• Journal of Welding and Joining
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• 제13권1호
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• pp.115-126
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• 1995

Vision sensors using the optical triangulation have been widely used for automatic welding systems in various ways, but their reliability is seriously affected by presence of the arc noise. The reliability of vision sensors was analyzed with variation of the arc noise by considering the reflectance of the base metal. first, the properties of the base metal's reflection were modelled by using the Bidirectional Reflectance-Distribution Function(BRDF), and then the variation of the reflected arc intensity was formulated for various configurations of the torch, base metal, and sensor. The experimental data of the gray level of the reflected arc light were obtained for two materials, mild steel and stainless steel. It was found that the results calculated from the proposed model were in good agreement with the experimental data.

• 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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.719-723
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• 1997

The welding automation in ship manufacturing process,especially in the sub-assembly line is considered to be a difficult job because the welding part is too huge, various, unstructured for a welding robot to weld fully automatically. The weld orocess at the sub-assembly line for ship manufacturing is to joint the various stiffener on the base panel. In order to realize automatic robot weld in sub-assembly line, robot have to equip with the sensing system to recognize the position of the parts. In this research,we developed a vision system to detect the position of base panle for sub-assembly line is shipbuilding process. The vision system is composed of one CCD camera attached on the base of robot, 2-500W halogen lamps for active illumination. In the image processing algorithm,the base panel is represented by two set of lines located at its two corner through hough transform. However, the various noise line caused by highlight,scratches and stiffener,roller in conveyor, and so on is contained in the captured image, this nosie can be eliminated by region segmentation and threshold in hough transform domain. The matching process to recognize the position of weld panel is executed by finding patterns in the Hough transformed domain. The sets of experiments performed in the sub-assembly line show the effectiveness of the proposed algorithm.

• Journal of the Optical Society of Korea
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• 제5권3호
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• pp.90-92
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• 2001

Direct and inverse mathematical operators of stereo transformation (stereo operators) are studied in this paper. The stereo operators install a one-to-one correspondence between three dimensional coordinates of any point in space and the stereo coordinates which can be displayed on the screen under the given conditions, i.e. stereo vision base and the position of viewer. The stereo operators can be applied to the analyses of stereoscopic image distortions when the stereo vision base and the position of viewer are changed.

• Journal of Multimedia Information System
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• 제1권1호
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• pp.77-85
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• 2014

Usually, the skin pigmentation detection and diagnosis are made by clinicians. In this process it is subjective and non-quantitative. We develop an approach to detect and measure the different pigmentation lesions base on computer vision technology. In the paper we study several usually used skin-detecting color space like HSV, YCbCr and normalized RGB. We compare their performance with illumination influence for detecting the pigmentation lesions better. Base on a relatively stable color space, we propose an approach which is RGB channels vector difference characteristic for the detection. After the object region detection, we also use the difference to measure the difference between the lesion and the surrounding normal skin. From the experiment results, our approach can effectively detect the pigmentation lesion, and perform robustness with different illumination.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2005년도 추계종합학술대회
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• pp.1103-1106
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• 2005

본 연구의 목적은 카메라를 통하여 획득한 이미지 정보를 캡쳐 후, 이를 분석하여 물체의 동작을 인식하는 Vision Box를 설계하는데 목적이 있다. 본 연구는 고객 즉, 사용자의 요구조건을 최대한 반영하여 구현하고자 하였다. 구현하고자 하는 Vision Box 시스템은 특별한 외부의 부가적인 센서를 사용하지 않고 카메라를 통하여 들어오는 화상 정보만을 분석하여 물체를 식별할 수 있도록 하였다. 그리고 PLC와의 통신과 원격지에서 Vision Box를 제어할 수 있는 방법도 지원할 수 있도록 하였다. 본 연구에서 제안한 Vision Box의 성능을 자동차 엔진패턴 검사를 통하여 검증할 수 있었으며 제안한 Vision Box 시스템이 다양한 산업분야에 적용될 수 있을 것이라 생각된다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.361-364
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• 1997

There has been requested to automate the welding process in shipyard due to its dependence on skilled operators and the inferior working environments. According to these demands, multiple robot welding system for sub-assembly welding line has been developed, realized and installed at Keoje Shipyard. In order to realize automatic welding system, robots have to be equipped with the sensing system to recognize the position of the welding panels. In this research, a camera vision system is developed to detect the position of base panels for subassembly line in shipbuilding. Two camera vision systems are used in two different stages (Mounting and Welding) to automate the recognition and positioning of welding lines. For automatic recognition of panel position, various image processing algorithms are proposed in this paper.

