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줌렌즈를 갖는 4자유도 마이크로 조립 시스템을 위한 비주얼 서보잉
이덕영(Duk-Young Lee),조형석(Hyungsuck Cho),강희석(Heiseok Kang),조영준(Youngjun Cho) 한국자동차공학회 2004 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
This paper presents a method of micro assembly using visual servoing with automatic zooming. Generally, microassembly using visual servoing has two serious problems due to high magnification lens; small field of view and small depth of focus which does not appear in macro domain. In this work, the former is solved by using a motorized zoom lens which can change the field of view and the resolution of the camera, and the latter using auto-focusing method. The proposed microassembly process is composed of two steps; coarse visual servoing and fine visual servoing. In order to verify the performance of the proposed algorithm, a series of the experiments are performed on assembling optical fiber onto V-grooves in the optical fiber array.
김민영(Min Young Kim),조형석(Hyungsuck Cho) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.3
Since the beginning of the 21st century, emergence of innovative technologies in robotic and telepresence surgery has revolutionized minimally access surgery and continually has advanced them till recent years. One of such surgeries is endoscopic surgery, in which endoscope and endoscopic instruments are inserted into the body through small incision or natural openings, surgical operations being carried out by a laparoscopic procedure. Due to a vast amount of developments in this technology, this review article describes only a technological state?of-the arts and trend of endoscopic robots, being further limited to the aspects of key components, their functional requirements and operational procedure in surgery. In particular, it first describes technological limitations in developments of key components and then focuses on the description of the performance required for their functions, which include position control, tracking, navigation, and manipulation of the flexible endoscope body and its end effector as well, and so on. In spite of these rapid developments in functional components, endoscopic surgical robots should be much smaller, less expensive, easier to operate, and should seamlessly integrate emerging technologies for their intelligent vision and dexterous hands not only from the points of the view of surgical, ergonomic but also from safety. We believe that in these respects a medical robotic technology related to endoscopic surgery continues to be revolutionized in the near future, sufficient enough to replace almost all kinds of current endoscopic surgery. This issue remains to be addressed elsewhere in some other review articles.
이동 로봇의 강인 위치 추정을 위한 단안 비젼 센서와 레이저 구조광 센서의 베이시안 센서융합
김민영(Min Young Kim),안상태(Sang Tae Ahn),조형석(Hyungsuck Cho) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.4
This paper describes a procedure of the map-based localization for mobile robots by using a sensor fusion technique in structured environments. A combination of various sensors with different characteristics and limited sensibility has advantages in view of complementariness and cooperation to obtain better information on the environment. In this paper, for robust self-localization of a mobile robot with a monocular camera and a laser structured light sensor, environment information acquired from two sensors is combined and fused by a Bayesian sensor fusion technique based on the probabilistic reliability function of each sensor predefined through experiments. For the self-localization using the monocular vision, the robot utilizes image features consisting of vertical edge lines from input camera images, and they are used as natural landmark points in self-localization process. However, in case of using the laser structured light sensor, it utilizes geometrical features composed of corners and planes as natural landmark shapes during this process, which are extracted from range data at a constant height from the navigation floor. Although only each feature group of them is sometimes useful to localize mobile robots, all features from the two sensors are simultaneously used and fused in term of information for reliable localization under various environment conditions. To verify the advantage of using multi-sensor fusion, a series of experiments are performed, and experimental results are discussed in detail.