• 제어로봇시스템학회논문지
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• 제14권10호
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• pp.998-1004
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• 2008

In this paper, a visual servoing control technique of humanoid robot arms is implemented for tracking a moving object. An embedded time-delayed controller is designed on an FPGA(Programmable field gate array) chip and implemented to control humanoid robot arms. The position of the moving object is detected by a stereo vision camera and converted to joint commands through the inverse kinematics. Then the robot arm performs visual servoing control to track a moving object in real time fashion. Experimental studies are conducted and results demonstrate the feasibility of the visual feedback control method for a moving object tracking task by the humanoid robot arms called the ROBOKER.

• 제어로봇시스템학회논문지
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• 제5권5호
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• pp.550-557
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• 1999

This paper describes a road-following controller using the proposed neural network for autonomous vehicle. Road-following with visual sensor like camera requires intelligent control algorithm because analysis of relation from road image to steering control is complex. The proposed neural network, relative similarity modular network(RSMN), is composed of some learning networks and a partitioniing network. The partitioning network divides input space into multiple sections by similarity of input data. Because divided section has simlar input patterns, RSMN can learn nonlinear relation such as road-following with visual control easily. Visual control uses two criteria on road image from camera; one is position of vanishing point of road, the other is slope of vanishing line of road. The controller using neural network has input of two criteria and output of steering angle. To confirm performance of the proposed neural network controller, a software is developed to simulate vehicle dynamics, camera image generation, visual control, and road-following. Also, prototype autonomous electric vehicle is developed, and usefulness of the controller is verified by physical driving test.

• 한국산업융합학회 논문집
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• 제18권2호
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• pp.90-98
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• 2015

This research propose with image-based visual a new approach to design a feedback control of mobile robot. because mobile robot must be recharged periodically, it is necessary to detect and move to docking station. Generally, laser scanner is used for detect of position of docking station. CCD Camera is also used for this purpose. In case of using camera, the position-based visual servoing method is widely used. But position-based visual servoing method requires the accurate calibration and it is hard and complex work. Another method using cameras is inmage-based visual feedback. Recently, image based visual feedback is widely used for robotic application. But it has a problem that cannot have linear trajectory in the 3-dimensional space. Because of this weak point, image-based visual servoing has a limit for real application. in case of 2-dimensional movement on the plane, it has also similar problem. In order to solve this problem, we point out the main reason of the problem of the resolved rate control method that has been generally used in the image-based visual servoing and we propose an image-based visual feedback method that can reduce the curved trajectory of mobile robot in th cartesian space.

• 한국초등과학교육학회지:초등과학교육
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• 제23권3호
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• pp.173-181
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• 2004

The purpose of this study was to explore the effects of visual note making method on creativity and science achievement of elementary school students. This study was conducted for the 17 periods of the first semester of the 4th grade students. Seventy nine students were assigned to experimental group and control group. The experimental group was taught through visual note making methods, and the control group was taught by the traditional manner. On the basis of the test of verbal-spatial from NASSP, the subjects were classified to visual-, visual verbal-, verbal preference groups. After this methods had been applied, students of both groups took tests of creativity and science achievement. The results of this study were as follows: 1. In order to investigate the effects of visual note making on creativity and science achievement of the students, students＇ creativity and science achievement were analyzed by t-test. The experimental group showed significantly higher scores on both of creativity and science achievement than control group. 2. Visual preference group showed significantly higher score on creativity than visualㆍverbal-, and verbal preference group (p＜.01), but not significant on science achievement. In conclusion, the instruction applying the visual note making methods was more effective in nurturing student＇s creativity and science achievement than the traditional instruction.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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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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• 제어로봇시스템학회 2003년도 ICCAS
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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.

• 대한의용생체공학회:의공학회지
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• 제17권4호
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• pp.417-426
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• 1996

In this paper, we report the effects of visual stimulation patterns in the postural balance control. We used the motor-driven cloth panel and HMD(Head Mounted Display) to evaluate the effect of visual stimulation patterns in the postural balance control. We also investigated the usefulness of HMD in the postural balance rehabilitation training system from the view of reducing the scale of experimental system. Our results showed that a vertical-strip visual pattern was more effective than the others in the postural balance control. It was also indicated that HMD might be applied to clinical use as a new postural balance training system.

• 대한물리치료과학회지
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• 제10권1호
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• pp.18-29
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• 2003

The purpose of this study by examine the effect of visual neglect on hemiplegia motor recovery are showing trouble which can be raised by visual neglect and helping the patient's ADL and functional recovering. Among the patients who are being taken physical therapy in many other hospitals in Busan From February 1st 2002 to august 31st, we chose 20 patients as control group who did not have symptoms of visual neglect and 20 other patients who did have as case group. We used Albert's test and line bisection as visual neglect test, and MAS as motor recovery. The average age of the patient group is 51.55 and that of control is 44.9. The men's rate is higher than women' s in both groups. Although the rate of left hemiplegia is higher than right hemiplegia in case group, that of right hemiplegia is higher than left hemiplegia in control group. There is much lesion site of basal ganglia in case group. There is the most amount of transformation of MAS when visual neglect is shorter than 1.5centimeter. Each change of MAS point before and after therapy in case group and control group is revealed $6.5{\pm}4.37$ and $12.5{\pm}5.95$.

• 설비공학논문집
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• 제22권8호
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• pp.553-561
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• 2010

This study examines the influence of light variation on visual responses in a small office space where a daylight dimming control system is applied. Field measurements and survey were performed in a full-scale mocked-up small office space under clear sky day conditions. Maximum fluctuation range for desktop was 133.5 lx and it just happened once for entire monitoring period. For the majority of time, the fluctuation range did not exceed 50 lx, which did not cause visual discomfort to subjects. The daylight dimming control system successfully kept required illuminance levels for an office environment when desktop illuminance by daylight ranged up to 300 lx. The most serious contributor to the sensation of glare was direct daylight through window. The dimming of electric light was not a significant contributor to visual discomfort for the subjects under clear sky day conditions. Visual comfort was significantly influenced by the sensation of glare, feeling for visual stimulation and distraction, and required illuminance level.

• 한국해양공학회지
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• 제17권1호
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• pp.1-7
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• 2003

Autonomous underwater vehicles (AUVs) are unmanned, underwater vessels that are used to investigate sea environments in the study of oceanography. Docking systems are required to increase the capability of the AUVs, to recharge the batteries, and to transmit data in real time for specific underwater works, such as repented jobs at sea bed. This paper presents a visual :em control system used to dock an AUV into an underwater station. A camera mounted at the now center of the AUV is used to guide the AUV into dock. To create the visual servo control system, this paper derives an optical flow model of a camera, where the projected motions of the image plane are described with the rotational and translational velocities of the AUV. This paper combines the optical flow equation of the camera with the AUVs equation of motion, and deriver a state equation for the visual servo AUV. Further, this paper proposes a discrete-time MIMO controller, minimizing a cost function. The control inputs of the AUV are automatically generated with the projected target position on the CCD plane of the camera and with the AUVs motion. To demonstrate the effectiveness of the modeling and the control law of the visual servo AUV simulations on docking the AUV to a target station are performed with the 6-dof nonlinear equations of REMUS AUV and a CCD camera.