• Proceedings of the KSME Conference
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• 2000.11a
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• pp.596-601
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• 2000

In a robot/vision system, the vision sensor, typically a CCD array sensor, is mounted on the robot hand. The problem of determining the relationship between the camera frame and the robot hand frame is refered to as the hand-eye calibration. In the literature, various methods have been suggested to calibrate camera and for sensor registration. Recently, one-step approach which combines camera calibration and sensor registration is suggested by Horaud & Dornaika. In this approach, camera extrinsic parameters are not need to be determined at all configurations of robot. In this paper, by modifying the camera model and including the lens distortion effect in the perspective transformation matrix, a new one-step approach is proposed in the hand-eye calibration.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.7
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• pp.119-124
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• 1999

A method to find the line of sight ray in space which corresponds to a point in an image plane is presented. The line of sight ray is defined by two points which are the intersections between the two calibration planes and the sight ray. The intersection point is found by the oblique coordinate mapping between the image plane and the calibration plane in the space. The proposed oblique coordinate mapping method has advantages over the transformation matrix method in the required memory space and computation time.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.5
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• pp.415-420
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• 2004

We present a new algorithm for the calibration of a camera and the recovery of 3D scene structure up to a scale from image sequences using known angles between lines in the scene. Traditional method for calibration using scene constraints requires various scene constraints due to the stratified approach. Proposed method requires only one type of scene constraint of known angle and also it directly recovers metric structure up to an unknown scale from projective structure. Specifically, we recover the matrix that is the homography between the projective structure and the Euclidean structure using angles. Since this matrix is a unique one in the given set of image sequences, we can easily deal with the problem of varying intrinsic parameters of the camera. Experimental results on the synthetic and real images demonstrate the feasibility of the proposed algorithm.

• Bulletin of the Korean Chemical Society
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• v.25 no.5
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• pp.647-651
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• 2004

Partial Least Squares (PLS) calibration performance has been systematically investigated by changing spectral resolutions of near-infrared (NIR) spectra. For this purpose, synthetic samples simulating naphtha were prepared to examine the calibration performance in complex chemical matrix. These samples were composed of $C_6-C_9$ normal paraffin, iso-paraffin, naphthene, and aromatic hydrocarbons. NIR spectra with four different resolutions of 4, 8, 16, and 32$cm^{-1}$ were collected and then PLS regression was performed. For PLS calibration, five different group compositions (such as total paraffin content) and six different pure components (such as benzene concentration) were selected. The overall results showed that at least 8$cm^{-1}$ resolution was required to resolve the complex chemical matrix such as naphtha. It was found that the influence of resolution on the PLS calibration was varied by the spectral features of a component.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.3
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• pp.314-323
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• 1999

This paper introduces a methodology of active calibration of a camera pose (orientation and position) using the images of cylindrical objects that are going to be manipulated. This active calibration method is different from the passive calibration where a specific pattern needs to be located at a certain position. In the active calibration, a camera attached on the robot captures images of objects that are going to be manipulated. That is, the prespecified position and orientation data of the cylindrical object are transformed into the camera pose through the two consecutive image frames. An ellipse can be extracted from each image frame, which is defined as a circular-feature matrix. Therefore, two circular-feature matrices and motion parameters between the two ellipses are enough for the active calibration process. This active calibration scheme is very effective for the precise control of a mobile/task robot that needs to be calibrated dynamically. To verify the effectiveness of active calibration, fundamental experiments are peformed.

• Journal of Korean Society on Water Environment
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• v.37 no.6
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• pp.510-519
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• 2021

Volatile Organic Compounds (VOCs) in sediments, which can cause human health problems, have been monitored in Korea since 2014. Measured VOC concentrations can be affected by matrix type and the volatility of target substances. In this study, (1) VOCs volatility and the influence of matrix interference were confirmed, and (2) internal standards (IS) method was applied to improve analytical method. For these purposes, method detection limit (MDL), calibration linearity, precision and accuracy of VOCs were compared in various matrices using the IS. Some of VOCs in sediments showed different peak areas and reduced rates compared to water matrix. It was suggested that adsorption properties of sediments hindered the migration to vapor during heat pretreatment in headspace method. A calibration curve was created in clean sand. Recovery rates for the calibration curve method and IS applying method were 64.1~83.1% and 99.1~119.3%, respectively. Relative standard deviations ranged from 11.1% to 21.6% for the calibration curve method and those for IS ranged 4.7% to 13.7%. In case of real sediment, calibration curve and 1,2-Dichlorobenzene-d4 (ODCB) among IS were not suitable. The average recovery rate of Fluorobenzene (FBZ) increased by 56.4% and Relative Standard Deviation (RSD) by 4.7%. However, the recovery rate was increased in the samples with large values of igniting intensity. This study confirmed that influence of the matrix of VOCs in sediment, and addition of IS materials improved precision and accuracy. Although IS corrects volatilization and adsorption, it is recommended that more than two types of IS should be added rather than single.

• Proceedings of the Korea Electromagnetic Engineering Society Conference
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• 2003.11a
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• pp.501-505
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• 2003

There are many antenna array errors. They will distort the array beam pattern and result in an increased sidelobe level. A calibration technique is proposed for correcting the antenna array errors such as mutual coupling and unequal feeder characteristics. These are modeled as a matrix representing the interaction between the radiating elements. The matrix is estimated from the measured array response vectors. The antenna array errors are corrected by modifying the beamforming weight vector. It is verified by the electromagnetic simulation and experiment that the proposed technique reduces the sidelobe level and increases the antenna gain.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.15 no.2
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• pp.199-205
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• 2004

There are many antenna array errors. They will distort the array beam pattern and result in an increased sidelobe level. A calibration technique is proposed for correcting the antenna array errors such as mutual coupling and unequal feeder characteristics. These are modeled as a matrix representing the interaction between the radiating elements. The matrix is estimated from the measured array response vectors. The antenna array errors are corrected by modifying the beamforming weight vector. It is verified by the electromagnetic simulation and experiment that the proposed technique reduces the sidelobe level and increases the antenna gain.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2007.06a
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• pp.321-322
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• 2007

• Journal of the Korean Society for Precision Engineering
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• v.11 no.5
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• pp.88-97
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• 1994

We persent a method for kinematic calibration of open chain mechanisms based on the product of exponentials (POE) formula. The POE formula represents the forward kinematics of an open chain as a product of matrix exponentials, and is based on a modern geometric interpretation of classical screw theory. Unlike the kinematic parameters in the POE formula vary smoothly with changes in the joint axes;ad hoc methods designed to address the inherent singularities in the D-H parameters are therefore are therefore unnecessary. After introducing the POE formula, we derive a least-squares kinematic calibration algorithm for general open chain mechanisms. Simulation results with a 6-axis open chain are presented.