• 한국측량학회지
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• 제3권2호
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• pp.1-10
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• 1985

모아레는 음영 모아레와 투영모아레로 나뉘어지는데, 본 연구에서는 일반적인 지상 사진 측량에 의한 결과와 비교하므로써 투영모아레 system의 기준면 방향의 결정 방법을 제시하는 데 목적을 두었다. 본 연구를 위해 기준점 측량을 행하였고, 이로부터 얻은 결과와 모아레 사진에 의한 좌표값을 비교 분석하였다. 투영 모아레 기법에서는 투영점과 촬영점을 이동하지 않고도 대상물상에 생기는 주격자와 보조격자의 격자 간격을 달리하므로써, 각각 다른 기준면 방향의 모아레 등고선을 용이하게 얻을 수 있었으며, 대상물과 평행한 기준면 방향의 모아레 등고선도는 대상물 상에서의 두 격자 간격이 같을 때 얻어짐을 알았다.

• 제어로봇시스템학회논문지
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• 제22권10호
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• pp.811-816
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• 2016

In light of recently developed 3D printers for rapid prototyping, there is increasing attention on the 3D scanner as a 3D data acquisition system for an existing object. This paper presents a prototypical 3D scanner based on a striped laser light image. In order to solve the problem of shadowy areas, the proposed 3D scanner has two cameras with one laser light source. By using a horizontal rotation table and a rotational arm rotating about the latitudinal axis, the scanner is able to scan in all directions. To remove an additional optical filter for laser light pixel extraction of an image, we have adopted a differential image method with laser light modulation. Experimental results show that the scanner's 3D data acquisition performance exhibited less than 0.2 mm of measurement error. Therefore, this scanner has proven that it is possible to reconstruct an object's 3D surface from point cloud data using a 3D scanner, enabling reproduction of the object using a commercially available 3D printer.

• 제어로봇시스템학회논문지
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• 제22권1호
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• pp.8-16
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• 2016

In the field of computer vision and robotics, bin picking is an important application area in which object pose estimation is necessary. Different approaches, such as 2D feature tracking and 3D surface reconstruction, have been introduced to estimate the object pose accurately. We propose a new approach where we can use both 2D image features and 3D surface information to identify the target object and estimate its pose accurately. First, we introduce a label detection technique using Maximally Stable Extremal Regions (MSERs) where the label detection results are used to identify the target objects separately. Then, the 2D image features on the detected label areas are utilized to generate 3D surface information. Finally, we calculate the 3D position and the orientation of the target objects using the information of the 3D surface.

• 전기학회논문지
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• 제65권3호
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• pp.477-486
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• 2016

This paper presents the area classification, identification, and tracking for multiple moving objects with the similar colors. To do this, first, we use the GMM(Gaussian Mixture Model)-based background modeling method to detect the moving objects. Second, we propose the use of the binary and morphology of image in order to eliminate the shadow and noise in case of detection of the moving object. Third, we recognize ROI(region of interest) of the moving object through labeling method. And, we propose the area classification method to remove the background from the detected moving objects and the novel method for identifying the classified moving area. Also, we propose the method for tracking the identified moving object using Kalman filter. To the end, we propose the effective tracking method when detecting the multiple objects with the similar colors. Finally, we demonstrate the feasibility and applicability of the proposed algorithms through some experiments.

• 한국통신학회논문지
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• 제21권9호
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• pp.2385-2401
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• 1996

ATM망의 단대단 통신로 추적관리를 위한 모델과 추적 알고리즘을 제시하고 시뮬레이션을 통하여 이 알고리즘의 성능을 분석하였다. 제안 모델은 TINA(Telecommunication Information Networking Architecture)구조와 ODP(Open Distributed Processing)의 계산객체를 기본으로 하였다. 계산객체는 ATM 라우팅 기능을 수행하는 계산객체와 경로 추적을 수행하는 계산객체로 구성하였으며, 이들간의 관계를 기본으로 하는 수행절차를 설정하였다. 이 수행 절차는 연결된 ATM 경로를 추적함으로써 단대단 통신로를 식별하고 이러한 통신로 식별 데이타를 수집하는 과정으로 수행된다. 제안한 단대단 통신로 추적관리는 NML(Networking Management Level) 관점에서 수행되며, 이를 위한 알고리즘으로 실시간 속성과 추적기능의 무결성을 고려하여 broadeasting-with-synchronized-control과 GTM(Global Ticket Method)을 제안하였다.

