• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.1-7
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• 1996

This paper addresses the control problem of a mobile robot supporting a task robot with needs to be positioned precisely. The main difficulty residing in the precise control of a mobile robot supporting a task robot is providing an accurate and stable base for the task robot. That is, the end-plate of the mobile robot which is the base of the task robot can not be positioned accurately without external position sensors. This difficulty is resolved in this paper through the vision information obtained from the camera attached at the end of a task robot. First of all, the camera parameters were measured by using the images of a fixed object captured by the camera. The measured parameters include the rotation, the position, the scale factor, and the focal length of the camera. These parameters could be measured by using the features of each vertex point for a hexagonal object and by using the pin-hole model of a camera. Using the measured pose(position and orientation) of the camera and the given kinematics of the task robot, we calculate a pose of the end-plate of the mobile robot, which is used for the precise control of the mobile robot. Experimental results for the pose estimations are shown.

• Proceedings of the KSRS Conference
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• v.1
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• pp.372-375
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• 2006

The MSC is a high resolution multi-spectral camera system which is mounted on the KOMPSAT-II satellite. The electro-optic camera system has a refocusing mechanism which can be used in-orbit by ground commands. By adjusting locations of some elements in optics, the system can be focused precisely. The focus mechanism in MSC is implemented with stepper motor and potentiometer. By reading the value of the potentiometer, rough position of the motor can be understood. The exact location of the motor can not be acquired because the information from the potentiometer can not be so accurate. However, before and after certain events of the satellite, like a satellite launch, the direction of the movement or order of the magnitude of the movement can be understood. In this paper, the trend analysis of the focus motor position during the ground test phase is introduced. This result can be used as basic information for the focus calibration after launch. By studying the long term trend, deviation from the best focal point can be understood. The positions of the focus motors after launch are also compared.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1994-1998
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• 2005

Characteristic analysis of the depth measurement system with a laser, a camera and a rotating mirror has been done and the parameter calibration technique for it has been proposed. In the proposed depth measurement system, the laser beam is reflected to the object by the rotating mirror and again the position of the laser beam is observed through the same mirror by the camera. The depth of the object pointed by the laser beam is computed depending on the pixel position on the CCD. There involved several number of internal and external parameters such as inter-pixel distance, focal length, position and orientation of the system components in the depth measurement error. In this paper, it is shown through the error sensitivity analysis of the parameters that the most important parameters in the sense of error sources are the angle of the laser beam and the inter pixel distance. The calibration techniques to minimize the effect of such major parameters are proposed.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.30 no.4 s.247
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• pp.287-297
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• 2006

The Holographic Particle Velocimetry system can be a promising optical tool for the measurements of three dimensional particle velocities. One of inherent limitations of particle holography is the very long depth of field of particle images, which causes considerable difficulty in the determination of particle positions in the optical axis. In this study, we introduced three auto-focusing parameters corresponding to the size of particles, namely, Correlation Coefficient, Sharpness Index, and Depth Intensity to determine the focal plane of a particle along the optical axis. To investigate the suitability of the above parameters, the plane image of dot array screens containing different size of dots was recorded by diffused illumination holography and the positions of each dot in the optical axis were evaluated. In addition, the effect of particle position from the holographic film was examined by changing the distance of the screen from the holographic film. All measurement results verified that the evaluated positions using suggested auto-focusing parameters remain within acceptable range of errors. These research results may provide fundamental information for the development of the holographic velocimetry system based on the automatic image processing.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2006.05a
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• pp.125-129
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• 2006

The analysis of the depth measurement system with multi-sensors (laser, camera, mirror) has been done and the parameter calibration technique has been proposed. In the proposed depth measurement system, the laser beam is reflected to the object by the rotating mirror and again the position of the laser beam is observed through the same mirror by the camera. The depth of the object pointed by the laser beam is computed depending on the pixel position on the CCD. There involved several number of internal and external parameters such as inter-pixel distance, focal length, position and orientation of the system components in the depth measurement error. In this paper, it is shown through the error sensitivity analysis of the parameters that the most important parameters in the sense of error sources are the angle of the laser beam and the inter pixel distance.

