• 한국마린엔지니어링학회:학술대회논문집
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• 한국마린엔지니어링학회 2011년도 전기공동학술대회 논문집
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• pp.284-284
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• 2011

Survivors of accidents in the area to check in. check now people will be direct. To reduce the risk UAV with a camera resolution of the survivors fled afar possible. In addition, a stable control for Kalman filter and PID control was used to Even beginners can easily control the UAV is characteristic.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.170-170
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• 2000

This paper deals with on-Line detection of strip movement and real time positioning of brackets of EMD connected with it. Strip movement is detected by 4 line CCD camera and measured position correction value is inputted to motor position controller to control position of brackets.

• 대한전자공학회논문지SD
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• 제47권3호
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• pp.35-40
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• 2010

본 논문에서는 저비용, 저전력 카메라 폰 구현을 위한 하드웨어 자원 공유가 가능한 구조의 카메라 제어 프로세서를 제안한다. 제안한 카메라 제어 프로세서의 구조는 내부에 직접 접근 경로를 내장함으로써 베이스 밴드 프로세서가 카메라 제어 프로세서의 하드웨어 자원을 직접 활용할 수 있도록 하여 베이스 밴드 프로세서의 기능 확장과 성능 향상을 도모하는데 그 목적이 있다. 또한, 제안한 구조와 결합하여 블록 단위 클럭 차단 기법을 적용하여 저전력 소비를 구현한 결과를 기술하였다. 따라서 제안한 카메라 제어 프로세서는 시스템의 하드웨어 자원 효율성을 향상시켜 저전력, 저비용 카메라 폰 시스템 구현을 가능하게 한다. 제안한 카메라 제어 프로세서는 0.18um CMOS 공정을 사용하여 제작되었으며 면적은 $3.8mm\;{\times}\;3.8mm$이다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1816-1819
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• 1997

Using the vision system, robotic tasks in unstructured environments can be accompished, which reduces greatly the cost and steup time for the robotic system to fit to he well-defined and structured working environments. This paper proposes a dynamic control scheme for robot manipulator with eye-in-hand camera configuration. To perfom the tasks defined in the image plane, the camera motion Jacobian (image Jacobian) matrix is used to transform the camera motion to the objection position change. In addition, the dynamic learning controller is designed to improve the tracking performance of robotic system. the proposed control scheme is implemented for tasks of tracking moving objects and shown to outperform the conventional visual servo system in convergence and robustness to parameter uncertainty, disturbances, low sampling rate, etc.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.381-381
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• 2000

This paper describes the path planning method in an unknown environment for an autonomous mobile robot equipped with CCD(Charge-Coupled Device) camera. The mobile robot moves along the guideline. The CCD camera is useful to detect the existence of a guideline. The wavelet transform is used to find the edge of guideline. Using wavelet transform, we can make an image processing more easily and rapidly. We make a fuzzy control rule using image data then make a decision the position and the navigation of the mobile robot. The center value that indicates the center of guideline is the input of fuzzy logic controller and the steering angle of the mobile robot is the fuzzy output. Some actual experiments for the mobile robot applied fuzzy control show that the mobile robot effectively moves to target position.

• 한국공작기계학회논문집
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• 제13권2호
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• pp.94-103
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• 2004

The vision system model used for this study involves the six parameters that permits a kind of adaptability in that relationship between the camera space location of manipulable visual cues and the vector of robot joint coordinates is estimated in real time. Also this vision control method requires the number of cameras to transform 2-D camera plane from 3-D physical space, and be used irrespective of location of cameras, if visual cues are displayed in the same camera plane. Thus, this study is to investigate the optimal number of cameras used for the developed vision control system according to the change of the number of cameras. This study is processed in the two ways : a) effectiveness of vision system model b) optimal number of cameras. These results show the evidence of the adaptability of the developed vision control method using the optimal number of cameras.

• 제어로봇시스템학회논문지
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• 제11권4호
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• pp.290-296
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• 2005

This paper presents the implementation of a crack tracking mobile robot. The crack tracking robot is built for tracking cracks on the pavement. To track cracks, crack must be detected by laser and camera sensors. Laser sensor projects laser on the pavement to detect the discontinuity on the surface and the camera captures the image to find the crack position. Then the robot is commanded to follow the crack. To detect crack position correctly, neural network is used to minimize the positional errors of the captured crack position obtained by transformation from 2 dimensional images to 3 dimensional images.

• 한국정밀공학회지
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• 제19권1호
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• pp.119-126
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• 2002

In this paper, we present a new approach based on an elitist genetic algorithm for the task of aligning the position of a robot gripper using CCD cameras. The vision-based control scheme for the task of aligning the gripper with the desired position is implemented by image information. The relationship between the camera space location and the robot joint coordinates is estimated using a camera-space parameter modal that generalizes known manipulator kinematics to accommodate unknown relative camera position and orientation. To find the joint angles of a robot manipulator for reaching the target position in the image space, we apply an elitist genetic algorithm instead of a nonlinear least square error method. Since GA employs parallel search, it has good performance in solving optimization problems. In order to improve convergence speed, the real coding method and geometry constraint conditions are used. Experiments are carried out to exhibit the effectiveness of vision-based control using an elitist genetic algorithm with a real coding method.

• 동력기계공학회지
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• 제17권5호
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• pp.121-127
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• 2013

In this paper, we propose a distance measurement system for automatic berthing control using a stereo camera mounted on a rotation control device, and a radial pattern target. Automatically controlling the position and attitude of a ship aims to prevent maritime accidents due to human error. Our goal is to measure the relative distance between a ship and an onshore or offshore target for berthing. Therefore, the distance should be continuously measured while tracking a fixed point on a target. To this end, we developed a stereo camerabased distance measurement system that satisfied these requirements. This paper describes the structure and principle of the measurement system. We validate the distance error for target incline due to the relative position and attitude between a camera and a target in miniature scale. In addition, the findings of an experiment in an outdoor environment demonstrate that the proposed measurement system has accuracy within 1 m at a range of 20-100 m which is the acceptable accuracy for automatic berthing.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2005년도 추계종합학술대회
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• pp.1003-1006
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• 2005

이동단말기에 적용되는 카메라의 단 초점에서 자동초점으로 적용이 점차 화대 되고 있다. 본 논문에서는 이동단말기에 적용되는 카메라에서의 자동초점기능을 구현하기 위한 기본 원리 및 실제 구현을 a적으로 하다. 자동초점을 위해서는 Image Sensor, Lens, Lens구동을 위한 CCM(Camera Control Module)이 필요한 구성이다 현재까지 적용되는 AF용 CCM에는 VCM방식과 Piezo 방식이 있다. 본 논문에서는 적용된 방식은 VCM적용 방식이다. Camera Control을 위해서 적용될 수 있는 MCU는 ISP(혹은 DSP)나 Base Band Core에서 직접 Control할 수 있겠다.