• 제어로봇시스템학회논문지
• /
• 제7권12호
• /
• pp.1001-1008
• /
• 2001

This paper presents a new camera calibration algorithm for ill-conditioned cases in which the camera plane is nearly parallel to a set of non-coplanar calibration boards. for the ill-conditioned case, most of existing calibration approaches such as Tsais radial-alignment-constraint method cannot be applied. Recently, for the ill-conditioned coplanar calibration Lee&Lee[16] proposed an iterative algorithm based on the least square method. The non-coplanar calibration algorithm presented in this paper is an iterative two-stage procedure with extends the previous coplanar calibration algorithm. Through the first stage, camera, position and orientation parameters as well as one radial distortion factor are determined optimally for a given data of the scale factor and the focal length. In the second stage, the scale factor and the focal length are locally optimized. This process is repeated until any improvement cannot be expected any more Computational results are provided to show the performance of the algorithm developed.

• 제어로봇시스템학회논문지
• /
• 제20권12호
• /
• pp.1267-1271
• /
• 2014

There have been many autonomous robot calibration methods which form closed loop structures through the various attached sensors and mechanical fixtures. Single point calibration among them has been used for on-site calibration due to its convenience of implementation. The robot can reach a single point with infinitely many configurations so that single point calibration algorithm can be set up and easily implemented relative to the other methods. However, it is not still easy to drive the robots' sharp edge to its corresponding edge of the fixture. This is error-prone process. In this paper, we propose a 3 dimensional small displacement measuring sensor and a robot calibration algorithm based on this sensor. This method relieves the difficulty of matching two edges in the single point calibration and improves the resulting robot accuracy. Simulated study is carried out on a Hyundai HA06 robot to show the effectiveness of the proposed method over the single point calibration. And also, the resulting robot accuracy is compared with that from 3D laser tracker based calibration to show the dependency of robot accuracy on range of the workspace where the measurement data are collected.

• International Journal of Control, Automation, and Systems
• /
• 제3권3호
• /
• pp.453-460
• /
• 2005

In this paper, a prototype Cartesian Parallel Manipulator (CPM) is demonstrated, in which a moving platform is connected to a fixed frame by three PRRR limbs. Due to the orthogonal arrangement of the three prismatic joints, it behaves like a conventional X-Y-Z Cartesian robot. However, because all the linear actuators are mounted at the fixed frame, the manipulator may be suitable for applications requiring high speed and accuracy. Using a geometric method and the practical assumption that three revolute joint axes in each limb are parallel to one another, a simple forward kinematics for an actual model is derived, which is expressed in terms of a set of linear equations. Based on the error model, two calibration methods using full position and length measurements are developed. It is shown that for a full position measurement, the solution for the calibration can be obtained analytically. However, since a ball-bar is less expensive and sufficiently accurate for calibration, the kinematic calibration experiment on the prototype machine is performed by using a ball-bar. The effectiveness of the kinematic calibration method with a ball-bar is verified through the well­known circular test.

• 제어로봇시스템학회논문지
• /
• 제8권9호
• /
• pp.803-811
• /
• 2002

Machine vision systems are usually used to identify traffic lanes and then determine the steering angle of an autonomous vehicle in real time. The steering angle is calculated using a geometric model of various parameters including the orientation, position, and hardware specification of a camera in the machine vision system. To find the accurate values of the parameters, camera calibration is required. This paper presents a new camera-calibration algorithm using known traffic lane features, line thickness and lane width. The camera parameters considered are divided into two groups: Group I (the camera orientation, the uncertainty image scale factor, and the focal length) and Group II(the camera position). First, six control points are extracted from an image of two traffic lines and then eight nonlinear equations are generated based on the points. The least square method is used to find the estimates for the Group I parameters. Finally, values of the Group II parameters are determined using point correspondences between the image and its corresponding real world. Experimental results prove the feasibility of the proposed algorithm.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1996년도 하계학술대회 논문집 B
• /
• pp.1248-1250
• /
• 1996

The objective of camera calibration is to obtain the correlation between camera image coordinate and 3-D real world coordinate. Most calibration methods are based on the camera model which consists of physical parameters of the camera like position, orientation, focal length, etc and in this case camera calibration means the process of computing those parameters. In this research, we suggest a new approach which must be very efficient because the artificial neural network(ANN) model implicitly contains all the physical parameters, some of which are very difficult to be estimated by the existing calibration methods. Implicit camera calibration which means the process of calibrating a camera without explicitly computing its physical parameters can be used for both 3-D measurement and generation of image coordinates. As training each calibration points having different height, we can find the perspective projection point. The point can be used for reconstruction 3-D real world coordinate having arbitrary height and image coordinate of arbitrary 3-D real world coordinate. Experimental comparison of our method with well-known Tsai's 2 stage method is made to verify the effectiveness of the proposed method.

