• Journal of Institute of Control, Robotics and Systems
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• v.16 no.12
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• pp.1212-1219
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• 2010

The most important thing in the container terminal is to handle the cargo effectively in the limited time. To achieve this object, many strategies have been introduced and applied to. If we consider the technical trends and environment of the automated container terminal, it is necessary that the systems for cargo handling are equipped with more intelligent control technologies. To cope with this tendency, from the middle of the 1990's, the automated RMGC (Rail-Mounted Gantry Crane) and RTGC (Rubber-Tired Gantry Crane) have been developed and widely used to handle containers in the yards. Recently, in these cranes, the many equipments like CCD cameras and sensors are mounted to cope with the automated terminal environment. If we want to obtain more efficient handling performance, the modelling, tracking control, anti-sway system design, skew motion suppressing and complicated motion control problems must be considered in the control system design and application process. Considering these problems, in this paper, the system modelling with the tire slip and a tracking control approach are proposed. Especially, we design the tracking control system based on the 2DOF servosystem design approach to cope with undesirable disturbance input. The experiment results show the desirable performance and usefulness of the designed control system.

• Korean Journal of Computational Design and Engineering
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• v.15 no.2
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• pp.136-143
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• 2010

Realistic Modeling is to maximize the reality of the environment in which perception is made by virtual environment or remote control using two or more senses of human. Especially, the field of haptic rendering, which provides reality through interaction of visual and tactual sense in realistic model, has brought attention. Haptic rendering calculates the force caused by model deformation during interaction with a virtual model and returns it to the user. Deformable model in the haptic rendering has more complexity than a rigid body because the deformation is calculated inside as well as the outside the model. For this model, Gibson suggested the 3D ChainMail algorithm using volumetric data. However, in case of the deformable model with non-homogeneous materials, there were some discordances between visual and tactual sense information when calculating the force-feedback in real time. Therefore, we propose an algorithm for the Volume Haptic Rendering of non-homogeneous deformable object that reflects the force-feedback consistently in real time, depending on visual information (the amount of deformation), without any post-processing.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1302-1305
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• 1997

A new approach to the three-dimensional measurement of the object surface and moving particles is introduced. A single TV camera with an apparatus to add the circular bias to the image enables us to record the three-dimensional information of measuring points as streaks on a single image. Every shaped of the streak on the image plane is related to the position of the measuring point. the information is extracted form the image using an image processign technique.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.379-382
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• 1997

This paper introduces a new vision technique for extracting roof edges of polyhedra having specularly reflecting surfaces. There have been many previous works on object recognition using edge information. But they can not be applied to specular objects since it is hard to acquire reliable camera images of specular objects. If there is a method which can extract the edges of specular objects, it is possible to apply edge-based recognition algorithms to specular objects. To acquire the reliable edge images of specular objects, scanned double pass retroreflection method is proposed, whose main physical characteristic is curvature-sensitive. This utility of the physical characteristic is motivated by the idea that roof edges can be characterized as local surfaces of high curvature. In this paper, the optical characteristics of double pass retroreflection are discussed and a series of simulation studies are performed to verify and analyze the sensor characteristics. The results from a series of simulations show the effectiveness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.669-672
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• 2003

3D object recognition is difficult but important in computer vision. The important thing is to understand about the relationship between a geometric structure in three dimensions and its image projection. Most 3D recognition systems construct models either manually or by training the pose and orientation of the objects. But both approaches are not satisfactory. In this paper, we focus on a commercial CAD model as a third type of model building for vision. The models are expressed in Initial Graphics Exchanges Specification(IGES) output and reconstructed in a pinhole camera coordinate.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2486-2491
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• 2003

This paper presents a method to segment object ID marks on poor quality images under uncontrolled lighting conditions of FA inspection process. The method is based on multiple templates and normalized gray-level correlation (NGC) method. We propose a multiple template method, called as ATM (Active Template Model) which uses combinational relation of multiple templates from model templates to match and segment several characters of the inspection images. Conventional Snakes algorithm provides a good methodology to model the functional of ATM. To increase the computation speed to segment the ID mark regions, we introduce the Dynamic Programming based algorithm. Experimental results using images from real FA environment are presented.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.269-272
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• 2003

Industry is now seeing a dramatic increase in robot simulation and off-line programming. In order to use off-line programming effectively, the simulated workcell has to be identical to the real workcell. This requires an efficient and accurate method for the workcell calibration. Currently used techniques in the industry, however, are typically time-consuming, expensive and therefore not suitable for in-process application. This is because most of these techniques are based on the so-called “absolute calibration” method. In contrast to absolute method, relative calibration only measures the difference of an interested object relative to a standard reference. Owing to the small measurement range requirement, relative calibration method is very cheap and can achieve very high accuracy. In this paper the relative method is applied to calibrate an entire grinding workcell. Linear gauge is the only measurement device used. This workcell calibration includes tool center point (TCP) calibration and work object frame calibration. Due to the efficiency of the calibration algorithm and the simplicity of the calibration setup, the described calibration procedure can be done in process.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.767-771
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• 2003

In this study, stereo vision system is applied to a mobile manipulator for effective tasks. The robot can recognize a target and compute the position of the target using a stereo vision system. While a monocular vision system needs properties such as geometric shape of a target, a stereo vision system enables the robot to find the position of a target without additional information. Many algorithms have been studied and developed for an object recognition. However, most of these approaches have a disadvantage of the complexity of computations and they are inadequate for real-time visual servoing. However, color information is useful for simple recognition in real-time visual servoing. In this paper, we refer to about object recognition using colors, stereo matching method, recovery of 3D space and the visual servoing.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.673-676
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• 2003

This paper deals with the problem of moving object detection and location in computer vision. We describe a new object-dependent motion analysis method for tracking target in an image sequence taken from a moving platform. We tackle these tasks with three steps. First, we make an active contour model of a target in order to build some of low-energy points, which are called kernels. Then we detect interest points in two windows called tracking windows around a kernel respectively. At the third step, we decide the correspondence of those detected interest points between tracking windows by the probabilistic relaxation method In this algorithm, the detecting process is iterative and begins with the detection of all potential correspondence pair in consecutive image. Each pair of corresponding points is then iteratively recomputed to get a globally optimum set of pairwise correspondences.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.798-802
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• 2003

The robustness and reliability of vision algorithms is the key issue in robotic research and industrial applications. In this paper, the robust real time visual tracking in complex scene is considered. A common approach to increase robustness of a tracking system is to use different models (CAD model etc.) known a priori. Also fusion of multiple features facilitates robust detection and tracking of objects in scenes of realistic complexity. Because voting is a very simple or no model is needed for fusion, voting-based fusion of cues is applied. The approach for this algorithm is tested in a 3D Cartesian robot which tracks a toy vehicle moving along 3D rail, and the Kalman filter is used to estimate the motion parameters, namely the system state vector of moving object with unknown dynamics. Experimental results show that fusion of cues and motion estimation in a tracking system has a robust performance.