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Trinocular Vision System을 이용한 물체 자세정보 인식 향상방안
김종형(Jong Hyeong Kim),장경재(Kyoungjae Jang),권혁동(Hyuk-dong Kwon) 한국생산제조학회 2017 한국생산제조학회지 Vol.26 No.2
Recently, robotic bin-picking tasks have drawn considerable attention, because flexibility is required in robotic assembly tasks. Generally, stereo camera systems have been used widely for robotic bin-picking, but these have two limitations: First, computational burden for solving correspondence problem on stereo images increases calculation time. Second, errors in image processing and camera calibration reduce accuracy. Moreover, the errors in robot kinematic parameters directly affect robot gripping. In this paper, we propose a method of correcting the bin-picking error by using trinocular vision system which consists of two stereo cameras andone hand-eye camera. First, the two stereo cameras, with wide viewing angle, measure object’s pose roughly. Then, the 3rd hand-eye camera approaches the object, and corrects the previous measurement of the stereo camera system. Experimental results show usefulness of the proposed method.
김종형(Jong Hyeong Kim),고경철(Kyung-chul Koh) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.12
A 3D visual sensing method using a laser structured beam is presented for robotic tracking applications in a simple and reliable manner. A cylindrical shaped laser structured beam is proposed to measure the pose and position of the target surface. When the proposed laser beam intersects on the surface along the target trajectory, an elliptic pattern is generated. Its ellipse parameters can be induced mathematically by the geometrical relationship of the sensor coordinate and target coordinate. The depth and orientation of the target surface are directly determined by the ellipse parameters. In particular, two discontinuous points on the ellipse pattern, induced by seam trajectory, indicate mathematically the 3D direction for robotic tracking. To investigate the performance of this method, experiments with a 6 axis robot system are conducted on two different types of seam trajectories. The results show that this method is very suitable for robot seam tracking applications due to its excellence in accuracy and efficiency.
체육교사의 언어적 의사소통 유형이 체육교과 태도 및 체육 수업 만족도에 미치는 영향
김종형(Kim, Jong-Hyung),정아람(Jung, A-Lam),김태형(Kim, Tai-Hyung) 한국체육과학회 2016 한국체육과학회지 Vol.25 No.5
The purpose of this research is to explore the methods in which the physical education teachers listen to the students’ opinions and communicate with them and to present the answers to the question of effective communication methods. first, the results of the analysis of the differences in the attitude toward the physical education according to the physical education teachers’ linguistic communication types showed that, in the accepting and urging communication type, the mean value was the highest in the positive emotion, health and physical strength, physical activity movement, interpersonal relationship, active participation, and positive performance which are the subordinate factors of the attitude toward physical education subject, showing statistically significant differences. Second, the results of the analysis of the differences in the satisfaction with physical education classes according to the physical education teachers’ linguistic communication types showed that in the accepting and urging communication type, the mean value was the highest in the satisfaction with teaching behavior, the satisfaction with physical education environment, the satisfaction with physical education grade, and the satisfaction with exercise ability which are the subordinate factors of the satisfaction with physical education classes, showing statistically significant differences.
김종형(Jong Hyeong Kim),Chanh D. Tr. Nguyen 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.12
Fast inspection of solder ball bumps in ball grid array (BGA) is an important issue in the flip chip bonding technology. Particularly, semiconductor industry has required faster and more accurate inspection of micron-size solder bumps in flip chip bonding, as the density of balls increase dramatically. In this paper, we describe an inspection approach of BGA balls by using 5-step ring illumination device and normalized cross-correlation (NCC) method. The images of BGA ball by the illumination device show unique and distinguishable characteristic contours by their 3-D shapes, which are called as “iso-slope contours”. Template images of reference ball samples can be produced artificially by the hybrid reflectance model and 3D data of balls. NCC values between test and template samples are very robust and reliable under well-structured condition. The 200 samples on real wafer are tested and show good practical feasibility of the proposed method.
김종형(Jong Hyeong Kim),김형직(Hyung-jik Kim),정재남(Jae Nam Jung),장동휘(Dong-hee Jang),권혁동(Hyuk-dong Kwon) 한국생산제조학회 2017 한국생산제조학회지 Vol.26 No.2
Various drones have extended application area very fast. In this paper, we define two contradictions in designing a portable-size drone by using TRIZ technique. The first is a physical contradiction between high rigidity and good portability, and the second is a technical contradiction between high stability and good portability. Through TRIZ technique, six design principles, which guide direction for optimal design, were driven. Consequently, an umbrella mechanism and design criteria were proposed for a portable-size drone. Detail design is verified through finite element method. Test results for the portable-size prototype drone show good performance, and prove its usefulness to be equivalent to a general full-size drone.