• Publications of The Korean Astronomical Society
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• v.18 no.1
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• pp.69-74
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• 2003

A CCD camera for the BOES (Bohyunsan Observatory Echelle Spectrograph) has been developed. The camera consists of a 2048 ${\times}$ 4096 format CCD, a SDSU Gen-I CCD controller, and a continuous flow cryostat (CFC) designed by the ESO. In order to control the CCD under SDSU Gen-I controller, the voltage level of all the biases and clocks were lowered by -6V. The CFC showed cooling time of about 10 hour, after which the chip temperature settled down with variation less than ${\pm}1^{\circ}C$. The final chip temperature is around -105$^{\circ}C$ with the setting value for the CFC as -170$^{\circ}C$.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.12
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• pp.1160-1166
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• 2007

This paper presents the design and implementation of an embedded image stabilization control system for a mobile phone with a built-in camera. Image stabilization is a family of techniques for reducing image blur resulting from minute camera shake due to hand-held shooting, thereby allowing the use of shutter speeds slower than values normally required to obtain sharp images. A mechanical image stabilizer mechanism developed for a camera mobile phone is introduced and a digital control system as a part of the image stabilization system is designed and implemented on an 8-bit microcontroller with integer arithmetic in C. This paper focuses primarily on issues that need to be taken into consideration for fixed-point implementation of the digital controller. Several experimental results are presented to demonstrate the performance of the implemented image stabilization control system.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.192-197
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• 2009

In this paper, we proposed the obstacle avoidance system using a single camera image and LM(Levenberg-Marquart) neural network fuzzy controller. According to a robot technology adapt to various fields of industry and public, the robot has to move using self-navigation and obstacle avoidance algorithms. When the robot moves to target point, obstacle avoidance is must-have technology. So in this paper, we present the algorithm that avoidance method based on fuzzy controller by sensing data and image information from a camera and using the LM neural network to minimize the moving error. And then to verify the system performance of the simulation test.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.15 no.1
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• pp.102-108
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• 2016

A flying drone generates vibrations in a great variety of frequencies, and it requires a gimbal system stabilization loop design in order to obtain clean and accurate image from the camera attached to the drone under this environment. The gimbal system for drone comprises the structure that supports the camera module and the stabilization loop which follows the precise angle while blocking the vibration from outside. This study developed a dynamic model for one axis for the stabilization loop design of a gimbal system for drones and applied classical PID controller and intelligent PID controller. The Stabilization loop design was developed by using MATLAB/Simulink and compared the performance of each controller through simulation. Especially, the intelligent PID controller can be designed almost without the dynamic model and it demonstrates that the angle can be followed without readjusting the parameters of the controller even when the characteristics of the model changes.

• International Journal of Aeronautical and Space Sciences
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• v.11 no.2
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• pp.69-79
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• 2010

This paper describes the experimental framework for the control system design and validation of a rotorcraft unmanned aerial vehicle (UAV). Our approach follows the general procedure of nonlinear modeling, linear controller design, nonlinear simulation and flight test but uses an indoor-installed multi-camera system, which can provide full 6-degree of freedom (DOF) navigation information with high accuracy, to overcome the limitation of an outdoor flight experiment. In addition, a 3-DOF flying mill is used for the performance validation of the attitude control, which considers the characteristics of the multi-rotor type rotorcraft UAV. Our framework is applied to the design and mathematical modeling of the control system for a quad-rotor UAV, which was selected as the test-bed vehicle, and the controller design using the classical proportional-integral-derivative control method is explained. The experimental results showed that the proposed approach can be viewed as a successful tool in developing the controller of new rotorcraft UAVs with reduced cost and time.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.1105-1109
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• 1995

A CCD-camera, which is structured with vision system, was used to realize automatic seam-tracking system and 3-D information which is needed to generate torch path, was obtained by using laser-slip beam. To extract laser strip and obtain welding-specific point, Adaptive Hough-transformation was used. Although the basic Hough transformation takes too much time to process image on line, it has a tendency to be robust to the noises as like spatter. For that reson, it was complemented with Adaptive Hough transformation to have an on-line processing ability for scanning a welding-specific point. the dead zone,where the sensing of weld line is impossible, is eliminated by rotating the camera with its rotating axis centered at welding torch. The camera angle is controlled so as to get the minimum image data for the sensing of weld line, hence the image processing time is reduced. The fuzzy controller is adapted to control the camera angle.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.322-324
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• 2007

In this paper, an eye-in-hand visual servoing strategy for keeping feature points within the FOV(field-of-view) is proposed. We first specify the FOV constraint which must be satisfied to keep the feature points within the FOV. It is expressed as the inequality relationship between (i) the LOS(jine-of-sight) angles of the center of the feature points from the optical axis of the camera and (ii) the distance between the object and the camera. We then design a nonlinear feedback controller which decouples linearly the translational and rotational control loops. Finally, we show that appropriate choice of the controller gains assures to satisfy the FOV constraint. The main advantage of our approach over the previous ones is that the trajectory of the camera is smooth and circular-like. Furthermore, ours can be applied to the large camera displacement problem.

• Journal of Industrial Technology
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• v.20 no.B
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• pp.195-200
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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 used for the detection of the existence of a guideline. The wavelet transform is used to find the edge of guideline. It is possible for us to do image processing more easily and rapidly by using wavelet transform. We make a fuzzy control rule using image data as an input then determined the position and the navigation of the mobile robot. The center value of guideline is the input of fuzzy logic controller and the steering angle of the mobile robot is the fuzzy controller output. Some actual experiments show that the mobile robot effectively moves to target position by means of the applied fuzzy control.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.24 no.9
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• pp.56-61
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• 2010

Scanning head has used to detect the error signal in register controller. However the resolution of the system is not enough for E-printing(Electronic-paper printing). In this paper, the register mark shapes and process techniques are studied using a smart camera which can detect the register mark and calculate the printing error. With these, a register controller within 10[um] of error range is developed for e-printing system and confirmed with experiments.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1655-1658
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• 2004

In this paper, we design and implement remote servo motor control system with real-time micro embedded operating system. The system, where controller and camera image grabber are mounted, handles control commands transmitted from a remote PC web browser. A hard real-time servo motor driver running on the real-time micro embedded OS and then a digital control application which confirms precise sampling time intervals is constructed. Frame grabber images transmitted from camera are saved in a image data format to view on remote PC web browser.