• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.70-75
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• 1993

We represent a method of 3-D object recognition using multi images in this paper. The recognition process is executed as follows. Object models as prior knowledgement are generated and stored on a computer. To extract features of a recognized object, three CCD cameras are set at vertices of a regular triangle and take images of an object to be recognized. By comparing extracted features with generated models, the object is recognized. In general, it is difficult to recognize 3-D objects because there are the following problems such as how to make the correspondence to both stereo images, generate and store an object model according to a recognition process, and effectively collate information gotten from input images. We resolve these problems using the method that the collation on the basis of features independent on the viewpoint, the generation of object models as enumerating some candidate models in an early recognition level, the execution a tight cooperative process among results gained by analyzing each image. We have made experiments based on real images in which polyhedral objects are used as objects to be recognized. Some of results reveal the usefulness of the proposed method.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.9 s.174
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• pp.77-84
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• 2005

In most vision applications, we are frequently confronted with determining the position of object continuously. Generally, intertwined processes ire needed for target tracking, composed with tracking and control process. Each of these processes can be studied independently. In case of actual implementation we must consider the interaction between them to achieve robust performance. In this paper, the robust real time visual tracking in complex background is considered. A common approach to increase robustness of a tracking system is to use known geometric models (CAD model etc.) or to attach the marker. In case an object has arbitrary shape or it is difficult to attach the marker to object, we present a method to track the target easily as we set up the color and shape for a part of object previously. Robust detection can be achieved by integrating voting-based visual cues. Kalman filter is used to estimate the motion of moving object in 3D space, and this algorithm is tested in a pan/tilt robot system. Experimental results show that fusion of cues and motion estimation in a tracking system has a robust performance.

• The Journal of Korea Robotics Society
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• v.8 no.1
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• pp.20-28
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• 2013

Large workspace and strong grasping force are required when a robot manipulates big and/or heavy objects. In that situation, bimanual manipulation is more useful than unimanual manipulation. However, the control of both hands to manipulate an object requires a more complex model compared to unimanual manipulation. Learning by human demonstration is a useful technique for a robot to learn a model. In this paper, we propose an imitation learning method of bimanual object manipulation by human demonstrations. For robust imitation of bimanual object manipulation, movement trajectories of two hands are encoded as a movement trajectory of the object and a force trajectory to grasp the object. The movement trajectory of the object is modeled by using the framework of dynamic movement primitives, which represent demonstrated movements with a set of goal-directed dynamic equations. The force trajectory to grasp an object is also modeled as a dynamic equation with an adjustable force term. These equations have an adjustable force term, where locally weighted regression and multiple linear regression methods are employed, to imitate complex non-linear movements of human demonstrations. In order to show the effectiveness our proposed method, a movement skill of pick-and-place in simulation environment is shown.

• Journal of Korea Multimedia Society
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• v.5 no.1
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• pp.94-104
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• 2002

This paper presents a new way of texture mapping on the Genus N object constructed over a single domain. The problem of 2D texture mapping is the discontinuity of texture domain at the virtual boundary on the object. Such phenomenon decreases smoothness of the object as well as looks unnatural. Especially it is necessary for the Genus N object of infinite coninuity to apply the seamless texture mapping. For seamless texture mapping, a multiperiodic function, which transforms a discontinuous function into a continuous function, is suggested. In some applications, however, the visual seams on the textured object provide more realistic appearance. Therefore, this research supports the interactive control from the discontinuity and the continuity across the boundary using the coefficient of the weight function.

• International Journal of Internet, Broadcasting and Communication
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• v.14 no.3
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• pp.1-7
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• 2022

This paper aims to compare the mean object size of M/G/1/PS model with that of M/BP/1 model used in the web service. The mean object size is one of important measure to control and manage web service economically. M/G/1/PS model utilizes the processor sharing in which CPU rotates in round-robin order giving time quantum to multiple tasks. M/BP/1 model uses the Bounded Pareto distribution to describe the web service according to file size. We may infer that the mean waiting latencies of M/G/1/PS and M/BP/1 model are equal to the mean waiting latency of the deterministic model using the round robin scheduling with the time quantum. Based on the inference, we can find the mean object size of M/G/1/PS model and M/BP/1 model, respectively. Numerical experiments show that when the system load is smaller than the medium, the mean object sizes of the M/G/1/PS model and the M/BP/1 model become the same. In particular, when the shaping parameter is 1.5 and the lower and upper bound of the file size is small in the M/BP/1 model, the mean object sizes of M/G/1/PS model and M/BP/1 model are the same. These results confirm that it is beneficial to use a small file size in a web service.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.05a
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• pp.408-409
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• 2018

In this paper, we propose an effective web service software platform for remote monitoring and control. In order to propose a system configuration that can check the object information on the web in real time to improve the performance of the web service, the object information reception module and the web viewer system are configured. As IoT devices grow, the environment becomes too complicated to identify and control the status of many devices. We have proposed that these problems be easily controlled in a web-based environment and current status information can be viewed in real time.

• Journal of Mechanical Science and Technology
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• v.14 no.7
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• pp.782-788
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• 2000

In this paper, we present a new approach to visual feedback control using image-based visual servoing with stereo vision. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using binocular stereo vision. The stereo vision enables us to calculate an exact image Jacobian not only around a desired location but also at other locations. The suggested technique can guide a robot manipulator to the desired location without providing a priori knowledge such as the relative distance to the desired location or the model of an object even when the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by experimental results and compared with conventional control methods for an assembly robot.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2531-2533
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• 2002

In this paper, we evaluate feasibility of an object-oriented method in a distributed real-time control environment through the prediction of delay expected. We adopt CAN as the distributed network and the application layer of the CAN is composed of client/server communication model of COM and surroundings for the support of real-time capability of the COM. Mathematical models formalizing delays which are predicted to invoke in the COM architecture are proposed. Sensors and actuators which are widely used in distributed network-based systems are represented by COM objects in this paper. It is expected that the mathematical models can be used to protect distributed network-based systems from violation of real-time features by the COM.

• Journal of Industrial Technology
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• v.20 no.B
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• pp.201-206
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• 2000

A priori information of object is needed to control in some well known control methods. But we can't always know a priori information of object in real world. In this paper, the inverted pendulum is simulated as a control task with the goal of learning to balance the pendulum with no a priori information using neural network controller. In contrast to other applications of neural networks to the inverted pendulum task, the performance feedback is unavailable on each training step, appearing only as a failure signal when the pendulum falls or reaches the bound of track. To solve this task, the delayed performance evaluation and the learning of nonlinear of nonlinear functions must be dealt. Reinforcement learning method is used for those issues.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.724-729
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• 2001

This paper discusses the composition of the theory of reinforcement learning, which is applied in real-time learning, and evolutionary strategy, which proves its the superiority in the finding of the optimal solution at the off-line learning method. The individuals are reduced in order to learn the evolutionary strategy in real-time, and new method that guarantee the convergence of evolutionary mutations are proposed. It possible to control the control object varied as time changes. As the state value of the control object is generated, applied evolutionary strategy each sampling time because the learning process of an estimation, selection, mutation in real-time. These algorithms can be applied, the people who do not have knowledge about the technical tuning of dynamic systems could design the controller or problems in which the characteristics of the system dynamics are slightly varied as time changes. In the future, studies are needed on the proof of the theory through experiments and the characteristic considerations of the robustness against the outside disturbances.