• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1130-1133
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• 2003

The goal of this research is developing advanced lane detecting algorithm for unmanned vehicle. Previous lane detecting method to bring on error become of the lane loss and noise. Therefore, new algorithm developed to get exact information of lane. This algorithm can be used to AGV(Autonomous Guide Vehicle) and LSWS(Lane Departure Warning System), ACC(Adapted Cruise Control). We used 1/10 scale RC car to embody developed algorithm. A CCD camera is installed on top of vehicle. Images are transmitted to a main computer though wireless video transmitter. A main computer finds information of lane in road image. And it calculates control value of vehicle and transmit these to vehicle. This algorithm can detect in input image marked by 256 gray levels to get exact information of lane. To find the driving direction of vehicle, it search line equation by curve fitting of detected pixel. Finally, author used median filtering method to removal of noise and used characteristic part of road image for advanced of processing time.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.24-27
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• 2004

This paper describes the method how to control an autonomous robot remotely using Internet. The autonomous robot that has an artificial brain is called "Tarou". (1) It is able to move along the line on the floor based on processing the image data obtained from two CCD cameras. (2) It is able to understand dialogs between human being and it and is able to take actions such as turn right and lefts, go forward 1m and go backward 0.5m, etc. (3) It is able to recognize patterns of objects. (4) It is able to recognize human faces. (5) It is able to communicate human being and to speak according to contents written in the program. We show the techniques to control the autonomous robot "Tarou" remotely by personal computer and/or portable Phone via Internet. The techniques developed in our research could dramatically increase their performance for..the need of artificial life robot as the next generation robot and national homeland security needs.

• International Journal of Control, Automation, and Systems
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• v.6 no.5
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• pp.740-745
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• 2008

This paper presents a new non-contact 3D robotic inspection system to measure the precise positions of screw and punch holes on a car body frame. The newly developed sensor consists of a CCD camera, two laser line generators and LED light. This lightweight sensor can be mounted on an industrial robot hand. An inspection algorithm and system that work with this sensor is presented. In performance evaluation tests, the measurement accuracy of this inspection system was about 200 ${\mu}m$, which is a sufficient accuracy in the automotive industry.

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2541-2544
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• 2003

새로운 원리에 의한 원격 거리 및 각도측정 시스템［1］［2］(이하 TS, Total Station)을 개발하였다. 본 시스템은 마이크로 터널링 공법의 굴진기의 후미 또는 임의의 기준점에 원격으로 점멸할 수 있는 십자형의 발광체를 부착하고, 추진관에 고정시킨 상하좌우 각도측정 및 비접촉식 레이저 거리측정기가 부착된 무인 원격 제어장치에 의하여 십자형 발광체의 중심을 자동으로 검출한다. 또한. 회전각과 CCD 라인 스캔 센서의 조합에 의하여 각도를 정밀하게 원격 측정하게 된다. 한편 본 시스템을 이용하면 마이크로 터널링 공법에 의한 추진관내의 측정 가능한 범위를 연결하는 위치에 복수의 TS를 배치하여 서로의 위치를 자동으로 계측하고 그들 데이터를 컴퓨터에 의하여 계산함으로써, 맨홀의 임의의 기준점으로부터 굴진기의 현재 좌표를 신속하고 정확하게 계산할 수 있다.

• Journal of The Korean Astronomical Society
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• v.36 no.spc1
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• pp.145-149
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• 2003

LIST is the Lyman-$\alpha$ Imaging Solar Telescope, a project funded by the Korean government to fly on the second Korean Science and Technology research Satellite (STSat-2) due to launch in December 2005. The Principal Investigator is Dr. Minhwan Jang of Kyung-Hee University and of the Space Payload Research Center (SPARC), a consortium of Korean universities and institutions formed to develop scientific research projects in space. The purpose of the LIST project is to design, build, and operate an instrument on STSat-2 which will make images of the Sun from Earth orbit at the wavelength of the Hydrogen Lyman-a emission line at 121.6 nm. LIST has a simple design concept comprised of a small telescope to image the full disk of the Sun onto a CCD detector and a set of filters to isolate the 121.6 nm wavelength.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.6
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• pp.471-477
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• 2000

