• 한국생산제조학회지
• /
• 제7권2호
• /
• pp.62-68
• /
• 1998

This paper presents the application of computer vision for the purpose of determining the position of the unknown object in the plane. The presented control method is to estimate the six view parameters representing the relationship between the image plane coordinates and the real physical coordinates. The estimation of six parameters is indispensable for transforming the 2-dimensional camera coordinates to the 3-dimensional spatial coordinates. Then, the position of unknown point is estimated based on the estimated parameters depending on the cameras. The suitability of this control scheme is demonstrated experimentally by determining position of the unknown object in the plane.

• 대한기계학회논문집B
• /
• 제32권5호
• /
• pp.374-381
• /
• 2008

The correlation coefficient method, which was proposed by our research group, is applied to digital particle holography to locate the focal plane of particles. It uses the fact that the correlation coefficient is maximum at the focal plane. The factors influencing this method are discussed with a numerical simulation of holograms. For real holograms, the Wiener filter was proposed to process both recorded holograms and reconstructed images. The application results using the dot array target showed that the Wiener filter is a very effective tool for processing holography-related images. The effects of the dot size and the object distance on the errors in the determination of the focal plane by the correlation coefficient method were investigated by using the calibration target.

• 비파괴검사학회지
• /
• 제22권5호
• /
• pp.523-531
• /
• 2002

본 연구는 속도 향상을 고려한 실시간 다물체 화상처리 알고리즘을 개발하고자 한다. 최근 들어 비전시스템의 사용은 검사 및 로봇 위치 제어 풍에서 급속히 증가하고 있다. 이러한 비전시스템을 적용하기 위해서는 3차원 공간상 물체의 좌표를 CCD 카메라에 의해서 얻어진 이미지 정보로 변환하는 것이 필요하다. 검사 및 로봇 위치 제어 작업들에 비전시스템을 적용하기 위해서 이미지 평면에서 물체의 중심 위치를 알아야 한다. 특히, 그것의 물체 형상을 표시하기 위하여 여러 개 큐들을 사용하는 강체의 경우에는 여러 개 큐들의 각각 위치 값들이 동시에 하나의 이미지 평면에서 결정되어 져야 한다. 이러한 문제를 해결하기 위하여 여러 개 큐 (다물체)에 대한 화상처리 알고리즘 개발 과정을 본 논문에서 제시하고, 개발된 알고리즘의 타당성을 제시하였다.

• 대한전자공학회논문지SP
• /
• 제48권2호
• /
• pp.88-95
• /
• 2011

스테레오 매칭은 두 영상의 차이를 이용하여 거리를 추정하는 연구 분야로 성능 개선과 함께 처리속도 향상을 위한 연구가 계속되고 있다. 본 논문에서는 계층적 Belief Propagation(BP) 알고리즘을 개선하여 기존의 BP에서의 수렴구간을 메시지 맵으로 만들고 이를 이용하여 처리속도를 향상시키는 Plane-converging BP 알고리즘을 제안한다. 또한 GPU 아키텍쳐인 Nvidia의 CUDA를 이용하여 다수의 계산을 병렬화 하고 이를 동시에 처리하여 실시간 어플리케이션에 적합한 스테레오 매칭 기법을 개발하였다. Plane-converging BP 알고리즘은 기존의 계층적 BP 알고리즘과 유사한 에러율을 가지면서 약 2.7배의 속도 향상을 이루었다.

