• 디지털산업정보학회논문지
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• 제10권4호
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• pp.79-87
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• 2014

In this paper, we implemented the HearCAM platform with Raspberry PI B+ model which is an open source platform. Raspberry PI B+ model consists of dual step-down (buck) power supply with polarity protection circuit and hot-swap protection, Broadcom SoC BCM2835 running at 700MHz, 512MB RAM solered on top of the Broadcom chip, and PI camera serial connector. In this paper, we used the Google speech recognition engine for recognizing the voice characteristics, and implemented the pattern matching with OpenCV software, and extended the functionality of speech ability with SVOX TTS(Text-to-speech) as the matching result talking to the microphone of users. And therefore we implemented the functions of the HearCAM for identifying the voice and pattern characteristics of target image scanning with PI camera with gathering the temperature sensor data under IoT environment. we implemented the speech recognition, pattern matching, and temperature sensor data logging with Wi-Fi wireless communication. And then we directly designed and made the shape of HearCAM with 3D printing technology.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.382-387
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• 1992

In order to obtain desired arc welding performance, we already developed an arc welding robot system that enabled coordinated motions of dual arm robots. In this system one robot arm holds a welding target as a positioning device, and the other robot moves the welding torch. Concerning to such a dual arm robot system, the positioning accuracy of robots is one important problem, since nowadays conventional industrial robots unfortunately don't have enough absolute accuracy in position. In order to cope with this problem, our robot system employed teaching playback method, where absolute error are compensated by the operator's visual feedback. Due to this system, an ideal arc welding considering the posture of the welding target and the directions of the gravity has become possible. Another problem still remains, while we developed an original teaching method of the dual arm robots with coordinated motions. The problem is that manual teaching tasks are still tedious since they need fine movements with intensive attentions. Therefore, we developed a 3-dimensional vision guided robot control method for our welding robot system with coordinated motions. In this paper we show our 3-dimensional vision sensor to guide our arc welding robot system with coordinated motions. A sensing device is compactly designed and is mounted on the tip of the arc welding robot. The sensor detects the 3-dimensional shape of groove on the target work which needs to be weld. And the welding robot is controlled to trace the grooves with accuracy. The principle of the 3-dimensional measurement is depend on the slit-ray projection method. In order to realize a slit-ray projection method, two laser slit-ray projectors and one CCD TV camera are compactly mounted. Tactful image processing enabled 3-dimensional data processing without suffering from disturbance lights. The 3-dimensional information of the target groove is combined with the rough teaching data they are given by the operator in advance. Therefore, the teaching tasks are simplified

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2002년도 Proceedings of International Symposium on Remote Sensing
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• pp.746-749
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• 2002

This paper is introducing a radio control helicopter as a new platform of ground truth measurement. This helicopter is normally used for spraying an agricultural chemical. It can do pinpoint hovering and programing flight using DGPS etc., A spectrometer with dual port can measure ground surface and white reference plate at the same time. And it can also take digital images by digital camera. It is needed to collect ground reflectance information as satellite sensor footprint size for satellite data validation. Generally it is possible to get such ground reflectance by an airplane measurement. But it is high cost and not so easy to make a measurement by airplane. Developed validation system can provide such ground reflectance in low cost and easy.

• Journal of Mechanical Science and Technology
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• 제16권6호
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• pp.762-769
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• 2002

This paper presents how effective it is to use many features for improving the speed and accuracy of visual servo systems. Some rank conditions which relate the image Jacobian to the control performance are derived. The focus is to describe that the accuracy of the camera position control in the world coordinate system is increased by utilizing redundant features in this paper. It is also proven that the accuracy is improved by increasing the number of features involved. Effectiveness of the redundant features is evaluated by the smallest singular value of the image Jacobian which is closely related to the accuracy with respect to the world coordinate system. Usefulness of the redundant features is verified by the real time experiments on a Dual-Arm robot manipulator made by Samsung Electronic Co. Ltd..

