• Title/Summary/Keyword: Visual system

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A study on Precise Trajectory Tracking control of Robot system (로봇시스템의 정밀 궤적 추적제어에 관한 연구)

  • Lee, Woo-Song;Kim, Won-Il;Yang, Jun-Seok
    • Journal of the Korean Society of Industry Convergence
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    • v.18 no.2
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    • pp.82-89
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    • 2015
  • This study proposes a new approach to design and control for autonomous mobile robots. In this paper, we describes a fuzzy logic based visual servoing system for an autonomous mobile robot. An existing system always needs to keep a moving object in overall image. This mes difficult to move the autonomous mobile robot spontaneously. In this paper we first explain an autonomous mobile robot and fuzzy logic system. And then we design a fuzzy logic based visual servoing system. We extract some features of the object from an overall image and then design a fuzzy logic system for controlling the visual servoing system to an exact position. We here introduce a shooting robot that can track an object and hit it. It is illustrated that the proposed system presents a desirable performance by a computer simulation and some experiments.

Development of a Control and Virtual Realty Visual System for the Tilting Train Simulator (틸팅 차량용 시뮬레이터 적용을 위한 통제 및 가상현실 영상 시스템 개발)

  • Song Young-Soo;Han Seong-Ho;Kim Jung-Seok
    • Journal of the Korean Society for Railway
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    • v.8 no.4
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    • pp.330-336
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    • 2005
  • This paper presents a development of the control and the virtual reality visual system for a tilting train simulator. The user of the tilting train simulator is able to set up the environmental and operating conditions through the user interface provided by the control system. In the control system, an arbitrary track which has user-defined curve radius, length and direction can be generated. The virtual reality visual system provides an artificial environment that is composed of several facilities such as station, platform, track, bridge, tunnel and signaling system. In order to maximize the reality, all of the 3D modeling were based on the real photographs taken in the Jungang line. A dome screen with 1600mm diameter was used to maximize the view angle. The hemispherical screen can ensure the view angle of the 170 degrees of vertical direction and 135 degrees of lateral direction.

Calibration and INvestigation into Measurement Performance of a Visual Sensing System (시각측정시스템의 캘리브레이션 및 측정성능 검토)

  • Kim, Jin-Young;Cho, Hyung-Suck
    • Journal of the Korean Society for Precision Engineering
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    • v.16 no.8
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    • pp.113-121
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    • 1999
  • It is necessary to calibrate measurement systems to enhance its measurement accuracy. The visual sensing system that is presented in our previous work has to be calibrated, too. It is a multiple mirror system for three-dimensional measurement, which is composed of a camera and a series of mirrors. It is important to calibrate the positions and orientations of the mirrors relative to the camera because they have direct influence on the relationship between the image plane and the task space. This paper presents the calibration method for the visual sensing system. To confirm the measurement performance of the implemented system. its measurement accuracy in measuring the locations in three-dimensional space is investigated. A series of experiments for measuring the locations of the circle-shaped marks are performed. Experimental results show that the sensing system can be effectively used for three-dimensional measurement.

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A Self Visual-Acuity Testing System based on the Hand-Gesture Recognition by the KS Standard Optotype (KS 표준 시표를 어용한 손-동작 인식 기반의 자가 시력 측정 시스템)

  • Choi, Chang-Yur;Lee, Woo-Beom
    • Journal of the Institute of Convergence Signal Processing
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    • v.11 no.4
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    • pp.303-309
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    • 2010
  • We proposes a new approach for testing the self visual-acuity by using the KS standard optotype. The proposed system provides their hand-gesture recognition method for the convenient response of subjects in the visual acuity measurement. Also, this system can measure a visual-acuity that excludes the examiner's subjective judgement or the subject's memorized guess, because of presenting a random optotype automatically by computer without a examiner. Especially, Our system guarantees the reliability by using the KS standard optotype and its presentation(KS P ISO 8596), which is defined by the Korea Standards Association in 2006. And the database management function of our system can provide the visual-acuity data to the EMR client easily. As a result, Our system shows the 98% consistency in the limit of the ${\pm}1$ visual-acuity level error by comparing the visual-acuity chart test.

