• International Journal of Fuzzy Logic and Intelligent Systems
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• 제12권3호
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• pp.238-244
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• 2012

A modeling of vision based robot formation control system using fuzzy logic controller and extended Kalman filter is presented in this paper. The main problems affecting formation controls using fuzzy logic controller and vision based robots are: a robot's position in a formation need to be maintained, how to develop the membership function in order to obtain the optimal fuzzy system control that has the ability to do the formation control and the noise coming from camera process changes the position of references view. In order to handle these problems, we propose a fuzzy logic controller system equipped with a dynamic output membership function that controls the speed of the robot wheels to handle the maintenance position in formation. The output membership function changes over time based on changes in input at time t-1 to t. The noises appearing in image processing change the virtual target point positions are handled by Extended Kalman filter. The virtual target positions are established in order to define the formations. The virtual target point positions can be changed at any time in accordance with the desired formation. These algorithms have been validated through simulation. The simulations confirm that the follower robots reach their target point in a short time and are able to maintain their position in the formation although the noises change the target point positions.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 춘계학술대회 논문집
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• pp.381-386
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• 2002

In this paper, we have proposed a new approach to the design of robot vision system to develop the technology for the automatic test and assembling of precision mechanical and electronic parts for the factory automation. In order to perform real time implementation of the automatic assembling tasks in the complex processes, we have developed an intelligent control algorithm based-on neural networks control theory to enhance the precise motion control. Implementing of the automatic test tasks has been performed by the real-time vision algorithm based-on TMS320C31 DSPs. It distinguishes correctly the difference between the acceptable and unacceptable defective item through pattern recognition of parts by the developed vision algorithm. Finally, the performance of proposed robot vision system has been illustrated by experiment for the similar model of fifth cell among the twelve cell for automatic test and assembling in S company.

• 한국정밀공학회지
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• 제19권11호
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• pp.112-119
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• 2002

Generally, it is very difficult to inspect geometric shape of large 2D objects after machining. To maintain the accuracy for inspection, a robot vision is used to divide overall shape into several enlarged images, and image processing technique is applied to acquire one minute geometric contour. The inspection is to compare the NC data with the measured contour data by the vision system, and the algorithm is to rotate to minimize the maximum deviation after coinciding two geometric centers. This paper experimentally shows that the proposed algorithm is very useful for inspection of large machined objects.

• 동력기계공학회지
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• 제2권3호
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• pp.83-88
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• 1998

This paper presents an efficient control algorithm that removes irregular burrs using vision and force sensors. In automated robotic deburring, the reference force should be accommodated to the profile of burrs in order to prevent the tool breakage. In this paper, (1) The profile of burrs is recognized by vision sensor and followed by the calculation of reference force, (2) Deburring expert's skill is transferred to robot. Finally, the performance of robot is evaluated through simulation and experiment.

• 전기학회논문지
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• 제58권3호
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• pp.605-613
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• 2009

In this paper, we studied for the real-time azimuthal measurement of HMD (Head Mounted Display) to control the tele-operated vision system on the mobile robot. In the preexistence tele-operated vision system, a joystick was used to control the pan-tilt unit of the remote camera system. To give the sense of presence to the tele-operator, we used a HMD to display the remote scene, measured the rotation angle of the HMD on a real time basis, and transmitted the measured rotation angles to the mobile robot controller to synchronize the pan-tilt angles of remote camera with the HMD. In this paper, we suggest an algorithm for the real-time estimation of the HMD rotation angles using feature points extraction from pc-camera image. The simple experiment is conducted to demonstrate the feasibility.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 제36회 하계학술대회 논문집 D
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• pp.2780-2782
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• 2005

In this paper, we present a mobile robot localization solution by using a Ubiquitous Vision System (UVS). The collective information gathered by multiple cameras that are strategically placed has many advantages. For example, aggregation of information from multiple viewpoints reduces the uncertainty about the robots' positions. We construct UVS as a multi-agent system by regarding each vision sensor as one vision agent (VA). Each VA performs target segmentation by color and motion information as well as visual tracking for multiple objects. Our modified identified contractnet (ICN) protocol is used for communication between VAs to coordinate multitask. This protocol raises scalability and modularity of thesystem because of independent number of VAs and needless calibration. Furthermore, the handover between VAs by using ICN is seamless. Experimental results show the robustness of the solution with respect to a widespread area. The performance in indoor environments shows the feasibility of the proposed solution in real-time.

• 제어로봇시스템학회논문지
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• 제15권8호
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• pp.851-858
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• 2009

In this study, we propose a new input device using vision technology for positioning of multiple DOFs. The input device is composed of multiple Tags on a transparent table and a vision camera below the table. Vision camera detects LEDs at the bottom of each Tag to derive information of the ID, position and orientation. The information are used to determine position and orientation of remote target DOFs. Our developed approach is very reliable and effective, especially when the corresponding DOFs are from many independent individuals. We show an application example with a SCARA robot to prove the flexibility and extendability.

• 제어로봇시스템학회논문지
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• 제14권7호
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• pp.642-646
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• 2008

We have developed a vision based crack detection system and algorithm to inspect base side of bridges. After human operator decides from vision images captured if lines on base side are cracks or dirt, our algorithm finds automatically the length, the width and the shape of cracks. The system has been tested with a robot extender on a truck in real environment and has been proved to be very useful to reduce inspection cost as well as the data management.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2001년도 춘계학술대회 논문집(한국공작기계학회)
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• pp.217-222
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• 2001

In this paper, we have proposed a new approach to the design of robot vision system to develop the technology for the automatic test and assembling of precision mechanical and electronic parts for the factory automation. In order to perform real time implementation of the automatic assembling tasks in the complex processes, we have developed an intelligent control algorithm based-on neural networks control theory to enhance the precise motion control. Implementing of the automatic test tasks has been performed by the real-time vision algorithm based-on TMS320C31 DSPs. It distinguishes correctly the difference between the acceptable and unacceptable defective item through pattern recognition of parts by the developed vision algorithm. Finally, the performance of proposed robot vision system has been illustrated by experiment for the similar model of fifth cell among the twelve cell for automatic test and assembling in S company.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 추계학술대회논문집A
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• pp.559-563
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• 2000

In this paper we describe a method for aligning a robot gripper using image information. The region of gripper is represented from HSI color model that has major advantage of brightness independence. In order to extract the feature points for vision based position control, we find the corners of gripper shape using polygonal approximation method which determines the segment size and curvature of each points. We apply the vision based scheme to the task of alignment of gripper to reach the desired position by 2 RGB cameras. Experiments are carried out to exhibit the effectiveness of vision based control using feature points from polygonal approximation of gripper.