• 제어로봇시스템학회논문지
• /
• 제19권12호
• /
• pp.1105-1110
• /
• 2013

In this paper, a robot arm capable of recognizing and drawing various line thicknesses is developed. Conventional line drawing robots are not capable of adjusting the thickness of lines. However, to draw faster and to enrich the expression of line drawing robots, it is necessary to adjust line thickness using a brush pen. Simple images are acquired and various line thicknesses are recognized by image processing. Trajectories of lines are generated with distance sorting using thinning and corner point detections for each label. Information on line thickness and trajectory is sent to the controller of a robot arm taking into consideration 2D inverse kinematics. Through this process, the robot arm can draw various lines thicknesses along 2D trajectories with 3 motors. Robot arm for detailed drawing will be studied in the future.

• Journal of Information Processing Systems
• /
• 제16권1호
• /
• pp.155-170
• /
• 2020

Passive ranging is a critical part of machine vision measurement. Most of passive ranging methods based on machine vision use binocular technology which need strict hardware conditions and lack of universality. To measure the distance of an object placed on horizontal plane, we present a passive ranging method based on monocular vision system by smartphone. Experimental results show that given the same abscissas, the ordinatesis of the image points linearly related to their actual imaging angles. According to this principle, we first establish a depth extraction model by assuming a linear function and substituting the actual imaging angles and ordinates of the special conjugate points into the linear function. The vertical distance of the target object to the optical axis is then calculated according to imaging principle of camera, and the passive ranging can be derived by depth and vertical distance to the optical axis of target object. Experimental results show that ranging by this method has a higher accuracy compare with others based on binocular vision system. The mean relative error of the depth measurement is 0.937% when the distance is within 3 m. When it is 3-10 m, the mean relative error is 1.71%. Compared with other methods based on monocular vision system, the method does not need to calibrate before ranging and avoids the error caused by data fitting.

• 한국정보처리학회논문지
• /
• 제6권9호
• /
• pp.2504-2511
• /
• 1999

본 논문에서는 자유 형태 곡면을 설계할 수 있는 효과적인 방법으로 분산 데이터 보간 방법을 제안한다. 데이터 보간 방법은 다양한 물체를 모델링 하는데 필수적인 방법이다. 구조가 복잡한 자유형태곡면을 생성하기 위하여 기존의 방법은 제어 점의 가중치를 계산하여 물체를 나타낼 경우, 물체의 편평한 영역과 날카로운 모서리 부분이 나타나는 문제점이 있었다. 이러한 문제점을 해결하기 위해서 분산 데이터 보간을 이용하여 새로운 근사곡면 생성방법을 제시한다. 이 방법은 주어진 제어 점들과 변환된 물체상의 점에 변화영역에서 최적의 값을 가지는 주요 곡률을 계산하여 B-스플라인 보간 함수를 구하고 이을 이용하여 근사된 자료의 변화량을 계산한다. 또한 최소의 가중치를 분산 데이터 보간에 이용함으로써 보다 자연스러운 자유형태 곡면을 설계하는 방법을 제안한다.

• 한국정보처리학회논문지
• /
• 제7권3호
• /
• pp.935-942
• /
• 2000

In this paper we introduce a fast simplification algorithm for terrain height fields to produce a triangulated irregular network, based on the greedy insertion algorithm in [1,4,5]. Our algorithm partitions a terrain height data into rectangular blocks with the same size ad simplifies blocks one by one with the greedy insertion algorithm. Our algorithm references only to the points and the triangles withing each current block for adding a point into the triangulation. Therefore, the algorithm runs faster than the greedy insertion algorithm, which references all input points and triangles in the terrain. Our experiment shows that partitioning method runs from 4 to more than 20 times faster, and it approximates test height fields as accurately as the greedy insertion algorithms. Most greedy insertion algorithms suffer from elongated triangles that usually appear near the boundaries. However, we insert the four corner points into each block to produce the base triangulation of the block before the point addition step begins so that elongated triangles could not appear in th simplified terrain.

