• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.712-715
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• 1997

In image jacobian based visual servoing, generally, inverse jacobian should be calculated by complicated coordinate transformations. These are required excessive computation and the singularity of the image jacobian should be considered. This paper presents a visual servoing to control the pose of the robotic manipulator for tracking and grasping 3-D moving object whose pose and motion parameters are unknown. Because the object is in motion tracking and grasping must be done on-line and the controller must have continuous learning ability. In order to estimate parameters of a moving object we use the kalman filter. And for tracking and grasping a moving object we use a fuzzy inference based reinforcement learning algorithm of dynamic recurrent neural networks. Computer simulation results are presented to demonstrate the performance of this visual servoing

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1553-1558
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• 2003

The authors investigate influences of manipulator dynamics on and roles of kinesthetic sensation and visual sensation in a Human-Machine Cooperative System (HMCS). At first, the general structure and essential transfer functions of HMCSs are described based on the previous work. Then, after showing theoretical treatment of manipulator dynamics, this paper analyzes the influences on HMCSs in two cases: one is the control design focusing on tool dynamics and reaction force transfer function, and the other is that specifies maneuver transfer function and transfer function for object dynamics variation. In addition to conventional experiments only employing kinesthetic sensation, other experiments with both kinesthetic and visual sensations are performed to examine difference in the roles of these sensations and the validity of the design without the visual sensation.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.767-771
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• 2003

In this study, stereo vision system is applied to a mobile manipulator for effective tasks. The robot can recognize a target and compute the position of the target using a stereo vision system. While a monocular vision system needs properties such as geometric shape of a target, a stereo vision system enables the robot to find the position of a target without additional information. Many algorithms have been studied and developed for an object recognition. However, most of these approaches have a disadvantage of the complexity of computations and they are inadequate for real-time visual servoing. However, color information is useful for simple recognition in real-time visual servoing. In this paper, we refer to about object recognition using colors, stereo matching method, recovery of 3D space and the visual servoing.

• Proceedings of the IEEK Conference
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• 2002.07a
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• pp.702-705
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• 2002

This paper describes effects of visual information influencing sound localization in the peripheral visual Held under dynamic conditions. Presentation experiments of an audio-visual stimulus were carried out using a movie of a moving patrol car and its siren sound. The tallowing results were obtained: first, the sound image on the timing at the beginning of the presentation was more strongly captured by the visual image than that at the end, i.e., the "beginning effect" was occurred; second, in the peripheral regions, the "beginning effect" was strongly appeared in near the fixation point of eyes.

• The Journal of Korea Robotics Society
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• v.11 no.1
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• pp.33-40
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• 2016

In this paper, we propose a method for estimating the pose of the camera using a rectangle feature utilized for the visual SLAM. A warped rectangle feature as a quadrilateral in the image by the perspective transformation is reconstructed by the Coupled Line Camera algorithm. In order to fully reconstruct a rectangle in the real world coordinate, the distance between the features and the camera is needed. The distance in the real world coordinate can be measured by using a stereo camera. Using properties of the line camera, the physical size of the rectangle feature can be induced from the distance. The correspondence between the quadrilateral in the image and the rectangle in the real world coordinate can restore the relative pose between the camera and the feature through obtaining the homography. In order to evaluate the performance, we analyzed the result of proposed method with its reference pose in Gazebo robot simulator.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2003.10a
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• pp.296-300
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• 2003

Design of drawing dies used in real industrial environments. It was designed by CAD software in many small & medium companies, but many products require various types, and sizes. Therefore, many companies are required to reduce process time and design mistakes. In this paper, for the automatic design of drawing dies, Design process considered that easy to team and use. which are used with Visual LISP/DCL language in a commercial CAD package, AutoCAD. It has adopted GUI in design system, and has applied DCL language. The system is based on the knowledge base system which is involved a lot of expert's know-how We have built database of design type and detail sizes. The automatic design system requires basic product type and sizes. Then the system accesses to the database and find out sizes by comparing with input parameters and generate drawing dies file.

• Journal of The Korean Digital Architecture Interior Association
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• v.8 no.2
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• pp.57-64
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• 2008

The walls of art museums become the background of exhibits, and they form a unit space depending on the of each exhibit. In addition, the walls are configured and presented depending on the rhythm of space, or the structure of an axis. In this study, according to the axis composed for each unit space, the presentation methods of walls were classified as follows: The central type, the skewed type, the crossed type, the one-side corridor type, and the two-way corridor type. By analyzing visual configurations formed by the arrangement of each unit space, the value and the hierarchy of walls are discussed To analyze the classified types with the physical change of unit space, the factors of visual integration, connectivity, depth, and visual axis are compared, and various configurations of walls and space change are applied.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.451-454
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• 2003

A new query method, called query by visual keys, is proposed to aim easy operation and efficient region-based image retrieval (RBIR). Visual keys are constructed from representative regions/subimages in a given image database, and the database is indexed with visual keys. A system on PC is presented, where text retrieval techniques are applied to the image retrieval with visual keys. Experimental results show that one retrieval is done within 4ms and that the proposed system achieves the comparable retrieval precision (with user-friendly operation and low computational cost) to conventional region based image retrieval systems

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.138-141
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• 2003

This paper proposes conceptual fuzzy sets for picture reference system with visual user interface and command recognition system without keyboard and mouse. The picture reference system consists of the associative picture database, the visual user interface and command recognition system. The associative picture database searches pictures by using conceptual fuzzy sets. To show pictures attractive, the visual user interface provides some visual effect functions. The command recognition unit, without keyboard and mouse, captures user's hand by camera and informs it to the system as a command. We implement and evaluate the picture reference system.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2004.04a
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• pp.235-240
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• 2004

The equipment of industrial robot in manufacturing and assembly lines has rapidly increased. In order to achieve high productivity and flexibility, it becomes very important to develop the visual feedback control system with Off-Line Programming System(OLPS). We can save much efforts and time in adjusting robots to newly defined workcells by using OLPS. A proposed visual calibration scheme is based on position-based visual feedback. The calibration program firstly generates predicted images of objects in an assumed end-effector position. The process to generate predicted images consists of projection to screen-coordinates, visible range test and construction of simple silhouette figures. Then camera images acquired are compared with predicted ones for updating position and orientation data. Computation of error is very simple because the scheme is based on perspective projection which can be also expanded to experimental results. Computation time can be extremely reduced because the proposed method does not require the precise calculation of tree-dimensional object data and image Jacobian.