached its back communicates with sub-controllers in real-time by CAN (Controller Area Network) protocol. We used Windows XP as its OS (Operation System) for fast development of main control program and easy extension of peripheral devices. And RTX HAL extension commercial software is used to realize the real-time control in Windows XP environment.

• 대한기계학회논문집B
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• 제33권9호
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• pp.699-708
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• 2009

To understand hydrogen jet liftoff height, the stabilization mechanism of turbulent lifted jet flames under non-premixed conditions was studied. The objectives were to determine flame stability mechanisms, to analyze coexistence of two different flame structure, and to characterize the lifted jet at the flame stabilization point. Hydrogen flow velocity varied from 100 to 300 m/s. Coaxial air velocity was changed from 12 to 20 m/s. Simultaneous velocity field and reaction zone measurements used, PIV/OH PLIF techniques with Nd:YAG lasers and CCD/ICCD cameras. Liftoff height decreased with the increase of fuel velocity. The flame stabilized in a lower velocity region next to the faster fuel jet due to the mixing effects of the coaxial air flow. The flame stabilization was related to turbulent intensity and strain rate assuming that combustion occurs where local flow velocity and turbulent flame propagation velocity are balanced. At the flame base, two different flame structures were found that was the partial premixed flames and premixed flame.