• Journal of Institute of Control, Robotics and Systems
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• v.15 no.8
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• pp.786-791
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• 2009

Recently, digital camera module has been extensively utilized in mobile devices. The digital camera module should be smaller and lighter than digital still camera module to be used in mobile device. But, mobile camera can't get high quality image as good as the one of digital still camera due to the optical limitation of minimized module. Especially, AE system of mobile camera occurs excessive hunting and oscillation due to miniaturization of module. In this paper, improved AE algorithm which is applied fuzzy PI control is suggested to compensate this point.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.1
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• pp.29-36
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• 2009

In this paper, we proposed auto exposure(AE) algorithm and hardware implementation for apply to mobile phone camera. AE is a function that control camera exposure automatically for appropriate to object. Existing AE is using micro controller unit and there are some problems about high expense and slow processing speed. For improve these problems, we proposed AE algorithm for hardware implementation without micro controller unit therefor we can expect improvement about the content of a production and operation speed. We proposed the algorithm that is considered efficiency of hardware resource and the results of hardware implementation of proposed AE algorithm apply to mobile phone camera sensor, we verified proposed AE function.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.1
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• pp.191-196
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• 2006

This paper presents the moving object tracking method using vision system. In order to track object in real time, the image of moving object have to be located the origin of the image coordinate axes. Accordingly, Fuzzy Control System is investigated for tracking the moving object, which control the camera module with Pan/Tilt mechanism. Hereafter, so the this system is applied to mobile robot, we design and implement image processing board for vision system. Also fuzzy controller is implemented to the StrongArm board. Finally, the proposed fuzzy controller is useful for the real-time moving object tracking system by experiment.

• 한국HCI학회:학술대회논문집
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• 2008.02a
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• pp.1-6
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• 2008

This paper proposes a game controller that provides user motion input and tactile feedback display, in addition to the traditional button-type input. The device utilizes both an accelerometer and an infrared camera in order to estimate 3D position and to recognize user motion. The information from the accelerometer and the camera are integrated for better performance. Various tactile sensations are presented using a voice-coil type vibrator. We apply the proposed controller to a motion-based game and validate its usability.

• The Bulletin of The Korean Astronomical Society
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• v.44 no.2
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• pp.46.3-46.3
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• 2019

We present the control software and its development process for a prototype of the Camera and Grating Articulation System (CGAS) for GMACS, a wide-field, multi-object, moderate-resolution optical spectrograph for the Giant Magellan Telescope (GMT). The CGAS prototype is currently designed for the camera articulation controller as a miniature model of the GMACS. The camera articulation package (CAP) is a software that controls two stepper motors to adjust the camera angle. The package is developed using Visual C++ and runs on Windows 10. We discuss the architectural design and communication route between the high-end user software and the electronics hardware.

• IEMEK Journal of Embedded Systems and Applications
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• v.7 no.3
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• pp.143-150
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• 2012

In this paper, we introduce an intelligent quadruped walking robot that can perform stable walking and a couple of intelligent behaviors. The developed robot has two sets of ultrasonic sensors and six sets of infrared sensors and can perform obstacle avoidance by detecting obstacles and estimating the distances and directions of those obstacles. The robot also has a stereo camera and can paly soccer by detecting a ball and estimating the 3 dimensional coordinates of the ball. In performing those intelligent behaviors, the robot needs to have the capability of generating its walking patterns, solving the inverse kinematics problem, and interfacing several sensors in realtime. Therefore we designed a hierarchical controller that consists of a main controller and an auxiliary controller. The main controller is a 32-bit DSP that can perform fast floating-point opertaion and the auxiliary one is a 8-bit micro-controller. We showed that the developed quadruped walking robot successfully perform those intelligent behaviors through experiments.

• IEMEK Journal of Embedded Systems and Applications
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• v.13 no.6
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• pp.321-328
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• 2018

This paper presents an automatic target tracking flight system using a PID controller based on velocity command of a multirotor UAV. The automatic flight system includes marker based onboard target detection and an automatic velocity command generation replacing manual controller. A quad-rotor UAV is equipped with a camera and an image processing computer to detect the marker in real time and to estimate the relative distance from the target. The marker tracking system consists of PID controller and generates velocity command based on the relative distance. The generated velocity command is used as the input of the UAV's original flight controller. The operation of the proposed system was verified through actual flight tests using a marker on top of a moving vehicle and tracks it to successfully demonstrate its capability using a quad-rotor UAV.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.4
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• pp.161-164
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• 2006

In this thesis we designed the vision system to inspect the defect of a back light unit of plat panel display device. The vision system is divided into hardware and inspection algorithm of defect. Hardware components consist of illumination part, robot-arm controller part and image-acquisition part. Illumination part is made of acrylic panel for light diffusion and five 36W FPL's(Fluorescent Parallel Lamp) and electronic ballast with low frequency harmonics. The CCD(Charge-Coupled Device) camera of image-acquisition part is able to acquire the bright image by the light coming from lamp. The image-acquisition part is composed of CCD camera and frame grabber. The robot-arm controller part has a role to let the CCD camera move to the desired position. To take inspections of surface images of a flat panel display it can be controlled and located every nook and comer. Images obtained by robot-arm and image-acquisition board are saved on the hard-disk through windows programming and are tested whether there are defects by using the image processing algorithms.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2002.10a
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• pp.142-148
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• 2002

Autonomous underwater vehicles (AUVs) are unmanned underwater vessels to investigate sea environments, oceanography and deep-sea resources autonomously. Docking systems are required to increase the capability of the AUVs to recharge the batteries and to transmit data in real time for specific underwater works, such as repeated jobs at sea bed. This paper presents a visual servo control system for an AUV to dock into an underwater station with a camera mounted at the nose center of the AUV. To make the visual servo control system, this paper derives an optical flow model of a camera, where the projected motions of the image plane are described with the rotational and translational velocities of the AUV. This paper combines the optical flow equation of the camera with the AUVs equation of motion, and derives a state equation for the visual servoing AUV. This paper proposes a discrete-time MIMO controller minimizing a cost function. The control inputs of the AUV are automatically generated with the projected target position on the CCD plane of the camera and with the AUVs motion. To demonstrate the effectiveness of the modeling and the control law of the visual servoing AUV, simulations on docking the AUV to a target station are performed with the 6-dof nonlinear equations of REMUS AUV and a CCD camera.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.177.1-177
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• 2001

This paper describes the design of a NUC(Non-uniformity Correction) module in MSC(Multispectral Camera) which will be a payload on KOMPSAT. This module is required inside a system with data compression module like MSC to minimize the loss of imagery due to non-uniform characteristics between CCD pixels when the imagery is received and processed on a ground station. It comprises Hotlink input/output for imagery data, RS-422 interface with main controller in MSC, a number of SRAMS for storing imagery data and parameters, FPGA controllers which control the entire NUC module under the control of main controller, etc. It inputs 8-channel imagery pixel data which consist of 2-channel MS(Multispectral) band and ...