• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.649-652
• /
• 2005

The camera cellular phone has a large portion of cellular phone market in recent year. The variety of a customer demand makes a fast model change and the spatial resolution is changed from VGA to multi-mega pixel. The 1.3 mega pixel (MP) camera cellular phone was first released into the Korean market in October 2003. The major cellular phone companies released a 2MP camera cellular phone that supports zoom function and a 2MP camera cellular phone is settled down with the Korea cellular phone market. It makes a keen competition in price and demands automation for phone camera module. There is an increasing requirement for the automatic assembly to correspond to a fast model change. The hard automation techniques that rely on dedicated manufacturing system are too inflexible to meet this requirement. Therefore in this study, this system is designed with the flexibility concept in order to cope with phone camera module change. The system has a same platform that has X-Y-Z motion or X-Z motion with ${\mu}m$order accuracy. It has a special gripper according to the type of a component to be put together. If the camera model changes, the gripper may be updated to fit for the camera module. The controller of this system acquires the data sets that have the information about the assembly part by the tray. This information is obtained ahead of an inspection step. The controller excludes an inferior part to be assembled by using this information to diminish the inferior goods. The assembly jig used in this system has a function of self adjustment that reduces the tact time and also diminish the inferior goods. Finally, the intelligent assembly system for phone camera module will be designed to get a flexibility to meet model change and a high productivity with a high reliability.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.51 no.2
• /
• pp.102-113
• /
• 2014

This paper suggests a novel hardware architecture of a real-time rectification which is to remove vertical parallax of an image occurred in the pre-processing stage of stereo matching. As an off-line step, Matlab Toolbox which was designed by J.Y Bouguet, was used to calculate calibration parameter of the image. Then, based on the Heikkila and Silven's algorithm, rectification hardware was designed. At this point, to enhance the precision of the rectified image, floating-point unit was generated by using Xilinx Core Generator. And, we confirmed that proposed hardware design had higher precision compared to other designs while having the ability to do rectification in real-time.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.15 no.6
• /
• pp.720-729
• /
• 2005

In this paper, we design the indirect adaptive controller using Wavelet Neural Network(WNN) for unknown nonlinear systems. The proposed indirect adaptive controller using WNN consists of identification model and controller. Here, the WNN is used in both Identification model and controller The WNN has advantage of indicating the location in both time and frequency simultaneously, and has faster convergence than MLPN and RBFN. There are several training methods for WNN, such as GD, GA, DNA, etc. In this paper, we present the Extended Kalman Filter(EKF) based training method. Although it is computationally complex, this algorithm updates parameters consistent with previous data and usually converges in a few iterations. Finally, ore illustrate the effectiveness of our method through computer simulations for the Buffing system and the one-link rigid robot manipulator. From the simulation results, we show that the indirect adaptive controller using the EKF method has better performance than the GD method.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.17 no.11
• /
• pp.2645-2652
• /
• 2013

For a variety of vision systems such as car omni-directional surveillance systems and robot vision systems, many cameras have been equipped and used. In order to detect corners of grid pattern in AVM(Around View Monitoring) systems, after the non-linear radial distortion image obtained from wide-angle camera is corrected, corners of grids of the distortion corrected image must be detected. Though there are transformations such as Sub-Pixel and Hough transformation as corner detection methods for AVM systems, it is difficult to achieve automatic detection by Sub-Pixel and accuracy by Hough transformation. Therefore, we showed that the automatic detection proposed in this paper, which detects corners accurately from the distortion corrected image could be applied for AVM systems, by designing and implementing it, and evaluating its performance.

• Proceedings of the IEEK Conference
• /
• 2009.05a
• /
• pp.182-184
• /
• 2009

FlexRay is a new standard of network communication system which provides a high speed serial communication, time triggered bus and fault tolerant communication between electronic devices for future automotive and ship applications. FlexRay communication controller(CC) is the core of the FlexRay protocol specification. In this paper, we first design the FlexRay CC protocol specification and function parts using SDL(Specification and Description Language). Then, the system is re-designed using Verilog HDL based on the SDL source. The FlexRay CC system was synthesized using Samsung $0.35{\mu}m$ technology. It is shown that the designed system can operate in the frequency range above 80 MHz. In addition, to show the validity of the designed FlexRay system, the FlexRay system is combined with sound source localization system in Robot applications. The combined system is implemented using ALTERA Excalibur ARM EPXA4F672C3. It is shown that the implemented system operates successfully.