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2015년도 춘계학술대회
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• pp.426-429
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• 2015

입체카메라에서 줌 사용시 컨버전스 포인트의 움직임에 따라 발생되는 시각적 불편의 문제와 거리감의 변동을 해결하기 위해 컨버전스 포인트 조정기법을 제시했었다. 본 연구에서는 이러한 조정기법의 우수성을 입증하기 위해 정량적 평가인 주시특성 분석을 설계했다. 입체영상에 대한 주관평가를 사용자의 시선움직임을 통해 정량적으로 파악하게 된다면 입체에 대한 사용자의 감성이미지를 보다 정확하게 파악할 수 있으며 이러한 자료를 통해 사용자 중심의 입체영상을 제작할 수 있는 환경을 제공하는 것이 가능할 것이다. 이를 통해 제시된 기법의 우수성을 정성과 정량적으로 입증한다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 II
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• pp.859-862
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• 2003

This paper proposes an emulation environment for SoC designs using small number of large gate-count FPGA's and a PC system. To overcome the pin limitation problem in partitioning the design when the design size overwhelms the FPGA gate count, we use bus splitter modules that replicate on-chip bus signals in one FPGA to arbitrary number of other FPGA's with minimal pin count. The proposed scheme is applied to the emulation of 2 million gate multimedia processing chip using two Xilinx Viretex-2 6000 FPGA devices in 6.6MHz operating frequency. An ARM core, memories, camera and LCD display are modeled in software using dual 2GHz Pentium-III processors. This scheme can be utilized for more than 2 FPGA's in the same ways as two FPGA case without losing emulation speed.

• 소성∙가공
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• 제15권3호
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• pp.247-254
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• 2006

Rather than traditional manufacturing processes, miniature manufacturing processes usually require sophisticated equipments and characteristics of the processes of high cost and of low productivity. Contrarily, miniature stamping process can be realized in a low cost high productivity with relatively inexpensive equipments. In the meso scale, mechanical properties, especially work hardening characteristics, are discovered to be statically scattered and size dependent by intensive experimental and numerical investigations, which make the stamping process hard to apply to the miniature manufacturing. In this study, dual purpose experimental device that can be used for both miniature scale tensile test and miniature scale stamping by simple change of attachment has been developed. For the tensile test, the elongation has been measured with a combined use of a CCD camera and a linear encoder in order to account for the possibility of slippage between specimen and the grip and to ensure the accuracy of the measurement, while load has been measured with a load cell. To satisfy the required material properties for stamping, optimal annealing condition has been found by examining the microstructure of annealed specimen.

• 대한방사선기술학회지:방사선기술과학
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• 제20권1호
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• pp.35-38
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• 1997

Scintigraphic measurement of gastric emptying time has been reported to be influenced by the variation in depth of radionuclide within the stomach. This study was designed to clarify whether a part of the variability in gastric emptying could be ascribed to a relationship between anterior image, the total anteroposterior Image and the tissue attenuation correction(geometric mean). A dual-head scintillation camera(ADAC, USA) was used to investigate effect of such changes. We were performed 16 normal subject gastric emptying studies with $^{99m}TC$ labelled scramble egg, milk and solid meal(610 Kcal, 300 g) The results are as follows; On anterior Image, $T_{1/2}$ emptying time was delayed by 5 min, 6.5%(range $3{\sim}18\;min,\;5{\sim}31.4%$) compared with the geometric mean. But there was no different gastric emptying time between the total anteroposterior image and geometric mean. Therefore, if will be useful to use the method of geometric mean or the total anteroposterior image to evaluate the gastric emptying time accurately.

• 로봇학회논문지
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• 제2권2호
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• pp.129-136
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• 2007

This paper introduces a position-based robust visual servoing method which is developed for operation of a human-like robot with two arms. The proposed visual servoing method utilizes SIFT algorithm for object detection and CAMSHIFT algorithm for object tracking. While the conventional CAMSHIFT has been used mainly for object tracking in a 2D image plane, we extend its usage for object tracking in 3D space, by combining the results of CAMSHIFT for two image plane of a stereo camera. This approach shows a robust and dependable result. Once the robot's task is defined based on the extracted 3D information, the robot is commanded to carry out the task. We conduct several position-based visual servoing tasks and compare performances under different conditions. The results show that the proposed visual tracking algorithm is simple but very effective for position-based visual servoing.

• Journal of the Optical Society of Korea
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• 제20권3호
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• pp.413-426
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• 2016

There has been much advancement in the field of aerial cameras for geographical features with the help of drones, image processing power and computer aided optical programs. In this study, we propose a new optical lens design technique which minimizes the amount of ‘the third order Seidel aberration’ for enhancing MTF. In addition, we suggest a new optical lens design which stabilizes the mass-production yield through R.S.M and has robustness secure through the Taguchi method. Eventually, the image processing algorithm of stereo matching is implemented in order to evaluate whether the proposed lens design result meets adequate specifications for the use of dual aerial photographs or not. This paper provides good guidance for the optical design by development of experiments.