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Robotic Camera Calibration to Maintain Consistent Percision of 3D Trackers
Junmin Baek,Gunwoo Noh,Joonho Seo 한국정밀공학회 2021 International Journal of Precision Engineering and Vol.22 No.11
Camera calibration is essential for calculating camera parameters, and the parameters should be constant whenever the position tracker needs to be recalibrated. Manual camera calibration obtains a checkerboard image by tilting or positioning the checkerboard by hand. However, it makes difficult to obtain the same checkerboard images in every calibration, resulting in different camera parameters. Therefore, this study proposes robotic camera calibration to produce the constant camera parameters whenever the tracker needs to be calibrated. The robot arm moves the checkerboard according to the programmed positions and orientations so that the position tracker can obtain the same checkerboard image every calibration. Experiments were conducted to compare results of the manual and robotic camera calibrations. First, we compared the standard deviations of the intrinsic parameters and extrinsic parameters; the results show that robotic camera calibration produced the parameters with smaller standard deviations. We also compared the tracking precision of the cubic marker using manual and robotic camera calibration. As a result, the standard deviations of the tracking precision of cubic marker by the manual and the robotic camera calibration were 1.65 mm and only 0.35 mm, respectively. It reveals that the robotic camera calibration enables more precise and consistent tracking than the manual calibration.
백준민(Junmin Baek),노건우(Gunwoo Noh),서준호(Joonho Seo) 제어로봇시스템학회 2019 제어·로봇·시스템학회 논문지 Vol.25 No.12
Position-tracking devices have been used in various fields, including medical surgery and augmented reality. In this paper, a wireless optical position-tracking module with a processor that can perform self-3D tracking is developed, and the position coordinates of the cube marker are obtained using a position-tracking algorithm. Software is developed to send position coordinate data to the host computer using a wireless UDP network and make it visible at the host computer. To verify the networking system speed and evaluate the accuracy of the position coordinate data, we conducted experiments using the host computer and a two-axis electronic stage. The results demonstrate a speed of 26.81 ㎳ on average with a frequency of 37.3 ㎐. The difference between the moving distance of the actual cube marker and measuring cube marker is 0.764 ㎜ on average, with an RMSE of 0.973 ㎜. This system enables the installation of the device in any space and permits the use of a wireless network, eliminating the data transmission line and simplifying the configuration. Furthermore, many optical position-tracking modules can be installed to solve the problem where the obstacle blocks the cube marker.
Jeongje Park,Jaeseok Choi,Ungki Baek,Junmin Cha,Kwang Y. Lee 대한전기학회 2010 Journal of Electrical Engineering & Technology Vol.5 No.1
A new technique using a search method which is based on fuzzy multi-criteria function is proposed for GMS(generator maintenance scheduling) in order to consider multi-objective function. Not only minimization of probabilistic production cost but also maximization of system reliability level are considered for fuzzy multi-criteria function. To obtain an optimal solution for generator maintenance scheduling under fuzzy environment, fuzzy multi-criteria relaxation method(fuzzy search method) is used. The practicality and effectiveness of the proposed approach are demonstrated by simulation studies for a real size power system model in Korea in 2010.
카메라 영상과 딥러닝을 이용한 의수로봇 제어 시스템과 파지대상 선정
박해준(Haejune Park),안보현(Bohyeon An),백준민(Junmin Baek),이동규(Dongkyu Lee),김창원(Changwon Kim),주수빈(Subin Joo),권오원(Ohwon Kwon),김민영(Min Young Kim),서준호(Joonho Seo) 제어로봇시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.5
Robotic prosthetic hands are a device that helps to improve the quality of life for patients without hands. Recently, robotic prosthetic hands can perform various grasping patterns because of improvement of bioengineering and robotics. The research that automatically selects the appropriate operation according to the situation is important. Many previous studies have used EMG signals. However, EMG signals are difficult to generalize because EMG signals vary depending on the position of the muscle. In this study, we developed a system for controlling robotic prosthetic hands using images and deep learning to facilitate generalization. We also proposed a method for selecting a grasping target to be held in the image. These results will help to improve the quality of life of the robotic prosthetic hand user.
Maintenance Scheduling of Generation System by Fuzzy Set Theory
Jeongje Park(박정제),Jaeseok Choi(최재석),Ungki Baek(백웅기),Junmin Cha(차준민) 대한전기학회 2009 대한전기학회 학술대회 논문집 Vol.2009 No.7
A new technique using a search method which is based on fuzzy multi-criteria function is proposed for GMS(generator maintenance scheduling) in order to consider multi-objective function. Not only minimization of probabilistic production cost but also maximization of system reliability level are considered for fuzzy multi-criteria function. To obtain an optimal solution for generator maintenance scheduling under fuzzy environment, fuzzy multi-criteria relaxation method(fuzzy search method) is used. The practicality and effectiveness of the proposed approach are demonstrated by simulation studies for a real size power system model in Korea in 2010.