• Steel and Composite Structures
• /
• 제23권5호
• /
• pp.501-516
• /
• 2017

Numerical simulations are prevalently used to evaluate the seismic behaviour of structures. The accuracy of the simulation results depends directly on the accuracy of the modelling techniques employed to simulate the behaviour of individual structural members. An empirical modelling technique is employed in this paper to simulate the behaviour of column members under cyclic and seismic loading. Despite the common modelling techniques, this technique is capable of simulating two important aspects of the cyclic and seismic behaviour of columns simultaneously. The proposed fiber-based modelling technique captures explicitly the interaction between the bending moment and the axial force in columns, and the cyclic deterioration of the hysteretic behaviour of these members is implicitly taken into account. The fiber-based model is calibrated based on the cyclic behaviour of square hollow steel sections. The behaviour of several column archetypes is investigated under a dual cyclic loading protocol to develop a benchmark database before the calibration procedure. The dual loading protocol used in this study consists of both axial and lateral loading cycles with varying amplitudes. After the calibration procedure, a regression analysis is conducted to derive an equation for predicting a varying calibrated modelling parameter. Finally, several nonlinear time-history analyses are conducted on a 6-story steel special moment frame in order to investigate how the results of numerical simulations can be affected by employing the intended modelling technique for columns instead of other common modelling techniques.

• 대한원격탐사학회:학술대회논문집
• /
• 대한원격탐사학회 2005년도 Proceedings of ISRS 2005
• /
• pp.182-185
• /
• 2005

Satellite cameras are calibrated before launch in detail and in general, but it cannot be guaranteed that the geometry is not changing during launch and caused by thermal influence of the sun in the orbit. Modem satellite imaging systems are based on CCD-line sensors. Because of the required high sampling rate the length of used CCD-lines is limited. For reaching a sufficient swath width, some CCD-lines are combined to a longer virtual CCD-line. The images generated by the individual CCD-lines do overlap slightly and so they can be shifted in x- and y-direction in relation to a chosen reference image just based on tie points. For the alignment and difference in scale, control points are required. The resulting virtual image has only negligible errors in areas with very large difference in height caused by the difference in the location of the projection centers. Color images can be related to the joint panchromatic scenes just based on tie points. Pan-sharpened images may show only small color shifts in very mountainous areas and for moving objects. The direct sensor orientation has to be calibrated based on control points. Discrepancies in horizontal shift can only be separated from attitude discrepancies with a good three-dimensional control point distribution. For such a calibration a program based on geometric reconstruction of the sensor orientation is required. The approximations by 3D-affine transformation or direct linear transformation (DL n cannot be used. These methods do have also disadvantages for standard sensor orientation. The image orientation by geometric reconstruction can be improved by self calibration with additional parameters for the analysis and compensation of remaining systematic effects for example caused by a not linear CCD-line. The determined sensor geometry can be used for the generation? of rational polynomial coefficients, describing the sensor geometry by relations of polynomials of the ground coordinates X, Y and Z.

• 소성∙가공
• /
• 제18권8호
• /
• pp.640-645
• /
• 2009

Recently, boss and rib test based on backward extrusion process was proposed to quantitatively evaluate the interfacial friction condition in bulk forming process. In this test, the tube-shaped punch with hole pressurizes the workpiece so that the boss and rib are formed along the hole and outer surface of the punch. It was experimentally and numerically revealed that the height of boss is higher than that of the rib under the severe friction condition. This work is focused on the effect of the punch design and flow stress on deformation pattern in boss and rib test. From the boss and rib test simulations, it was found that there is slight variation in both the heights of boss and rib according to the length of punch land, nose radius, and face angle. However the hole diameter of the punch and the clearance between the punch and die have a significant influence on the calibration curves showing the heights of the boss and rib. In addition, the effect of flow stress on the calibration curves was investigated through FE simulations. It was found that there is no effect of strength coefficient of the workpiece on the calibration curves for estimation of friction condition. On the other hand, the strain-hardening exponent of the workpiece has a significant influence on the calibration curve.

• 로봇학회논문지
• /
• 제12권1호
• /
• pp.26-32
• /
• 2017

Previous shape sensors including bend sensors and optic fiber based sensors are widely used in various applications including goniometer and surgical robots. But theses sensors have large nonlinearity, limited in the range of sensing curvature, and sometimes are expensive. This study suggests a new concept of bend sensor using cable-conduit which consists of the outer sheath and the inner wire. The outer sheath is made of helical coil whose length of the central line changes as the sheath bends. This length change of the central line can be measured with the length change of the inner cable. The modeling and the experimental results show that the output signal of the proposed sensor is linearly related with the bend angle of the sheath with root mean square error of 5.3% of $450^{\circ}$ sensing range. Also the polynomial calibration of the sensor can decrease the root mean square error to 2.1% of the full sensing range.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2001년도 춘계학술대회논문집E
• /
• pp.607-612
• /
• 2001

Based on the flow characteristics around a piercing cylinder, a free surface-flow velocitmetry which can be used in extremely harsh environment such as molten steel flow was developed. The velocimetry is consisted of finite length cylinder, load detecting elastic plate, electric signal transducer and data acquisition H/W and S/W. Using such a velocimetry, two velocity measurement schemes were established which one is flow resistance detecting scheme and the other is Karman Vortex frequency detecting scheme. For calibration of each scheme, realistic flow water model was used and in followings, detailed calibration processes were explained.