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박성태(S. T. Park),이민칠(M. C. Lee) 한국정밀공학회 2004 한국정밀공학회 학술발표대회 논문집 Vol.2004 No.10월
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. In this paper we persent a visual approach to the problem of boject grasping. First we propose object recognization method which can find the object position and pose using feature points. A robot recognizes the feature point to Object. So a number of feature point is the more, the better. but if it is overly many, the robot have to processe many data. it makes real-time image processing ability weakly. In other to avoid this problem, the robot selects only two point and recognize the object by line made by two points. Second we propose trajectory planing of the robot manipulator. Using grometry of between object and gripper, robot can find a goal point to translate the robot manipulator. and then it can grip the object successfully.
박광호,박성태,Park, K.H.,Park, S.T. 국립한국농수산대학교 교육개발센터 2017 현장농업연구지 = Journal of practical agricultural resear Vol.19 No.1
The field trial was performed to evaluate the rice growth and yield in different direct seeding methods. The required time for seed emergence was for 8~ 9days in the tested direct seeding methods and there was high in seedling establishment according to wet hill-seeding with iron-coated seeds> wet hill-seeding with soil coverage>water seeding with iron-coated seeds and water seeding with pregerminated seeds as the conventional treatment. The rice plant height was taller in wet hill-seeding methods than that of water seeding with broadcasting method but there was not significant difference in terms of statistical analysis at 75day after seeding except the water seeding with pregerminated seeds. The growth of tiller number in the rice plant was highest in water seeding with iron-coated seeds. The milled rice yield was highest in water seeding with iron-coated seed being with 6.4t/ha and percentage of head rice was the highest in wet hill-seeding and water seeding with iron-coated seeds.