• Journal of Welding and Joining
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• v.25 no.4
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• pp.49-57
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• 2007

The optimization of the cladding parameters was studied to maximize the deposition efficiency in the laser cladding using a low power pulsed Nd:YAG laser. STS304 stainless steel plate and Co alloy powder were used as a substrate and powder for cladding, respectively. The six cladding parameters were selected through preliminary experiments and their effects on the deposition efficiency were analyzed statistically. Experiments were designed and carried out using the Taguchi experimental method using a L18 orthogonal array. It was found from the results of analysis of variance(ANOVA) that the powder feed position and powder feed angle had the most significant effects on the deposition efficiency, but the powder feed rate and laser focal position had nearly no effects. The deposition efficiency could be maximized at 0mm of the powder feed position and 50o of the powder feed angle in the experimental range. From this experimental analysis, a new laser cladding head with 20o of the powder feed angle was designed and manufactured. With a new laser cladding head, the highest deposition efficiency of 12.2% could be obtained.

• Journal of the Korean Society of Radiology
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• v.10 no.3
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• pp.215-222
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• 2016

X-ray mammography is the most effective method for the diagnosis of calcified lesions of various breast diseases. To reduce patient dose and to obtain optimal image required for diagnosis, the performance of the mammography system should be maintained continuously. Because the target (anode) angle of the X-ray tube is measured from the central X-ray, the effective angle can be slightly different in view of the position on the detector, which can result in degrading spatial resolution of the imaging within the field of view. In this study, we measured the MTF to examine spatial resolution for positions on the detector in the digital mammography system. For a tungsten wire of $50{\mu}m$ diameter, the highest spatial frequency was obtained. It meant that a wire diameter for measuring MTF through LSF should be small compared to the pixel size of the detector used in the mammography system. The spatial resolution showed slightly different performance according to positions on the detector. The center position gave the best spatial resolution and positions away from the center showed the degraded performance although the difference of the spatial resolution was small. The effective focal spot size of the full width at half maximum also showed similar result. It concluded that the slightly increase of the effective focal spot size gave the degradation of the spatial resolution for positions on the detector.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.1
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• pp.99-107
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• 2014

In this paper, a landmark based localization system using a Kinect sensor is proposed and evaluated with the implemented system for precise and autonomous navigation of low cost robots. The proposed localization method finds the positions of landmark on the image plane and the depth value using color and depth images. The coordinates transforms are defined using the depth value. Using coordinate transformation, the position in the image plane is transformed to the position in the body frame. The ranges between the landmarks and the Kinect sensor are the norm of the landmark positions in body frame. The Kinect sensor position is computed using the tri-lateral whose inputs are the ranges and the known landmark positions. In addition, a new matching method using the pin hole model is proposed to reduce the mismatch between depth and color images. Furthermore, a height error compensation method using the relationship between the body frame and real world coordinates is proposed to reduce the effect of wrong leveling. The error analysis are also given to find out the effect of focal length, principal point and depth value to the range. The experiments using 2D bar code with the implemented system show that the position with less than 3cm error is obtained in enclosed space($3,500mm{\times}3,000mm{\times}2,500mm$).

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.9
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• pp.803-811
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• 2002

Machine vision systems are usually used to identify traffic lanes and then determine the steering angle of an autonomous vehicle in real time. The steering angle is calculated using a geometric model of various parameters including the orientation, position, and hardware specification of a camera in the machine vision system. To find the accurate values of the parameters, camera calibration is required. This paper presents a new camera-calibration algorithm using known traffic lane features, line thickness and lane width. The camera parameters considered are divided into two groups: Group I (the camera orientation, the uncertainty image scale factor, and the focal length) and Group II(the camera position). First, six control points are extracted from an image of two traffic lines and then eight nonlinear equations are generated based on the points. The least square method is used to find the estimates for the Group I parameters. Finally, values of the Group II parameters are determined using point correspondences between the image and its corresponding real world. Experimental results prove the feasibility of the proposed algorithm.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1542-1547
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• 2007

Laser surface treatment technologies have been used to improve characteristics of wear and to enhance the fatigue resistance for mold parts. The optical lens with the elliptical profile is designed to obtain a wide surface hardening area with a uniform hardness. The objective of this research work is to investigate the influence of the process parameters, such as power of laser and defocused spot position, on the characteristics of laser surface treatment for the case of SKD61 steel and SCM4 steel. From the results of the experiments, it has been shown that the maximum average hardness is approximatly 700${\sim}$780 Hv when the power, focal position and the travel of laser are 1,095 W, 0mm and 0.3 m/min, respectively. In samples treated with lower scanning speeds, some small carbide particles appear in the interdendritic regions. This region contains fine martensite and carbide in proportions which depend on the local thermal cycle.