• 한국지능시스템학회논문지
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• 제21권5호
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• pp.595-601
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• 2011

본 논문에서는 영상 정보를 이용하여 로보커 팔위의 역진자의 밸런싱 제어를 한다. 로봇 팔위에 놓인 역진자의 각도는 카메라로 검출하고 검출된 각도 값은 제어기로 귀환되어 오차를 생성한다. 따라서 전체 제어루프는 폐회로 루프를 형성한다. 제어 성능을 높이기 위해 기존 선형제어기에 신경망 제어기를 더하였다. RBF 네트워크의 학습 알고리즘은 FPGA에 설계된 부동소수점 연산이 가능한 디지털 제어기에 의해 수행된다. 실험을 통하여 전체 시스템 성능을 검증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.105-108
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• 1987

In this paper, a new algorithm is proposed to obtain important corner and real corner points of the simple objects and the visual robot graphics simulation using the results is studied. This is capable of performing as a debugging tool for task programming of a visual robot. And the robot motion is also simulated on a CRT terminal.

• 한국조경학회지
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• 제26권2호
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• pp.283-292
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• 1998

The purpose of this study is to suggest visual resource management methods for the national parks and adjacent areas, where visual impacts by high rise buildings such as hotel, condominium, etc. become serious problems. In this study Soraksan National Park has been selected as a case study for landscape management planning. The results of this study are as follows: 1) Comprehensive landscape management planning for National Parks and adjacent areas is necessary to solve visual impact problems by high rise buldings such as hotel, condominium, etc. 2) It is suggested to investigate visual resources and conceptual landscape management ideas, to select landscape control points and lines, landscape management areas, and to prepare building height control plan for proper landscape management plan. 3) In case of Soraksan national park, the landscape management plan includes three landscape management areas : Landscape preservation area, General landscape management area, and special landscape management area. 4) In the part of special landscape management area, it is necessary to introduce landscape impact assessment system to more effective landscape management.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.316-320
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• 2003

This paper introduces an autonomous underwater vehicle (AUV) model, ASUM, equipped with a visual servo control system to dock into an underwater station with a camera and motion sensors. To make a visual servoing AUV, this paper implemented the visual servo control system designed with an augmented state equation, which was composed of the optical flow model of a camera and the equation of the AUV's motion. The system design and the hardware configuration of ASUM are presented in this paper. ASUM recognizes the target position by processing the captured image for the lights, which are installed around the end of the cone-type entrance of the duct. Unfortunately, experiments are not yet conducted when we write this article. The authors will present the results for the AUV docking test.

• 제어로봇시스템학회논문지
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• 제11권5호
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• pp.411-417
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• 2005

In this study, stereo vision system is applied to a mobile manipulator for effective tasks. The robot can recognize a target and compute the potion 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. Color information is useful for simple recognition in real-time visual servoing. This paper addresses object recognition using colors, stereo matching method to reduce its calculation time, recovery of 3D space and the visual servoing.

• 전기학회논문지
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• 제64권3호
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• pp.465-472
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• 2015

This paper presents a visual touch recognition for NUI(Natural User Interface) using Voronoi-tessellation algorithm. The proposed algorithms are three parts as follows: hand region extraction, hand feature point extraction, visual-touch recognition. To improve the robustness of hand region extraction, we propose RGB/HSI color model, Canny edge detection algorithm, and use of spatial frequency information. In addition, to improve the accuracy of the recognition of hand feature point extraction, we propose the use of Douglas Peucker algorithm, Also, to recognize the visual touch, we propose the use of the Voronoi-tessellation algorithm. Finally, we demonstrate the feasibility and applicability of the proposed algorithms through some experiments.

• 한국정밀공학회지
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• 제20권10호
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• pp.82-88
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• 2003

Many visual servoing algorithms have been recently developed by the robot vision researchers. They do not, however, consider the stability of servoing system. The camera calibration is the most important factor to the control stability and performance of position based visual servoing. In this article we describe the ECL(End Point Closed Loop) servoing can make no steady state error for the control of 6-DOF robot of which accuracy is dependent on the camera calibration and kinematics. And we propose a dynamic calibration algorithm, which can improve stability and performance of ECL visual servoing. To verify the potential of our approach, we run assembly experiments and present our finding.

• 전기의세계
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• 제21권5호
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• pp.7-12
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• 1972

Applying the theory of physiology and control systems, the visual system was studied as a regulator of impining light. The characteristics function of visual system is mainly analysed by spato-temporal characteristics based upon Enroth's model, Broca-Sulzer phenomenon and Mach effect. Some aims of this paper are as follows. (1) In order to get the excitatory and inhibitory potential of the intermediated cell layer in the retina, the exponential value, {exp(FM/kT)- $I_{mn}$ } is caculated based on the physiological theory in neuro-phenomena. (2) To show the visual characteristics by analog simulation for generating stimulus waveforms and analysis, the visual adaptation was recorded as electrical stimulation in the form of step functions. Furthermore, ti is shown that the above experimental data agrees satisfactorily with the theoretical (psychophysiological) values. This study is expected to lead to further studies concerned with human observer and human operator in control and especially pattern recognition systems.stems.

• 대한인간공학회지
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• 제32권1호
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• pp.37-45
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• 2013

Objective: This study describes the change of operator performance in drastic change of illumination level, and proposes an alternative method to cope with it. Background: The control standard of illumination for nuclear power plants(NPPs) is based on the set of limit criteria for maintaining a specific illumination level. However, there is a possibility to cause human errors according to the psychological and physiological influences to operators in the situation of drastic change of illumination such as SBO(Station Black Out), so a basic study is necessary to review the current approach. Method: We assessed the visual fatigue, subjective work load and task performance according to the three illumination situations(Normal Illumination, Emergency Illumination, and Drastic Change of Illumination). Result: Research finding shows that there are not significant differences in task performance between normal illumination (1,000lx level) and emergency illumination (100lx level), only if beyond the dark adaptation limit. However, subjective work load on mental demand and visual fatigue show a potential challenge to visual performance in drastic change of illumination. Conclusion/Application: Several trials can complement this challenge in NPPs by applying 3-way communication, enhancing readability of procedures, and managing the visual factors affecting the operators' performance through a Visual Environment Management Program including visual health aspects, etc.

• 대한통합의학회지
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• 제7권4호
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• pp.141-150
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• 2019

Purpose : This study examined the hand function and visual motor integration capabilities in 30 children with developmental disabilities. The children were divided into an experimental group (n=20) that received digital sensory perception training and a control group (n=10) that did not receive this training. Methods : Training was conducted a total of 12 times for six weeks, for 50 minutes a day, twice a week, for the experimental group. The Jebsen-Taylor Hand Function Test was used to determine the hand function before and after the intervention, and the Beery VMI-6 was performed to identify the visual motor integration capability. Results :After the intervention, the ability to perform hand functions and visual motor interaction increased significantly in the experimental group but not in the control group. Digital sensory training therefore had a positive effect on the hand function and visual motor integration in children with developmental disabilities. Conclusion : A digital sensory perception training program is an arbitration method that can positively improve the hand function and visual motor integration ability in children with developmental disabilities.