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실시간 이더넷 기반의 한국형 오픈소스 모션 시스템 개발 및 분석
임선,이승용,김지현,정일균,Lim, Sun,Lee, Seung-Yong,Kim, Ji-Hyun,Jung, Il-Kyun 대한전기학회 2017 전기학회논문지 Vol.66 No.1
KOSMOS is Korea Open Source MOtion System which is developed based on general purpose hardware and open source software. It is aiming at IEC 61131-3 standard. Real-time ethernet has several advantages for motion control system and distributed control system. So, considering this advantages, KOSMOS has the network interface made up of Real-time ethernet, EtherCAT. In this paper, we explain the KOSMOS platform, the performance for real-time task and show the real case applying KOSMOS platform in manipulator control system.
CCD 카메라와 적외선 카메라의 융합을 통한 효과적인 객체 추적 시스템
김승훈(Seung-Hun Kim),정일균(Il-Kyun Jung),박창우(Changwoo Park),황정훈(Jung-Hoon Hwang) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.3
To make a robust object tracking and identifying system for an intelligent robot and/or home system, heterogeneous sensor fusion between visible ray system and infrared ray system is proposed. The proposed system separates the object by combining the ROI(Region of interrest) estimated from two different images based on a heterogeneous sensor that consolidates the ordinary CCD camera and the IR (Infrared) camera. Human"s body and face are detected in both images by using different algorithms, such as histogram, optical-flow, skin-color model and Haar model. Also the pose of human body is estimated from the result of body detection in IR image by using PCA algorithm along with AdaBoost algorithm. Then, the results from each detection algorithm are fused to extract the best detection result. To verify the heterogeneous sensor fusion system, few experiments were done in various environments. From the experimental results, the system seems to have good tracking and identification performance regardless of the environmental changes. The application area of the proposed system is not limited to robot or home system but the surveillance system and military system.