• 한국정밀공학회지
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• 제16권12호
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• pp.87-98
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• 1999

This study is concentrated on the development of real-time estimation model and vision control method as well as the experimental test. The proposed method permits a kind of adaptability not otherwise available in that the relationship between the camera-space location of manipulable visual cues and the vector of manipulator joint coordinates is estimate in real time. This is done based on a estimation model ta\hat generalizes known manipulator kinematics to accommodate unknown relative camera position and orientation as well as uncertainty of manipulator. This vision control method is roboust and reliable, which overcomes the difficulties of the conventional research such as precise calibration of the vision sensor, exact kinematic modeling of the manipulator, and correct knowledge of position and orientation of CCD camera with respect to the manipulator base. Finally, evidence of the ability of real-time vision control method for manipulator's position control is provided by performing the thin-rod placement in space with 2 cues test model which is completed without a prior knowledge of camera or manipulator positions. This feature opens the door to a range of applications of manipulation, including a mobile manipulator with stationary cameras tracking and providing information for control of the manipulator event.

• 대한시과학회지
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• 제20권4호
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• pp.431-442
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• 2018

목적 : 소프트 콘택트렌즈 착용자를 대상으로 착용실태 및 구입현황, 피팅 상태 확인 유무에 따른 자각적 증상, 그리고 베이스커브에 대한 소비자 인식도를 알아보고자 하였다. 방법 : 2018년 6월부터 8월까지 소프트 콘택트렌즈를 구매하기 위하여 서울소재의 안경원 및 렌즈샵에 방문한 사람들을 대상으로 설문조사를 시행하였으며, 총 98부를 분석에 이용하였다. 카이제곱 검정과 Fisher의 정확 검정을 이용하여 피팅 상태 확인(착용감과 관련된 문진, 푸시업 테스트 등) 유무에 따른 자각적 증상(건조함, 빛 번짐, 착용감 불편, 시력저하)을 비교하였으며, 로지스틱 회귀분석을 이용하여 오즈비를 구하였다. 결과 : 소프트 콘택트렌즈를 구입 시 시력검사를 받고 구입한 경우는 안경원은 86.6%, 렌즈샵은 64.7%이었다. 콘택트렌즈를 구입할 때 피팅 상태의 확인을 받지 않은 경우에는 피팅 상태의 확인을 받은 경우에 비해 건조함(오즈비 4.41, 95% 신뢰구간 1.25-15.62)과 착용감 불편(오즈비 2.68, 95% 신뢰구간 1.08-6.64)을 더 많이 경험하는 것으로 나타났다. 또한 콘택트렌즈 착용자의 87.8%가 베이스커브라는 용어를 알지 못하고 있었으며, 콘택트렌즈 구매 시 92.9%가 베이스커브와 관련된 설명을 듣지 못한 것으로 나타났고, 96.9%가 베이스커브 검사를 받은 경험이 없는 것으로 조사되었다. 결론 : 소프트 콘택트렌즈 처방 시 피팅 상태의 확인을 통한 적절한 베이스커브의 변경을 통해 기존 소비자들의 콘택트렌즈의 착용 시 만족도를 향상시켜야 할 것으로 생각된다.

• Smart Structures and Systems
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• 제24권5호
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• pp.641-648
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• 2019

The authors investigate the feasibility of applying a vision-based displacement-measurement technique in the characterization of a SMA damper recently introduced in the literature. The experimental campaign tests a steel frame on a uni-axial shaking table driven by sinusoidal signals in the frequency range from 1Hz to 5Hz. Three different cameras are used to collect the images, namely an industrial camera and two commercial smartphones. The achieved results are compared. The camera showing the better performance is then used to test the same frame after its base isolation. U-shaped, shape-memory-alloy (SMA) elements are installed as dampers at the isolation level. The accelerations of the shaking table and those of the frame basement are measured by accelerometers. A system of markers is glued on these system components, as well as along the U-shaped elements serving as dampers. The different phases of the test are discussed, in the attempt to obtain as much possible information on the behavior of the SMA elements. Several tests were carried out until the thinner U-shaped element went to failure.