• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.2
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• pp.303-308
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• 2012

One dimensional line edge detection sensor was investigated for the application to detect line or edge of wide sheet winding to cylindrical roller. Line edge detection sensor was realized using align-free 1:1 optical system having 1 convex lens and by processing sum or difference of signals from two photo-diodes in a bi-cell photodetector. Line width up to 0.1mm on object having various materials and colors was detectable, and the deviation of wound sheet was found to be under 0.2mm.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 1995.06a
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• pp.69-74
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• 1995

An object color can be seen differently under the various outer illuminants. However, human visual system has color constancy that the object color can be seen constantly under the different outer illuminants. When the viewer watches TV under specific outer illuminants, he perceives distorted color due to the emitting spectrum of outer illuminants as well as the radiation of CPT itself. Namely, when the outer illuminants such as fluorescent and incandescent lamps incident on CPT, brightness, saturation, hue, and contrast on color pictures are changed, he perceives distorted color from the original color. In this paper color enhancement algorithm based on light intensity and outer light decision function using RGB sensor was proposed. The implemented TV of proposed algorithm has higher visual quality at the view point of human visual system and more vivid than that of conventional color TV.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1996.06c
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• pp.334-343
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• 1996

Quality evaluation for food and agricultural products have always been one of the most elusive problems associated with the handling , processing and marketing in a food plant production. In order to detect physical foreign materials in food and agricultural products, non-destructive techniques have been developed for many years. Application of X-ray system to detect physical foreign materials in food and agricultural products could be considered to be a high potential method. Especially , it is impossible to detect internal physical foreign materials by visual inspections. In this study, it was tried to be applied for two different X-ray devices. Soft X-ray system with CdTe sensor and X-ray CT scanner were evaluated for advantage of the detection of non-meltallic foreign materials in food and agricultural products . Though the soft X-ray is not a high energy radiation, it is possible to detect small different density in a material. The CdTe sensor has a high resolution for t e soft X-ray energy region. The density characteristics of foods and foreign material were expressed region. The density characteristics of foods and foreign materials were expressed as a soft X-ray energy spectrum. The energy spectrum was analyzed by a personal computer with a multi-channel analyzer. X-ray CT scanner can provide visual image and analyze by three dimensional information inside food and agricultural products. The X-ray CT scanner using as a medical equipment was used to detect a foreign material. The density characteristics of food and foreign materials in food were tried to be detected by the threshold value on the basis of the CT numbers. The soft X-ray absorption characteristics for acrylin plates and distilled water were obtained and could be found the possibility of detecting a small physical foreign materials such as a plastic wrapping film , a stone and grasshopper in food and agricultural products.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.4
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• pp.349-355
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• 2015

Underwater robots generally show better performances for tasks than humans under certain underwater constraints such as. high pressure, limited light, etc. To properly diagnose in an underwater environment using remotely operated underwater vehicles, it is important to keep autonomously its own position and orientation in order to avoid additional control efforts. In this paper, we propose an efficient method to assist in the operation for the various disturbances of a remotely operated vehicle for the diagnosis of underwater structures. The conventional AHRS-based bearing estimation system did not work well due to incorrect measurements caused by the hard-iron effect when the robot is approaching a ferromagnetic structure. To overcome this drawback, we propose a sensor fusion algorithm with the camera and AHRS for estimating the pose of the ROV. However, the image information in the underwater environment is often unreliable and blurred by turbidity or suspended solids. Thus, we suggest an efficient method for fusing the vision sensor and the AHRS with a criterion which is the amount of blur in the image. To evaluate the amount of blur, we adopt two methods: one is the quantification of high frequency components using the power spectrum density analysis of 2D discrete Fourier transformed image, and the other is identifying the blur parameter based on cepstrum analysis. We evaluate the performance of the robustness of the visual odometry and blur estimation methods according to the change of light and distance. We verify that the blur estimation method based on cepstrum analysis shows a better performance through the experiments.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.31B no.2
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• pp.69-79
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• 1994

The conventional machine vision system which has uniform rectangular grid requires tremendous amount of computation for processing and analysing an image especially in 2-D image transfermations such as scaling, rotation and 3-D reconvery problem typical in robot application environment. In this study, the imaging system with nonuiformly distributed image sensors simulating human visual system, referred to as Ploar Exponential Grid(PEG), is compared with the existing conventional uniform rectangular grid system in terms of image resolution and computational complexity. By mimicking the geometric structure of the PEG sensor cell, we obtained PEG-like images using computer simulation. With the images obtained from the simulation, image resolution of the two systems are compared and some basic image processing tasks such as image scaling and rotation are implemented based on the PEG sensor system to examine its performance. Furthermore Fourier transform of PEG image is described and implemented in image analysis point of view. Also, the range and heading-angle measurement errors usually encountered in 3-D coordinates recovery with stereo camera system are claculated based on the PEG sensor system and compared with those obtained from the uniform rectangular grid system. In fact, the PEC imaging system not only reduces the computational requirements but also has scale and rotational invariance property in Fourier spectrum. Hence the PEG system has more suitable image coordinate system for image scaling, rotation, and image recognition problem. The range and heading-angle measurement errors with PEG system are less than those of uniform rectangular rectangular grid system in practical measurement range.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2000.11b
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• pp.210-218
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• 2000

Since the SSC(soluble solid contents) and titratable acidity of fruit are highly concerned to the taste, the need for measuring them by non-destructive technology such as NIR(Visual and Near-infrared) spectroscopy is increasing. Specially, in order to grade the quality of each fruit with a sorter at sorting and packing facilities, technologies for online measurement satisfying the tolerance in terms of accuracy and speed should be developed. Many researches have been done to develop devices to measure the internal qualities of fruit such as SSC, titratable acidity, firmness, etc. with the VIS(Visual)/NIR(Near Infrared) reflectance spectra. The distributions of the SSC, titratable acidity, firmness, etc. are different with respect to the position and depth of fruit, and generally the VIS/NIR light can interact with fruit in a few millimeters of pathlength, and it is very difficult to measure the qualities of inner flesh of fruit. Therefore, to measure the average concentrations of each quality factor such as SSC and titratable acidity with the reflectance-type NIR devices, the spectra of fruit at several positions should be measured. Recently, the interest about the transmittance-type VIS/NIR devices is increasing. NIR light can penetrate through the fruit about 1/10-1/1,000,000 %. Therefore, very intensive light source and very sensitive sensor should be adopted to measure the transmitted light spectra of intact fruit. The ultimate purpose of this study was to develop a device to measure the transmitted light spectra of intact fruit such as apple, pear, peach, etc. With the transmittance-type VIS/NIR device, the feasibility of measurement of the SSC and titratable acidity in intact fruit cultivated in Korea was tested. The results are summarized as follows; A simple measurement device which can measure the transmitted light spectra of intact fruit was constructed with sample holder, two 500W-tungsten halogen lamps, a real-time spectrometer having a very sensitive CCD array sensor and optical fiber probe. With the device, it was possible to measure the transmitted light spectra of intact fruit such as apple, pear and peach. Main factors affecting the intensity of transmitted light spectra were the size of sample, the radiation intensity of light source and the integration time of the detector. Sample holder should be designed so that direct light leakage to the probe could be protected. Preprocessing method to the raw spectrum data significantly influenced the performance of the nondestructive measurement of SSC and titratable acidity of intact fruit. Representative results of PLS models in predicting the SSC of peach were SEP of 0.558 Brix% and R2 of 0.819, and those in predicting titratable acidity were SEP of 0.056% and R2 of 0.655.