• 한국정밀공학회지
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• 제19권1호
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• pp.172-179
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• 2002

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.

• 한국경영과학회지
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• 제20권3호
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• pp.105-122
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• 1995

Based on linear models, the inference about the true measurement x$_{f}$ and the optimal designs x (nx1) for the calibration experiments are considered via Baysian statistical decision analysis. The posterior distribution of x$_{f}$ given the observation y$_{f}$ (qxl) and the calibration experiment is obtained with normal priors for x$_{f}$ and for themodel parameters (.alpha., .betha.). This posterior distribution is not in the form of any known distributions, which leads to the use of a numerical integration or an approximation for the calculation of the overall expected loss. The general structure of the expected loss function is characterized in the form of a conjecture. A near-optimal design is obtained through the approximation nof the conditional covariance matrix of the joint distribution of (x$_{f}$ , y$_{f}$ $^{T}$ )$^{T}$ . Numerical results for the univariate case are given to demonstrate the conjecture and to evaluate the approximation.n.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1933-1938
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• 2003

A covariance matrix is a tool that expresses odometry uncertainty of the wheeled mobile robot. The covariance matrix is a key factor in various localization algorithms such as Kalman filter, topological matching and so on. However it is not easy to acquire an accurate covariance matrix because we do not know the real states of the robot. Up to the authors knowledge, there seems to be no established result on the covariance matrix estimation for the odometry. In this paper, we propose a new method which can estimate the covariance matrix from empirical data. It is based on the PC-method and shows a good estimation ability. The experimental results validate the performance of the proposed method.

• 분석과학
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• 제16권4호
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• pp.261-268
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• 2003

불활성기체용해-열전도도검출법에 의한 수소분석시 매질효과를 조사하기 위해 티타늄 및 지르코늄-2.5니오븀 매질의 수소 표준물질 및 수소기체 주입에 의한 교정계수를 측정하였다. 또한 주석 조연제를 사용하지 않고 티타늄 및 지르코늄-2.5니오븀 매질 수소 표준물질의 수소 추출효율을 조사하였다. 수소기체 주입에 의한 수소분석기의 보정에 대해 지르코늄-2.5니오븀 매질 수소표준물질의 그것은 2~3% 높았으며, 티타늄 매질의 수소 표준물질은 약 14% 높은 값을 주었다. 교정계수 측정결과에 의하면 티타늄 매질 시료의 수소추출 효율이 지르코늄-2.5니오븀 매질 시료에 비해 약 12% 낮을 것으로 예상된다. 주석을 사용하지 않았을 때 티타늄 및 지르코늄-2.5니오븀매질 수소 표준물질의 수소 회수율은 약 70% 이었으며, 티타늄의 수소 회수율이 지르코늄-2.5니오븀 보다 낮았다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2737-2742
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• 2003

Kinematic calibration enhances absolute accuracy by compensating for the fabrication tolerances and installation errors. Effectiveness of calibration procedures depends greatly on the measurements performed. While the Cartesian postures are measured completely, all of the geometric parameters can be identified to their true values. With partial pose measurements, however, few geometric parameters may not be identifiable and effectiveness of the calibration results may vary significantly within the workspace. QR decomposition of the identification Jacobian matrix can reveal the non-identifiable parameters. Selecting postures for measurement is also an important issue for efficient calibration procedure. Typically, the condition number of the identification Jacobian is minimized to find optimum postures. This paper investigates identifiable parameters and optimum postures for four different calibration procedures - measuring postures completely with inverse kinematic residuals, measuring postures completely with forward kinematics residuals, measuring only the three position components, and restraining the mobility of the end-effector using a constraint link. The study is performed for a six degree-of-freedom fully parallel HexaSlide type paralle manipulator, HSM. Results verify that all parameters are identifiable with complete posture measurements. For the case of position measurements, one and for the case of constraint link, three parameters were found non-identifiable. Optimal postures showed the same trend of orienting themselves on the boundaries of the search space.