• Journal of Mechanical Science and Technology
• /
• v.17 no.7
• /
• pp.999-1010
• /
• 2003

Uninterrupted power supply has become indispensable during the maintenance task of active electric power lines as a result of today's highly information-oriented society and increasing demand of electric utilities. This maintenance task has the risk of electric shock and the danger of falling from high place. Therefore it is necessary to realize an autonomous robot system using electro-hydraulic manipulators because hydraulic manipulators have the advantage of electric insulation and power/mass density. Meanwhile an electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous assembly tasks using hydraulic manipulators. In this paper, the robust force control of a 6-link electro-hydraulic manipulator system used in the real maintenance task of active electric lines is examined in detail. A nominal model for the system is obtained from experimental frequency responses of the system, and the deviation of the manipulator system from the nominal model is derived by a multiplicative uncertainty. Robust disturbance observers for force control are designed using this information in an H$\_$$\infty$/ framework, and implemented on the two different setups. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved even if the stiffness of environment and the shape of wall change.

• Journal of the Korean Solar Energy Society
• /
• v.32 no.3
• /
• pp.33-41
• /
• 2012

As the wind farms in large scale demand enormous amount of construction cost, minimizing the economic burden is essential and also it is very important to measure the wind resources and forecast annual energy production correctly to judge the economic feasibility of the proposed site by way of installing a Met mast at or nearby the site. Wind resources were measured by installing a 80[m] high Met mast at WangdeungYeo Island to conduct the research incorporated in this paper and offshore wind farm was designed using WindPRO. Wind farm of 100[MW] was designed making use of 3 and 4.5[MW] wind generator at the place selected to compare their annual energy production and capacity factor applying the loss factor of 10[%] and 20[%] respectively to each farm. As a result, 336,599[MWh] was generated by applying 3[MW] wind generator while 358,565 [MWh] was produced by 4.5[MW] wind generator. Difference in the energy production by 3[MW] generator was 33,660 [MWh] according to the loss factor with the difference in its capacity factor by 3.8[%]. On the other hand, 23 units of 4.5 [MW] wind generators showed the difference of annual energy production by 35,857 [MWh] with 4.0[%] capacity factor difference.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.26 no.5
• /
• pp.567-577
• /
• 2016

The hutches which are installed in the beamline are largely classified into two, i.e XPP (X-ray pump probe) and CXI (Coherent X-ray image). Laser room is installed on the hutch and provides laser to XPP and CXI simultaneously. And two hutches have heavy crane to install some optics equipments. Safety and reliability of hutch structures should be taken into account for the precise operating of the laser facilities, so vibration analysis is essential to do this. The main purpose of vibration analysis is to install hutch structures with large stiffness. We have changed materials specification several times to install hutch structures having strong stiffness. Now hutch structures were installed and checked vibration status at laser room and XPP hutch. The results of laser table and robot arm satisfy vibration criteria. This paper explains about the design and vibration analysis of hutch structures.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.15 no.7
• /
• pp.817-822
• /
• 2005

Recently tile study that exploits visual information for tile services of robot in indoor environments is active. Conventional image processing approaches are based on the pre-defined geometric models, so their performances are likely to decrease when they are applied to the uncertain and dynamic environments. For this, diverse researches to manage the uncertainty based on the knowledge for improving image recognition performance have been doing. In this paper we propose a Bayesian network modeling method for predicting the existence of target objects when they are occluded by other ones for improving the object detection performance of the service robots. The proposed method makes object relationship, so that it allows to predict the target object through observed ones. For this, we define the design method for small size Bayesian networks (primitive Bayesian netqork), and allow to integrate them following to the situations. The experiments are performed for verifying the performance of constructed model, and they shows $82.8\%$ of accuracy in 5 places.

• Journal of Biomedical Engineering Research
• /
• v.30 no.6
• /
• pp.503-509
• /
• 2009

The development of technology has led to ubiquitous health care service, which enables many patients to receive medical services anytime and anywhere. For the ubiquitous health care environment, real-time measurement of biomedical signals is very important, and the medical instruments must be small and portable or wearable. So, such devices have been developed to measure biomedical signals. In this study, we develop the biomedical monitoring device which is sensing the PPG signal, one of the useful signal in the field of ubiquitous healthcare. We design a watch-like biomedical signal monitoring system without a finger probe to prevent the user's inconvenience. This system obtains the PPG from the radial artery using a sensor in the wrist band. But, new device developed in this paper is easy to get the motion artifacts. So, we proposed new algorithm removing the motion artifacts from the PPG signal. The method detects motion artifacts by changing the degree of brightness of the light source. If the brightness of the light source is reduced, the PPG pulses will disappear. When the PPG pulses have disappeared completely, the remaining signal is not the signal that results from the changing blood flow. We believe that this signal is the motion artifact and call it the noise reference signal. The motion artifacts are removed by subtracting the noise reference signal from the input signal. We apply this algorithm to the system, so we can stabilize the biomedical monitoring system we designed.