• Journal of the Korean Society for Precision Engineering
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• v.16 no.7
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• pp.125-131
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• 1999

In this paper, the algorithms which can track the two dimensional moving circular object using simple vision system are described. In order to track the moving object, the process of finding the object feature points - such as centroid of the object, corner points, area - is indispensable. With the assumption of two-dimensional circular moving object, the centroid of the circular object is computed from three points on the object circumference. Different kinds of algorithms for computing three edge points - simple x directional detection method, stick method. T-shape method are suggested. Through the computer simulation and experiments, three algorithms are compared from the viewpoint of detection accuracy and computational time efficiency.

• International Journal of Precision Engineering and Manufacturing
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• v.4 no.6
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• pp.61-70
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• 2003

A multibody system dynamics analysis program is presented using one of the most useful programming methodologies, the object-oriented modeling, The object-oriented modeling defines a problem from the physical world as an abstract object. The object becomes encapsulated with the data and method, Analysis is performed using the object's interface, It is then possible for the user and the developer to modify and upgrade the program without having particular knowledge of the analysis program, The method presented in this paper has several advantages, Since the mechanical components of the multi-body system are converted into the class, the modification, exchange, distribution and reuse of classes are increased. It becomes easier to employ a new analysis method and interface with other S/W and H/W systems, Information can be communicated to each object through messaging. This makes the modeling of new classes easier using the inheritance, When developing a S/W for the computer simulation of a physical system, it is reasonable to use object-oriented modeling.

• Journal of the Society of Naval Architects of Korea
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• v.42 no.2 s.140
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• pp.159-164
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• 2005

Monostatic RCS analysis of complex structures has been done with a combined method of physical and geometric optics, commonly applied to high frequency electromagnetic backscattering problems. In the analysis, the complex structure is modeled as a number of flat surfaces and the RCS of whole structure is calculated by summing RCS of each surface, which can be obtained from an analytical solution of flat surface phase integral derived from physical optics. The reflected and hidden surfaces are searched by an object precision method based on adaptive triangular beam method, which can take account for effects of multiple reflections and polarizations of electromagnetic wave. The validity of the presented RCS analysis method has been verified by comparing with exact solutions and measured data for various structures.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.9
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• pp.38-45
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• 1996

The optical triangulation method has been used as a non-contact measuring method of three dimensional object whape. But this measuring method has narrow measuring range, non-linearity on steep slope surface and shadow effect. In this study, we discussed a new optical measurement method to overcome these kinds of demerits. The advantage of this new method is that it is possible to measure precisely the object shape having the steep slope surface without shadow effect. As exper- imental results, maximum displacement error was 200 .mu. m over the whole measuring when the incident angle on the object surface was within 60 degree.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 1997.06a
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• pp.113-118
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• 1997

This paper proposes a object tracking method based on the local moments, or moment based on the local moments, or moment of some restricted area, in which the idea of the viewpoint and the visual filed corresponding to the local area of an image is introduced. Using local moment with the optimally controlled viewpoint and visual field, the target position and its breadth are estimated robustly. By two experiments, the validity of the proposed method is shown.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.04b
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• pp.408-413
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• 1995

Nowadays, manufacturing system is trending toward integrated circumstance by helping of CAD/CAM/CAT. To use this system effectively, it is necessary to get exact 3 dimensional surface data of an object. We have been using contact method to measure 3 dimensional object profile. But his method has demerit of leaving scrach or small distortion on the object. To improve this, a non-contact measuring method using optical system is adopted. In this paper, We propose optical ring method. Withthis system, We could measure displacement of the object in the range of 45mm having 150mm having 150 .mu. m resolution with no scratch or distortion.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.559-564
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• 1994

Recently, a visual servoing for an eye-in-hand robot has become an interesting problem. A distance between a camera and a task object is very useful information for visual servoing. In the previous works for visual servoing, the distance can be obtained from the difference between a reference and a measured feature value of the object such as area on image plane. However, since this feature depends on the object, the reference feature value must be changed when other task object is taken. To overcome this difficulty, this paper presents a novel method for visual servoing. In the proposed method, a blur is used to obtain the distance. The blur, one of the most important features, depends on the focal length of camera. Since it is not affected by the change of object, the reference feature value is not changed although other task object is taken. In this paper, we show a relationship between the distance and the blur, and define the feature jacobian matrix based on camera defocusing to operate the robot. A series of experiments is performed to verify the proposed method.

• Journal of the Korea Society of Computer and Information
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• v.13 no.2
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• pp.87-94
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• 2008

In this paper, an extraction method of objects of interest in the color images is proposed. It is possible to extract objects of interest from a complex background without any prior-knowledge based on the proposed method. For object extraction, Gator images that contain information of object location, are created by using Gator filter. Based on the images the initial location of attention windows is determined, from which image features are selected to extract objects. To extract object, I modify the previous method partially and apply the modified method. To evaluate the performance of propsed method, precision, recall and F-measure are calculated between the extraction results from propsed method and manually extracted results. I verify the performance of the proposed methods based on these accuracies. Also through comparison of the results with the existing method, I verily the superiority of the proposed method over the existing method.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.7
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• pp.167-174
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• 1998

This paper presents an unoccluded cylindrical object pose measurement using a slit beam laser in which a robot recognizes all of the unoccluded objects from the top of jumbled objects, and picks them up one by one. The elliptical equation parameters of a projected curve edge on a slice are calculated using LSM. The coefficients of standard elliptical equation are compared with these parameters to estimate the object pose. The hamming distances between the estimated coordinates and the calculated ones are extracted as measures to evaluate a local constraint and a smoothing surface curvature. The edges between slices are linked using error function based on the edge types and the hamming distances. The linked edges on slices are compared with the model object's length to recognize the unoccluded object. This proposed method may provide a solution to the automation of part handling in manufacturing environments such as punch press operation or part assembly.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.9
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• pp.197-204
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• 2003

This study proposes a method to reduce errors in scanning object and registration using a laser scanner. The method consists of 3 stages. First, there is an error induced by the difference of the distance between the probe and the object. It is possible to reduce the error by planning a scanning strategy: object setting, scan path. Second, the scan data of the tooling ball affects calculating the tooling ball center. A z-direction compensation is given to calculate more accurate registration points. Third, three points are used to determine a coordinate transformation on each frame. The maximum error usually lies on the third tooling ball in the conventional merging method. LSM (Least Square Method) is applied to a coordinate transformation to reduce the registration error.