• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.762-766
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• 2003

In this paper, we present a new approach to solve the problem of estimating the camera 3-D location and orientation from a matched set of 3-D model and 2-D image features. An iterative least-square method is used to solve both rotation and translation simultaneously. Because conventional methods that solved for rotation first and then translation do not provide good solutions, we derive an error equation using roll-pitch-yaw angle to present the rotation matrix. To minimize the error equation, Levenberg-Marquardt algorithm is introduced with uniform sampling strategy of rotation space to avoid stuck in local minimum. Experimental results using real images are presented.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2000년도 전력전자학술대회 논문집
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• pp.620-623
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• 2000

A very simple control approach using neural network for the robust position control of a Permanent Magnet Synchronous Motor(PMSM) is presented The linear quadratic controller plus feedforward neural network is employed to obtain the robust PMSM system approximately linearized using field-orientation method for an AC servo. The neural network is trained in on-line phases and this neural network is composed by a fedforward recall and error back-propagation training. Since the total number of nodes are only eight this system can be easily realized by the general microprocessor. During the normal operation the input-output response is sampled and the weighting value is trained multi-times by error back-propagation method at each sample period to accommodate the possible variations in the parameters or load torque. And the state space analysis is performed to obtain the state feedback gains systematically. IN addition the robustness is also obtained without affecting overall system response. This method is realized by a floating-point Digital Singal Processor DS1102 Board (TMS320C31) The basic DSP software is used to write C program which is compiled by using ANSI-C style function prototypes.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.1173-1177
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• 1990

Cerebellar Model Linear Associator Net(CMLAN), a kind of neuro-net based adaptive control function generator, was applied to the problem of direct inverse calibration of three and six d.o.f. POMA 560 robot. Since CMLAN autonomously maps and generalizes a desired system function via learning on the sampled input/output pair nodes, CMLAN allows no knowledge in system modeling and other error sources. The CMLAN based direct inverse calibration avoids the complex procedure of identifying various system parameters such as geometric(kinematic) or nongeometric(dynamic) ones and generates the corresponding desired compensated joint commands directly to each joint for given target commands in the world coordinate. The generated net outputs automatically handles the effect of unknown system parameters and dynamic error sources. On-line sequential learning on the prespecified sampled nodes requires only the measurement of the corresponding tool tip locations for three d.o.f. manipulator but location and orientation for six d.o.f. manipulator. The proposed calibration procedure can be applied to any robot.

• 한국정밀공학회지
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• 제26권4호
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• pp.16-22
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• 2009

• 한국정밀공학회지
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• 제18권2호
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• pp.54-62
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• 2001

This paper describes a new method for measuring the changes in specific surface asperities arising from processes such as finishing, coating, wear and corrosion. In repetitive measurements, relocation device gives the same position and orientation so that specific profile can be obtained. A low-cost relocation device is designed and its performance is assessed. The error in relocation process is compensated by statistic compensation algorithm. And, a removing process of cusp by grinding is observed by the proposed method.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 B
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• pp.522-524
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• 1998

In this paper, the cross-coupling controller with fuzzy logic for AGV is developed, Cross-coupling control directly minimizes orientation' error by coordinating the motion of the two drive wheels and uses PI controller for compensation. But, the transient response of PI controller results in deviation from trajectory. The Fuzzy Cross-coupling controller enhances transient performance without steady-state error. The performance of the above controller is demonstrated by simulation and is compared with that of PI controller.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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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.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2006년도 영호남 합동 학술대회 및 춘계학술대회 논문집 센서 박막 기술교육
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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.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제12권12호
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• pp.6000-6017
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• 2018

This paper presents a new descriptor, named Histograms of Prominent Edge Directions (HPED), for the recognition of facial expressions in a person-independent environment. In this paper, we raise the issue of sampling error in generating the code-histogram from spatial regions of the face image, as observed in the existing descriptors. HPED describes facial appearance changes based on the statistical distribution of the top two prominent edge directions (i.e., primary and secondary direction) captured over small spatial regions of the face. Compared to existing descriptors, HPED uses a smaller number of code-bins to describe the spatial regions, which helps avoid sampling error despite having fewer samples while preserving the valuable spatial information. In contrast to the existing Histogram of Oriented Gradients (HOG) that uses the histogram of the primary edge direction (i.e., gradient orientation) only, we additionally consider the histogram of the secondary edge direction, which provides more meaningful shape information related to the local texture. Experiments on popular facial expression datasets demonstrate the superior performance of the proposed HPED against existing descriptors in a person-independent environment.

• 방송공학회논문지
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• 제18권1호
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• pp.31-42
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• 2013

본 논문에서는 고품질의 3D 콘텐츠 제작에 있어 입체피로를 최소화하기 위한 영상의 수직시차 교정방법으로, 베이지안 접근방식을 적용한 사진측량기반의 강인 편위수정 기법을 제안하고자 한다. 영상의 수직시차 제거 과정은 크게 기하추정 단계와 에피폴라 변환 단계로 구성된다. 본 논문에서는 기하추정을 위해 사진측량에서 널리 활용되고 있는 공면조건 기반의 상대표정 알고리즘을 적용한다. 이때 상대표정 알고리즘에는 자동 정합점 추출에 따른 오정합과 위치오차에 강인성을 확보하기 위해 제약조건을 도입한 베이지안 접근방식을 적용하고자 하며, 이를 바탕으로 수행되는 에피폴라 변환에는 영상의 왜곡과 원 영상 대비 변형을 최소화하기 위한 공선조건기반의 중심투영변환기법을 적용하고자 한다. 알고리즘의 성능검증을 위한 비교 알고리즘으로, 기하추정에는 일반적인 상대표정 알고리즘과 컴퓨터비전분야의 8점 알고리즘 및 스테레오 캘리브레이션 기법이 사용되었으며, 에피폴라 변환에는 Hartley 방법과 Bouguet 방법이 사용되었다. 실험결과는 제안 알고리즘의 높은 정확도와 여러 오차요인들에 대한 강인성, 그리고 최소화된 영상변형의 결과를 보여주었다.