• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.105-109
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• 2001

The micro optical parts such as ferrules are required to be manufactured within very small tolerances, as the slight deviation of the tolerance would give very large amount of loss in communication efficiency. For efficient optical communication, outer diameter, fiber diameter, fiber separation and eccentricity are significant parameters to be inspected., Thus we developed an automatic inspection system to evaluate shape parameters of the optical fiber connectors(ferrule) upto submicron accuracy using machine vision. new optical probe of multi fields of views has been developed and the image processing and data analysis algorithms have been complemented in real time basis. The developed system is successfully used in the practical ferrule manufacturing industry, and about 0.1$\mu\textrm{m}$ accuracy can be obtained with very fast inspection time.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.25.6-25
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• 2001

A new monitoring system is proposed to give direct visual information of the remote site when working with a tele-operation system. In order to have a similar behavior of a human when he is inspecting an object, multiple cameras that have different view point are attached around the robot hand and are switched on and elf according to the operator´s motion such as joystick manipulation or operator´s head movement. The performance of the system is estimated by performing comparison experiments among single camera (SC) vision system, head mount display (HMD)system and proposed multiple camera (MC) vision system by applying a task to several examines. The reality, depth feeling and controllability are estimated for the examines ...

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.652-657
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• 1991

Up to date, application areas of mobile robots have been expanded. In addition, Many types of LRF(Laser Range Finder) systems have been developed to acquire three dimensional information about unknown environments. However in real world, because of various noises (sunlight, fluorescent light), it is difficult to separate reflected laser light from these noise. To overcome the previous restriction, we have developed a new type vision system which enables a mobile robot to measure the distance to a object located 1-5 (m) ahead with an error than 2%. The separation and detection algorithm used in this system consists of pulse phase difference method and multi-stripe structured light. The effectiveness and feasibility of the proposed vision system are demonstrated by 3-D maps of detected objects and computation time analysis.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1717-1722
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• 2003

In this paper we developed flip-chip bonder using XY stage, liner-rotary actuator and vision system. We depicted the major parts of the developed flip-chip bonder. Then we discussed several problems and their solutions such as vision and motion control, pick-up module position accuracy, separation of chip from the blue taped hoop, etc. We used a post guide to improve the horizontal positional accuracy against the long arm. Also, we used an ejector module and synchronization technique for easy chip separation from the blue tape.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.6
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• pp.944-953
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• 1990

This paper describes design and implementation of a real-time high-precision vision system for an automation of SMT(surface mounting technology ). Also, a part inspection algorithm which calculates the position and direction of SMD(surface mounted device) accurately and performs the ruling using those information are presented, and a parallel processing technique for implementing those algorithms is also described. For a real-time implementation of iage acquisition and processing, several hardware modules, namely, multi-functional A/D-D/A board, frame memory board are developed. Particularly, a PE (processing element) board which employs the DSP56001 DSP (digital signal processor) is developed for the purpose of concurrent processing of part inspection algorithms. A stand-alone vision system is built by integration of the developed hardware modules and related softwares.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.1
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• pp.53-58
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• 2013

In this paper, we present a framework for collision avoidance of UGVs by vision-based control. On the image plane which is created by perspective camera rigidly attached to UAV hovering stationarily, image features of UGVs are to be controlled by our control framework so that they proceed to desired locations while avoiding collision. UGVs are assumed as unicycle wheeled mobile robots with nonholonomic constraint and they follow the image feature's movement on the ground plane with low-level controller. We used potential function method to guarantee collision prevention, and showed its stability. Simulation results are presented to validate capability and stability of the proposed framework.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.11
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• pp.100-107
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• 1998

This paper presents the development of estimation model and control method based on the new robot vision. This proposed control method is accomplished using the sequential estimation scheme that permits placement of the rigid body in each of the two-dimensional image planes of monitoring cameras. Estimation model with six parameters is developed based on the model that generalizes known 4-axis scara robot kinematics to accommodate unknown relative camera position and orientation, etc. Based on the estimated parameters, depending on each camera the joint angle of robot is estimated by the iteration method. The method is experimentally tested in two ways, the estimation model test and a three-dimensional rigid body placement task. Three results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as assembly and welding.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.8
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• pp.888-897
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• 1990

In this paper, a multi-processor-based supervisory control for automatic assembly system is presented. The proposed supervisory control is organized in terms of C-language and with structured and easily expandable characteristics. Also the controller is designed to possess diagnostic capability including self-diagnosis of processor module. The developed supervisory control has been shown to be very useful via a high speed automatic assembly system with vision capability.

• Proceedings of the IEEK Conference
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• 2003.07e
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• pp.1771-1774
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• 2003

Image segmentation is very important technique as preprocessing. It is used for various applications such as object recognition, computer vision, object based image compression. In this paper, a method which segments the multidimensional image using a hierarchical histogram approach, is proposed. The hierarchical histogram approach is a method that decomposes the multi-dimensional situation into multi levels of 1 dimensional situations. It has the advantage of the rapid and easy calculation of the histogram, and at the same time because the histogram is applied at each level and not as a whole, it is possible to have more detailed partitioning of the situation.

• Proceedings of the KIEE Conference
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• 1998.11b
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• pp.543-545
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• 1998

Robotic soccer is multi-agent system playing soccer game under given rule. This system consists of three mobile robots, vision sensor, action decision module, action execution module and communication module. This paper presents new action decision method using multi-layer neural networks.