The position control accuracy of a robot arm is significantly deteriorated when a long arm robot is operated at a high speed. In this case, the robot arm must be modeled as a flexible structure, not a rigid one, and its control system should be designed with its elastic modes taken into account. In this paper, the tip position control scheme of a one-link flexible manipulator using 2-DOF controller with sliding mode is presented. The robot consists of a flexible arm manufactured with a thin aluminium plate, an AC servo motor with a harmonic drive for speed reduction, an optical encoder and a CCD camera as a vision sensor for on-line measuring the tip deflection of the flexible m. Simulation and experimental results of the flexible manipulator with a proposed controller are provided to show the effectiveness of the controller.

• Journal of the Korea Institute of Military Science and Technology
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• v.5 no.3
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• pp.62-76
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• 2002

This paper describes the design of a Coordinates Tracking algorithm for EOTS and its error analysis. EOTS stabilizes the image sensors such as FLIR, CCD TV camera, LRF/LD, and so on, tracks targets automatically, and provides navigation capability for vehicles. The Coordinates Tracking algorithm calculates the azimuth and the elevation angle of EOTS using the inertial navigation system and the attitude sensors of the vehicle, so that LOS designates the target coordinates which is generated by a Radar or an operator. In the error analysis in this paper, the unexpected behaviors of EOTS that is due to the time delay and deadbeat of the digital signals of the vehicle equipments are anticipated and the countermeasures are suggested. This algorithm is verified and the error analysis is confirmed through simulations. The application of this algorithm to EOTS will improve the operational capability by reducing the time which is required to find the target and support especially the flight in a night time flight and the poor weather condition.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.11a
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• pp.219-225
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• 2000

The major movement block of the containers have range between apron and designation points on yard in container terminal. The yard tractor operated by human takes charge of its movement in conventional container terminal. In automated container terminal, AGV(Automated Guided Vehicle) has charge of the yard tractor's role and the navigation path is ordered from upper level control system. The automated container terminal facilities must have the docking system to guide landing line to have high speed travelling and precision positioning. The general method for docking system uses the vision system with CCD camera, infra red, and laser. This paper describes the detection of AGV's position and orientation using laser slit beam to develop docking system.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.545-547
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• 2006

This paper propose a localization method using color landmark that is applicable to mobile intelligent robot. The color landmarks are attached in the indoor ceiling. The world coordinate of robot is estimated by color patterns and the coordinates of landmarks. A landmark is composed of 4color and these 4 colors are sorted in a line. All of landmarks have a main color which indicates direction of robot. Other 3 colors are the combination of 5 kind of colors. The CCD camera is installed on the top of robot to observe the landmarks in the ceiling.

• Proceedings of the Korean Association of Geographic Inforamtion Studies Conference
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• 2008.10a
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• pp.358-363
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• 2008

최근 아날로그 항공사진카메라는 디지털방식으로 급속히 변화하고 있어 이에 따른 다양한 실험연구가 수행되고 있다. 디지털 카메라는 CCD의 구조와 촬영방식에 따라 크게 면형방식(area array)과 선형방식(line array)으로 구분되며 기술적으로 서로 상이한 원리로 영상을 취득하고 있다. 본 논문에서는 블록 조정에 횡스트립을 추가하여 블록 조정하였을 때 안정성에 얼마나 큰 영향이 있는지 알아보았다. 본 논문은 촬영시 추가한 횡스트립이 블록기하의 안정성에 미치는 영향을 검증하기 위하여 블록조정 결과에 따른 외부표정요소의 정확도를 비교 분석하였다. 연구결과 횡스트립을 추가하였을 때는 외부표정요소의 정확도가 크게 향상됨을 알 수 있었다. 향후 디지털 카메라에 의한 촬영시 적절한 중복도와 횡스트립의 배치간격 등에 대한 연구가 계속해서 이루어져야 될 것으로 판단된다.