• 한국산학기술학회논문지
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• 제14권12호
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• pp.6066-6071
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• 2013

본 논문에서는 의료용 초음파를 이용하는 로봇 시스템을 위한 3차원 캘리브레이션 방법을 제안한다. 고정된 기준점을 구성하기 위한 캘리브레이션 블록을 제작한 후 옵티컬 트래커(optical tracker)를 이용하여 초음파 프루브(probe)의 위치와 기준점의 위치를 측정한다. 초음파 영상의 픽셀 좌표와 센서로 측정된 위치를 비교하여 6개의 파라미터로 이루어진 초음파 프루브와 영상 내의 픽셀 좌표와의 관계 행렬을 구하고 2개의 파라미터로 이루어진 스케일링 행렬을 계산한다. 정밀한 캘리브레이션을 위해 캘리브레이션 블록 내부 모양과 매질 선택에 대한 적절성을 실험을 통해 검증한다. 제안된 방법은 간단한 형태의 캘리브레이션 블록과 옵티컬 트래커를 사용하여 설치에 많은 시간이 필요하지 않는 장점이 있기 때문에 초음파 영상을 이용하는 로봇 작업에 널리 적용이 가능하다.

• 대한기계학회논문집A
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• 제30권5호
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• pp.560-567
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• 2006

The exact load measurements for the mechanical parts of a wind turbine are important step both fur the evaluation of a specific wind turbine design and for a certification process. A common method for a mechanical load measurement is using a strain gauge sensing. Two main problems ought to be answered in order for this method to be applied to the wind turbine project. These are strain gauge calibration and non-contact signal transmission from the strain gauge output to a load monitoring system. This paper suggests reliable solutions fer these two problems. A Bluetooth, a short range wireless data communication technology, is used to solve the second problem. The first one, the strain gauge calibration methodology for a load measurement in a wind turbine application, is fully explained in this paper. Various mechanical loadings for a strain gauge calibration in a wind turbine load measurement are introduced and analyzed. Initial experimental results which are obtained from a 1 kW small size wind turbine are analyzed, and the uncertainty problem in estimating mechanical loads using a calibration matrix is fully covered in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.586-590
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• 1990

In this paper we describe the shape measuring technique and system with a non-contractive sensor, composed of slit-ray projector and solid-state camera. For improving the accuracy and preventing measuring dead point, this sensor part is attached to the end of robot, and each sensing is executed after one step moving. By patching these sensing data, whole measuring data is constructed. The calibration between sensor and world coordinate is implemented through the specific calibration block by transformation matrix method. The result of experiment was satisfactory.

• 한국환경보건학회지
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• 제26권4호
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• pp.75-81
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• 2000

A matrix modification was studied for the determination of trace manganese in several seaweeds by electrothermal atomic absorption spectrophotometry(ETAAS). The type and quantity of modifiers were investigated to realize the efficient modification. Palladium was chosen as a single modifier. By the addition of palladium(5$\mu\textrm{g}$/$m\ell$) to 2ng/$m\ell$ manganese solution, the temperatures were raised from 1,00$0^{\circ}C$ to 1,20$0^{\circ}C$ for the charring and from 2,10$0^{\circ}C$ to 2,20$0^{\circ}C$ for the atomization as well as the sensitivity and reproducibility were improved. With such optimum conditions, the trace amount of manganese in several seaweeds(laver, tangle and brown seaweed) could be determined by a calibration curve method, and good recoveries of more than 965 were also obtained in the samples in which a given amount of manganese was spiked. The detection limit of this method was about 0.048ng/$m\ell$.

• 방송공학회논문지
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• 제24권4호
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• pp.580-591
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• 2019

본 논문의 목적은 자율주행을 위하여 카메라와 라이다를 이용하여 객체를 검출하고 각 센서에서 검출된 객체를 late fusion 방식으로 융합을 하여 성능을 향상하는 것을 목적으로 한다. 카메라를 이용한 객체 검출은 one-stage 검출인 YOLOv3을, 검출된 객체의 거리 추정은 perspective matrix를, 라이다의 객체 검출은 K-means 군집화 기반 객체 검출을 각각 이용하였다. 카메라와 라이다 calibration은 PnP-RANSAC을 이용하여 회전, 변환 행렬을 구하였다. 센서 융합은 라이다에서 검출된 객체를 이미지 평면에 옮겨 Intersection over union(IoU)을 계산하고, 카메라에서 검출된 객체를 월드 좌표에 옮겨 거리, 각도를 계산하여 IoU, 거리 그리고 각도 세 가지 속성을 로지스틱 회귀를 이용하여 융합을 하였다. 융합을 통하여 각 센서에서 검출되지 않은 객체를 보완해주어 성능이 약 5% 증가하였다.