Visual Servoing of a Mobile Manipulator Based on Stereo Vision

  • Lee, H.J.;Park, M.G.;Lee, M.C.
    • 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.

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The Development of Underwater Robotic System and Its application to Visual Inspection of Nuclear Reactor Internals (수중로봇 시스템의 개발과 원자로 압력용기 육안검사에의 적용)

  • 조병학;변승현;신창훈;양장범
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2004.10a
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    • pp.1327-1330
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    • 2004
  • An underwater robotic system has been developed and applied to visual inspection of reactor vessel internals. The Korea Electric Power Robot for Visual Test (KeproVt) consists of an underwater robot, a vision processor-based measuring unit, a master control station and a servo control station. The robot guided by the control station with the measuring unit can be controlled to have any motion at any position in the reactor vessel with $\pm$1 cm positioning and $\pm$2 degrees heading accuracies with enough precision to inspect reactor internals. A simple and fast installation process is emphasized in the developed system. The developed robotic system was successfully deployed at the Younggwang Nuclear Unit 1 for the visual inspection of reactor internals.

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Visual Servoing of a Mobile Manipulator Based on Stereo Vision (스테레오 영상을 이용한 이동형 머니퓰레이터의 시각제어)

  • Lee Hyun Jeong;Park Min Gyu;Lee Min Cheol
    • Journal of Institute of Control, Robotics and Systems
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    • v.11 no.5
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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.

An Efficient Video Indexing Scheme Exploiting Visual Rhythm (비쥬얼 리듬을 이용한 효율적 비데오 인덱싱 기법)

  • Chung, Ji-Moon;Kim, Cheong-Ghil
    • Journal of The Institute of Information and Telecommunication Facilities Engineering
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    • v.10 no.3
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    • pp.103-109
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    • 2011
  • With the growing popularity of digital video applications, those areas of the efficient transmit, storage management, and search technology for video data are emerging as an important core technology. To be an effective video indexing system, users need to be able to find the video segments that they want. Unfortunately, video data is difficult to manage because of its unstructured data type and large volume with linear forms. This paper proposes a shot verification using visual rhythm and video retrieval system. The shot verification is designed to detect a segment from video easily and quickly, known as shot boundaries, just by changing the visual rhythm without playing the image. Therefore, this can decrease the false detected shots and generate the unidentified shots and key frames. The retrieval system is constructed in terms of visual descriptor from the list of MPEG-7. The effectiveness of the proposed shot verification process and video retrieval system is demonstrated.

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Development of Visual Servo Control System for the Tracking and Grabbing of Moving Object (이동 물체 포착을 위한 비젼 서보 제어 시스템 개발)

  • Choi, G.J.;Cho, W.S.;Ahn, D.S.
    • Journal of Power System Engineering
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    • v.6 no.1
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    • pp.96-101
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    • 2002
  • In this paper, we address the problem of controlling an end-effector to track and grab a moving target using the visual servoing technique. A visual servo mechanism based on the image-based servoing principle, is proposed by using visual feedback to control an end-effector without calibrated robot and camera models. Firstly, we consider the control problem as a nonlinear least squares optimization and update the joint angles through the Taylor Series Expansion. And to track a moving target in real time, the Jacobian estimation scheme(Dynamic Broyden's Method) is used to estimate the combined robot and image Jacobian. Using this algorithm, we can drive the objective function value to a neighborhood of zero. To show the effectiveness of the proposed algorithm, simulation results for a six degree of freedom robot are presented.

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Human Postural Balance Control by Visual Stimulation (시각 자극에 의한 신체자세 균형제어에 관한 연구)

  • 김현석;김동욱
    • Journal of Biomedical Engineering Research
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    • v.17 no.4
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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.

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