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Pan/Tilt 스테레오 카메라를 이용한 이동 물체의 강건한 시각추적
조지승(Che Seung Cho),정병묵(Byeong Mook Chung),최인수(In Su Choi),노상현(Sang Hyun Nho),임윤규(Yoon Kyu Lim) Korean Society for Precision Engineering 2005 한국정밀공학회지 Vol.22 No.9
In most vision applications, we are frequently confronted with determining the position of object continuously. Generally, intertwined processes are needed for target tracking, composed with tracking and control process. Each of these processes can be studied independently. In case of actual implementation we must consider the interaction between them to achieve robust performance. In this paper, the robust real time visual tracking in complex background is considered. A common approach to increase robustness of a tracking system is to use known geometric models (CAD model etc.) or to attach the marker. In case an object has arbitrary shape or it is difficult to attach the marker to object, we present a method to track the target easily as we set up the color and shape for a part of object previously. Robust detection can be achieved by integrating voting-based visual cues. Kalman filter is used to estimate the motion of moving object in 3D space, and this algorithm is tested in a pan/tilt robot system. Experimental results show that fusion of cues and motion estimation in a tracking system has a robust performance.
갠트리 로봇의 고속/고정밀 이송을 위한 모션분석 및 앞섬필터 설계
김진대(Jin-Dae Kim),조지승(Che-Seung Cho),이혁진(Hyuk-Jin Lee),신찬배(Chan-Bai Shin),박철휴(Chul-Hu Park) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.1
Recently gantry-type robot with 3 axes rectangular coordinates have been studied in the many industrial production equipment and machinery fields. To acquire a good handling and motion performance of this robot, reducing the settling-time and securing the accurate-transfer positioning under high-speed conditions should be required. However when robot is moved in high-speed, the large inertia of robot can lead to serious vibration of robot"s head. The time-delayed control characteristics of this robot can also lead to tracking error. In this research, the analysis of the effects of higher order positional-profile is carried out to assure high-speed performance and stiffness specifications. To remove the residual vibration caused by kinematic coupling effect of dual-servo gantry, we develop a dual-servo gantry of rotary type that moving frame of x-axis rotates about z-axis. In order to decrease the tracking error, the 3 type lead-filter through system identification was applied respectively. From the experimental results, it was shown that zero-order series leader-filter has the best performance about tracking error and settling time.
광학식 표면측정법을 이용한 치과용 티타늄(Ti) 임프란트(Implant)의 표면토포그래피 평가
손재환(Jae-Hwan Son),조지승(Che-Seung Cho),이영문(Young-Moon Lee),이경문(Kyung-Mun Lee) 한국기계가공학회 2006 한국기계가공학회 춘추계학술대회 논문집 Vol.2006 No.-
Recently, use of Ti has been expanded as material of artificial joint and dental implant due to superior property of bio-suitability. Especially, dental implant requires surface evaluation as it have an important effect on surface structure. It is very important thing to evaluate performance of implant with optical surface measuring method on such a surface state. Surface topography is very useful in surface quality evaluation. It includes the evaluation of surface area, lateral area and surface roughness. In this study surface evaluations were carried out with two kinds of implants, machined and sandblasted after machining. Surface evaluation method using optical three-dimensional surface roughness measuring method is introduced.
GPS 정보를 이용한 지능형 차량의 자율 경로추적 제어
정병묵(Byeung Mook Chung),석진우(Jin Woo Seok),조지승(Che Seung Cho),이재원(Jae Won Lee) Korean Society for Precision Engineering 2008 한국정밀공학회지 Vol.25 No.10
In the development of intelligent vehicles, path tracking of unmanned vehicle is a basis of autonomous driving and automatic navigation. It is very important to find the exact position of a vehicle for the path tracking, and it is possible to get the position information from GPS. However, the information of GPS is not the current position but the past position because a vehicle is moving and GPS has a time delay. In this paper, therefore, the moving distance of a vehicle is estimated using a direction sensor and a velocity sensor to compensate the position error of GPS. In the steering control, optimal fuzzy rules for the path tracking can be found through the simulation of Simulink. Real driving experiments show that the fuzzy rules are good for the steering control and the position error of GPS is well compensated by the proposed estimation method.