• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.11a
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• pp.463-463
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• 2006

Nowadays, subminiature lens actuators are being developed with the demand of AF lens for high performance of the mobile phone camera. Though the VCM is the current, development of new types of actuators are needed due to the structural problem and etc.. A new type of actuator for AF lens using Dielectric Elastomer Electroactive Polymer(EAP) is proposed in this paper, DE EAP has advantages in its weight, ease of fabrication and low power consumption. The mathematical model is obtained by Hamilton's principle and verified by finite element analysis and experiments. The controller is designed and evaluated by experiments.

• Proceedings of the Korean Society of Computer Information Conference
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• 2009.01a
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• pp.93-96
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• 2009

최근 비약적으로 향상되고 있는 개인용 컴퓨터의 성능과 새로운 사용자 경험을 원하는 요구와 맞물려 실시간 영상처리분야의 활발한 연구와 발전이 거듭되고 있다. 본 논문은 개인용 컴퓨터의 주변기기로 시중에 널리 보급되어있는 PC 카메라를 이용해 실시간으로 화면 속에서 얼굴을 인지하고 그 이동을 추적함으로써 키보드와 마우스와 같은 보편적인 입력장치 사용하는 경우와 다른 새로운 사용자 경험을 구현할 수 있는 응용 프로그램의 설계 및 구현방법을 제시한다. 본 논문에서는 Java 개발 환경에서 JMF를 이용해 영상장치로 부터 정보를 수집하고 수집한 정보를 기본적인 영상처리 기법과 Integral Image, SSR 필터를 이용한 패턴 분류, 기계 학습 모델인 SVM을 이용해 안면을 인식한다. 이러한 방법들을 통해 인식한 정보를 추적하고 결과를 바탕으로 게임과 같은 다른 응용프로그램으로 키 이벤트를 전달하여 구현하였다.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.3
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• pp.294-299
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• 2006

This paper studies a visual feedback control scheme for robot manipulators with camera-in-hand configurations. We design a robust controller that compensates for bounded parametric uncertainties of robot mechanical dynamics. In order to reduce steady state tracking error of the robot arms due to uncertain dynamics, integral action is included in the control input. Using the Lyapunov stability criterion, the uniform ultimate boundedness of the tracking error is proved. Simulation and experimental results with a 2-1ink robot manipulator illustrate the robustness and effectiveness of the proposed control algorithm.

• Journal of Advanced Navigation Technology
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• v.7 no.2
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• pp.162-170
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• 2003

In this paper, we propose a robust controller for trajectory control of n-link robot manipulators using feature based on visual feedback. In order to reduce tracking error of the robot manipulator due to parametric uncertainties, integral action is included in the dynamic control part of the inner control loop. The desired trajectory for tracking is generated from feature extraction by the camera mounted on the end effector. The stability of the robust state feedback control system is shown by the Lyapunov method. Simulation and experimental results on a 5-link robot manipulator with two degree of freedom show that the proposed method has good tracking performance.

• Proceedings of the KIEE Conference
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• 2005.05a
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• pp.78-80
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• 2005

The pattern recognition of automobile and parking line for the automatic car parking system was processed based on statistical method for reducing the processing time. The command of driving for parking at the vacant parking lot was transmitted from processor to motor driven actuator using direct sequence spread spectrum communication, which enables the multiple transmission in CAN(controller area network). The test-bed which has CCD camera, processor, radio transceiver and FPGA was implemented and demonstrated to be operated well.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.119-122
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• 2001

This paper discusses the peg-in-hole task of chamferless parts using force/moment/vision sensors. The directional error occurring during the task are categorized into two cases according to the degree of initial errors, And different Mechanical analysis has been accomplished for each cases. This paper proposes an algorithm which enables to reduce intial directional error using digital Images acquired from hand-eyed vision sensor, And to continue the task even with the large directional error by adjusting the error using digital image processing. The effectiveness of the algorithm has been demonstrated through experimentation using 5-axis robot equipped with a developed controller force/moment sensor and color digital camera on its hand.

• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.1025-1026
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• 2008

This paper describes a monocular PSD-based motion capture sensor to employ with commercial video game systems such as Microsoft's XBOX and Sony's Playstation II. The system includes a PSD(Position Sensitive Detector) and active infrared (IR) LED markers that are placed on the object to be tracked. The micro-controller calculates the 3D position of the markers using only the measured intensity and the 2D position on the PSD. A series of experiments were performed to evaluate the performance of our prototype system. From the experimental results we see that the proposed system has the advantages of the compact size, the low cost, the easy installation, and the high frame rates to be suitable for high speed motion tracking in games.

• Journal of the Korea Society of Computer and Information
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• v.22 no.12
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• pp.17-25
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• 2017

In this paper, we have implemented a low-cost mobile robot supporting the person tracking by detection using RGB-D cameras and ROS(Robot Operating System) framework. The mobile robot was developed based on the Kobuki mobile base equipped with 2's Kinect devices and a high performance controller. One kinect device was used to detect and track the single person among people in the constrained working area by combining point cloud data filtering & clustering, HOG classifier and Kalman Filter-based estimation successively, and the other to perform the SLAM-based navigation supported in ROS framework. In performance evaluation, the person tracking by detection was proved to be robustly executed in real-time, and the navigation function showed the accuracy with the mean distance error being lower than 50mm. The mobile robot implemented has a significance in using the open-source based, general-purpose and low-cost approach.

• Proceedings of the IEEK Conference
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• 2001.06a
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• pp.25-28
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• 2001

In this paper we implement moving picture transfer system using bluetooth Development Kit (DK). To reduce the size of the image data, we use M-JPEG compression. We use bluetooth Synchronous Connection-Oriented (SCO) link to transfer voice data. Server receive image data from camera and compress the image data in M-JPEG format, and then transmit the image data to client using bluetooth Asynchronous connection-less (ACL) link. Client receive image data from bluetooth ACL link and decode the compressed image and then display the image to screen. Sever and Client can transmit and receive voice data simultaneously using bluetooth SCO link. In this paper bluetooth HCI commands and events generated by host controller to return the results of HCI commands are explained and the flow of bluetooth connection procedure is presented.

• Proceedings of the Korean Vacuum Society Conference
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• 2014.02a
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• pp.255.1-255.1
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• 2014

태양전지 도핑공정은 대부분 퍼니스(furnace)도핑으로 제작된다. 퍼니스 도핑 공정은 고가의 장비와 유지 비용이 요구되며 국부적인 부분의 도핑은 제한적이다. 또한 도핑 시 온도와 공정 시간이 태양전지의 전기적 특성을 결정짓는 중요한 변수 이다. 그리하여 최근 많은 연구가 진행되는 대기압 플라즈마를 이용하여 도핑공정에 응용하고자 한다. 본 연구에서 대기압 방전 시 전원은 DC-AC 인버터를 사용하였다. 인버터의 최대 출력 전압은 최대 5kv, 주파수는 수십 KHz 이다. Ar 가스는 MFC(Mass Flow Controller)를 사용하여 조절하였다. 대기압 플라즈마를 이용한 태양전지 도핑 시 소스와 ground 거리에 따른 대기압 플라즈마의 방전을 열화상카메라(thermo-graphic camera, IR)로 온도의 변화 측정 및 광학적 발광분광법(Optical Emission Spectroscopy, OES)을 통해 불순물(질소, 산소)을 측정 하였다. 웨이퍼 도핑 후 생성된 웨이퍼를 측정 및 분석을 하였다.