• Journal of Information Processing Systems
• /
• 제7권4호
• /
• pp.717-732
• /
• 2011

Classification in biomedical applications is an important task that predicts or classifies an outcome based on a given set of input variables such as diagnostic tests or the symptoms of a patient. Traditionally the classification algorithms would have to digest a stationary set of historical data in order to train up a decision-tree model and the learned model could then be used for testing new samples. However, a new breed of classification called stream-based classification can handle continuous data streams, which are ever evolving, unbound, and unstructured, for instance--biosignal live feeds. These emerging algorithms can potentially be used for real-time classification over biosignal data streams like EEG and ECG, etc. This paper presents a pioneer effort that studies the feasibility of classification algorithms for analyzing biosignals in the forms of infinite data streams. First, a performance comparison is made between traditional and stream-based classification. The results show that accuracy declines intermittently for traditional classification due to the requirement of model re-learning as new data arrives. Second, we show by a simulation that biosignal data streams can be processed with a satisfactory level of performance in terms of accuracy, memory requirement, and speed, by using a collection of stream-mining algorithms called Optimized Very Fast Decision Trees. The algorithms can effectively serve as a corner-stone technology for real-time classification in future biomedical applications.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.48-51
• /
• 1997

This paper presents the algorithm of FIC inspection in chip mounter. When device is mounted on the PCB, it is impossible to get zero defects since there are many problems which can not be predicted. Of these problems, devices with bent corner leads due to mis-handling and which are not placed at a given point measured along the axis are principal problem in SMT(Surface Mounting Technology). In this paper, we proposed a new algorithm based on the Radon transform which uses a projection to inspect the FIC(Flat Integrated Circuit) device and compared this method with other algorithms. We measured the position error and applied this algorithm to our image processing board which is characterized by line scan camera. We compared speed and accuracy in our board.

• 소성∙가공
• /
• 제3권1호
• /
• pp.38-50
• /
• 1994

Fundamental deformation mechanism and plastic behavior of AISI304 austenitic stainless steel were investigated to evaluate press formability. Local and uniform deformation capacity of AISI304 steel were compared to those of ferritic AISI430 steel and Al killed low carbon steel. Nine kinds of austenitic stainless steels having different austenite stabilities were made in laboratory scale to examine the transformation behavior in various deformation mode and variation of mechanical properties. Deformation path and strain distributions along edge corner of commercial sink die were illustrated and effect of austenite stability on press forming of sink die was clarified with experiments using square cup drawing tools.

• 소성∙가공
• /
• 제12권1호
• /
• pp.43-48
• /
• 2003

The strain state during the continuous confined strip shearing (CCSS) based on ECAP was tackled by means of a two-dimensional FEM analysis. The deformation of AA 1100 sheet in the CCSS apparatus was composed of three distinct processes of rolling, bending and shearing. The pronounced difference in the friction conditions on the upper and lower roll surfaces led to the different variation of the strain component ${epsilon}_13$ throughout the thickness of the aluminum sheet. Strain accompanying bending was negligible because of a large radius of curvature. The shear deformation was concentrated at the corner of the CCSSchannel where the abrupt change in the direction of material flow occurred. The process variables involving the CCSS-die design and frictions between tools and strip influenced the evolution of shear strains during CCSS.

• 소성∙가공
• /
• 제11권4호
• /
• pp.349-354
• /
• 2002

In order to find the effect of lubricant viscosity, sheet surface roughness, tool geometry, and forming speed on the frictional characteristics in sheet metal forming, a sheet metal friction tester was designed and manufactured and friction test of various sheet were performed. Friction test results showed that as the lubricant viscosity becomes lower, the friction coefficient is higher. When surface roughness is extremely low or high, the friction coefficient is relatively high. The result also show that as the punch radius and punch speed becomes bigger, the friction coefficient is smaller. Using experimental results, the mathematical expression between friction coefficient and lubricant viscosity, surface roughness, punch comer radius, or punch speed is also described.

• 소성∙가공
• /
• 제20권1호
• /
• pp.36-41
• /
• 2011

Meso-scale or micro-scale forming of sheet metal parts has been recently considered as one of the important forming technologies with growing demand on meso/micro products for electric or medical devices. Experimental investigation on the cylindrical meso-cup drawing with hemispherical punch is carried out to examine the limit drawing ratio and thickness distribution of drawn cups. The working parameters chosen in this study are blank diameter, die-corner radius and blankholding force. It is found from the experiments that the limit drawing ratio of 2.4 can be achieved in the case of hemispherical cup drawing and uniform thickness distribution in wider region can be obtained compared with the results of conventional cup drawing.