• 제어로봇시스템학회논문지
• /
• 제17권3호
• /
• pp.269-276
• /
• 2011

This paper proposes a novel control method using phase plane for a hydraulic biped humanoid robot. In biped walking control, it is much more difficult to control the posture of a biped robot in the coronal plane because the supporting area formed by the both feet in the coronal plane is much narrower than that of the sagittal plane. When the biped robot walks stably, the phase portrait of the pelvis in the coronal plane makes an elliptical shape. From this point of view, we develop an ankle torque controller and a foot placement controller for tracking the desired phase portrait during walking. We design these controllers by using simulations of a simplified compass gait biped model to regulate the desired phase portrait of pelvis. The effectiveness of the proposed control method is proved through full-body dynamic walking simulations and real experiments of the SARCOS hydraulic biped humanoid.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.588-591
• /
• 2004

In this paper, we propose a ground plane detection algorithm, using a new image processing method (IPD). To extract the ground plane from the color image acquired by monocular camera, we use a new identical pixel detection method (IPD) and an edge detection method. This IPD method decides whether the pixel is identical with the ground plane pixel or not. The IPD method needs the reference area and its performance depends on the reference area size. So we propose the reference area auto-expanding algorithm in accordance with situation. And we evaluated the proposed algorithm by the experiments in the various environments. From the experiments results, we know that the proposed algorithm is efficient in the real indoor environment.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2002년도 춘계학술대회 논문집
• /
• pp.688-694
• /
• 2002

As a tool for strain measurement to work with screw driven or hydraulic material test systems, in which mechanical vibration is inherent, SSDG(Speckle Strain/Displacement Gage), ESP(Electronic Speckle Photography) and its 3-dimension version SDSP are investigated for the theory and practical appliance. Through tension test of steel strips, their validity and shortcomings are examined. As the results, it has been shown that, although SSDG and ESP provide direct measurement of in-plane strain in one direction, they are so sensitive to the out-plane displacement. On the other hand, SDSP which is aided with DIC (Digital Image Correlation) technique to trace the movement of the speckles provides not only in-plane 2-dimensional displacement field, but also out-of-plane displacement simultaneously. However, because the DIC is time-consuming, not automated yet and it needs post-processing to evaluate strain from the displacement field, SDSP appears to be not adequate as a real time sensor.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2005년도 춘계학술대회 논문집
• /
• pp.1803-1807
• /
• 2005

The pipe which it uses from the nuclear power plant or factory by a long period use and a corrosive action the inside defect occurs on the inside. abstract here. The ESPI method is in order to investigate the laser light in the measurement object it will be able to measure the wide territory whole in once, does not receive an effect in direction of defect not to be, has the strong point it will be able to measure a change of place arrowhead real-time defect. It measured a inside defect of pressure vessel by using Out of plane ESPI and In plane of ESPI. It compared a each method result.

• 한국전산유체공학회:학술대회논문집
• /
• 한국전산유체공학회 2005년도 추계 학술대회논문집
• /
• pp.255-259
• /
• 2005

An analysis is made of flow and rocket motion during a supersonic separation stage of air-launching rocket from the mother plane. Three-dimensional Euler and Navier-Stokes equations are numerically solved to analyze the steady/unsteady flow field around the rocket which is being separated from two cases of mother plane configuration: one is an idealized ogive-cylinder body and the other is a real F-4E Phantom. The simulation results clearly demonstrate the effect of shock-expansion wave interaction between the rocket and the mother plane. As a result, a design-guideline of supersonic air-launching rocket for the safe separation is proposed.

• 한국정밀공학회지
• /
• 제20권6호
• /
• pp.47-54
• /
• 2003

As a tool for strain measurement to work with screw driven or hydraulic material test systems, in which mechanical vibration is inherent, SSDG (Speckle Strain/Displacement Gage), ESP (Electronic Speckle Photography) and its 3-dimension version SDSP are evaluated for the theory and practical appliance. Through tension test of steel strips, their validity and shortcomings are examined. As the results, it has been shown that, although SSDG and ESP provide direct measurement of in-plane strain in one direction, they are so sensitive to the out-plane displacement. On the other hand, SDSP which is aided with DIC (Digital Image Correlation) technique to trace the movement of the speckles provides not only in-plane 2-dimensional displacement field, but also out-of-plane displacement simultaneously. However, because the DIC is time-consuming, not automated yet and it needs post-processing to evaluate strain from the displacement field, SDSP appears to be not adequate as a real time sensor.