• 한국시뮬레이션학회:학술대회논문집
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• 한국시뮬레이션학회 1997년도 춘계 학술대회 발표집
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• pp.23-28
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• 1997

We discuss development of a simulator for automated manufacturing systems (AMSs) which have sophisticated automated material handling equipments and complicated work flows. The simulator is designed to satisfy the following requirements. A user should be able to easily configure or specify an AMS through a graphical user interface (GUI) and minimal data input. The user should be able to model diverse and complied control logic for automated material handling systems like automated guided vehicle (AGV) systems, robot workcell systems and conveyor systems as well as complicated job flow program. Real time animation is desired. Finally, the simulator should be easily maintained and extended. To satisfy the requirements, we use an object-oriented paradigm for modeling, designing, and programming of the simulator. We use an object-oriented modeling framework to design the modeling elements library, and take the process interaction approach for scheduling processes and events. To model a user-defined diverse control logic, we also develop a script language and its interpreter. We explain design and implementation strategies. We implement the simulator using Visual C++ 4.2 and Open GL on Windows NT and the Windows95. Some modeling examples will be demonstrated.

• 제어로봇시스템학회논문지
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• 제17권5호
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• pp.484-489
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• 2011

Some patients can't use their hands because of inherent and acquired paralysis of their fingers. Their fingers can recover with rehabilitative training, and the extent of rehabilitation can be judged by grasping a cylindrical-object with their fingers. At present, the cylindrical-object used in hospitals is only a cylinder which cannot measure grasping force of the fingers. Therefore, doctors must judge the extent of rehabilitation by watching patients' fingers as they grasp the cylinder. A cylindrical-type finger force measuring system which can measure the grasping force of patients' fingers should be developed. This paper looks at the development of a cylindrical-type finger force measuring system with two-axis force/moment sensor which can measure grasping force. The two-axis force/moment sensor was designed and fabricated, and the high-speed force measuring device was designed and manufactured by using DSP (digital signal processing). Also, cylindrical-type finger force measuring system was developed using the developed two-axis force/moment sensor and the high-speed force measuring device, and the grasping force tests of men were performed using the developed system. The tests confirm that the average finger forces of right and left hands for men were about 186N and 172N respectively.

• 전자공학회논문지B
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• 제32B권11호
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• pp.1393-1404
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• 1995

For the factory automation(FA) of production or assembly lines, computer vision techniques have been widely used for the recognition and position-control of objects. In this application, it is very important to analyze characteristic features of each object and to find an efficient matching algorithm using the selected features. If the object has regular or homogeneous patterns, the problem is relatively simple. However, If the object is shifted or rotated, and if the depth of the input visual system is not fixed, the problem becomes very complicated. Also, in order to understand and recognize objects with concentric noise patterns, it is more effective to use feature-information represented in polar coordinates than in cartesian coordinates. In this paper, an algorithm for the recognition of objects with concentric circular noise-patterns is proposed. And position-conrtol information is calculated with the matching result. First, a filtering algorithm for eliminating concentric noise patterns is proposed to obtain concentric-feature patterns. Then a shift, rotation and scale invariant alogrithm is proposed for the recognition and position-control of objects uusing invariant feature information. Experimental results indicate the effectiveness of the proposed alogrithm.

• 대한전기학회논문지:시스템및제어부문D
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• 제50권9호
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• pp.439-446
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• 2001

This paper considers the design technique of the real-time control algorithm to implement the electronic interlocking system which is the most important station control system in railway signal field. The proposed technique consists of the structure design and the detail design which are based on the ROOM(Real-Time Object-Oriented Modeling). The structure design is designed with a modeling using the heuristic search technique which, at first, catch and make out the specific requested condition, and then, is designed on the requested condition. The detail design can be implemented if it may get the satisfying values through the repetitive modeling after comparing and examining the data obtained from the structure design in order for the more reliable and accurate system to be implemented. The technique proposed in this paper is implemented with C++ language which is easy to be transferred and compatible with the existing interfaces, and also the operating system is designed and simulated on the VRTX which is a real-time operating system. This proposed technique is applied to the typical station model in order to prove the validity as verifying the performance of the modeled station.

• 한국정보과학회논문지:컴퓨팅의 실제 및 레터
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• 제5권5호
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• pp.574-582
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• 1999

분산 환경에서의 공동 작업을 위한 CSCW (Computer Supported Cooperative Work) 시스템은 전자 결재에서부터 공동 저술, 공동 의사 결정 등의 분야에서 다양하게 이용된다. CSCW 시스템 중에서 특히 공동 작업 드로잉(drawing) 도구는 의사 소통, 공동 디자인, 교육 등의 분야에 적용될 수 있기 때문에 많은 연구가 진행되어 왔다. 그러나 기존의 공동 작업 드로잉 도구는 시스템 구성, 병행성 제어 등의 부분에서 유연성이 부족하다는 단점이 있다. 본 논문에서는 이러한 문제를 해결하기 위하여 병행성 제어 정책 및 뷰(view)에 관한 정보를 가지는 "자율 객체(autonomous object)"와 유연한 시스템 구성을 지원하는 서버와 클라이언트를 소개한다.