로봇 비젼 제어를 위한 확장 칼만 필터링 모델 개발

장완식,박성일,이성민,김기영,신광수 朝鮮大學校 機械技術硏究所 2002 機械技術硏究 Vol.5 No.2

The computational time in estimating the parameter of vision control algorithm is very important for robot's position control in real time. Unfortunately, the batch estimation used commonly requires much computational time because it has iteration method. So, the batch estimation has difficulty for robot's position control in real time. On the other hand, the Extended Kalman Filtering(EKF) has much advantages in that it is a simple and efficient recursive procedures. Thus, this study is to develop the EKF algorithm for the robot's vision control in real time. This vision system used in this study involves the six parameters to account for the camera inner (orientation, focal length etc) and outer parameters (the relative location between robot and camera). Then, EKF is applied to estimate these parameters, and based on estimated these parameters, EKF also is applied to estimate the robot's joint angles used for robot's operation. Finally, Experiment on the robot's position control is performed to show the practicality of vision control scheme based on the EKF.

동종 골수이식 후 만성 이식편대숙주반응 환자에서 발생한 폐렴구균에 의한 수막뇌염 1예

신완식,김병욱,유진홍,김동집,김춘추,박종원,이종욱,김동욱,강문원,김양리 대한감염학회 1993 감염 Vol.25 No.3

Graft-versus-host disease (GVHD) is a frequent complication after bone marrow transplantation. Infectious complications are common in GVHD patients due to defect in cell-mediated immunity. A rare case of S. pneumoniae meningoencephalitis occured in a patient with extensive form of chronic GVHD after allogeneic bone marrow transplantation. He was immediately treated with full dosage of ceftriaxone and ampicillin. He suffered from various complications such as sepsis, acute renal failure, atelectasis, and seizure. Despite of aggressive treatment, he died probably due to renal shutdown and massive subacute cerebral infarction of left cerebral hemisphere. This report showed two unusual and rare features. First, the infection site was CNS rather than respiratory system. Second, the causative organism was S. pneumoniae, which is rare cause of CNS infection in immunocompromised patients.

컴퓨터 비젼 방법을 이용한 3차원 물체 위치 결정에 관한 연구

장완식,김경석,이성민,주철,김재확,김대현 한국공작기계학회 1999 한국생산제조학회지 Vol.8 No.6

This study shows an alternative method for the determination of object's position, based on a computer vision method. This approach develops the vision system model to define the reciprocal relationship between the 3-D real space and 2-D image plane. The developed model involves the bilinear six-view parameters, which is estimated using the relationship between the camera space location and real coordinates of known position. Based on the estimated parameters in independent cameras, the position of unknown object is accomplished using as sequential estimation scheme that permits data of unknown points in each of the 2-D image plane of cameras. This vision control method is the robust and reliable, which overcomes the difficulties of the conventional research such as precise calibration of the vision sensor, exact kinematic modeling of the robot, and correct knowledge of the relative positions and orientation of the robot and CCD camera. Finally, the developed vision control method is tested experimentally by performing determination of object position is the space using computer vision system. These results show the presented method is precise and compatible.

제주도의 주요 습지에 도래하는 도요ㆍ물떼새류의 현황

김완병,오흥식,박행신,임인추 제주대학교 생명과학연구소 1999 제주생명과학연구 Vol.2 No.-

This study was part of a continuous research project on the status of waterbirds on major wetlands on Cheju Island. This study was researched twice each month for two years, from March 1997 to February 1999. In total, 29 species consisting of 4,887 individual birds were observed. The number of individuals of shorebirds was greater in the spring migratory season than in the autumn - in 1997, 131 birds in the spring, 104 birds in the autumn and in 1998, 2,453 birds in the spring, 635 birds in the autumn Pheasant-tailed Jacana, Eurasian Oystercatcher, Pintail Snipe and Temminck's Stint observed at the Hado-ri or Sungsan-po fishfarm are the first recordes on Cheju Island, Korea. Rare and endangered species were observed such as Eurasian Oystercatcher, Long-billed Plover, Far Eastern Curlew, and Spoon-billed Sandpiper. This survey area used for a suitable roosting and feeding place by many shorebirds. Thus, there is a need of critical plans for the conservation and management of shorebirds migrating in this area.

여자중·고등학교 단거리선수의 100m 보폭 및 구간별 질주속도 분석

정완식,김정태,신재경 창원대학교 체육과학연구소 1999 경남 체육연구 Vol.4 No.2

본 연구의 목적은 100m의 거리를 10m씩 10개 구간으로 나누어 질주속도 및 평균 보폭을 측정한후, 구간별 질주속도와 가속도를 비교·분석하여 100m 달리기의 기록향상을 위한 과학적이고 합리적인 훈련 기초자료를 제공하는데 있다. 이를 수행하기 위하여 경상남도 소속 여자 중·고등학교 단거리선수 각 7명씩 총 14명을 대상으로 비디오 카메라, 비디오 편집기 타이머를 이용하여 평균 보폭, 단위구간별 속도 및 가속도, 구간별 속도 및 가속도의 기록을 분석하였다. 이상과 같은 과정을 통해 100m 질주속도를 분석한 결과는 다음과 같다. 1. 단위구간 중 최고속도가 나타난 구간은 중학교 선수는 30m 구간, 고등학교 선수는 40m 구간이었고, 중학교 선수는 50m 구간 이후에 속도가 감속되며, 고등학교 선수는 70m 구간 이후에 급격히 속도가 감속되었다. 2. 단위구간 중 가장 빠른 가속을 보인 구간은 중·고등학교 선수 공히 20m 구간이었고, 가장 큰 감속을 보인 구간은 중·고등학교 선수 공히 80m 구간이었다. 3. 구간별 속도는 중·고등학교 선수 공히 전속구간, 전속유지구간, 가속구간 순으로 빠르게 나타났다. 4. 구간별 가속의 빠르기는 중학교 선수는 가속구간, 전속유지구간, 전속구간 순이며, 고등학교 선수는 가속구간, 전속구간, 전속유지구간 순으로 나타났다. 5. 평균 보폭과 기록과는 중·고등학교 선수 공히 상관이 없는 것으로 나타났다. 6. 각 단위구간별 중·고등학교 선수간의 속도를 비교해 본 결과 전 구간에서 유의한 차이가 나타나지 않았다.

비젼 제어시스템에 사용된 카메라의 최적개수에 대한 실험적 연구

장완식,김선호,김기영,임호진,안힘찬 朝鮮大學校 機械技術硏究所 2002 機械技術硏究 Vol.5 No.2

The vision system model used for this study involves the six parameters that permits a kinds of adaptability in the relationship between the camera space location of manipulable visual cues and the vector of robot joint coordinates is estimated in real time. Also this vision control method requires the number of cameras to transform 2-D camera plane from 3-D physical space, and be used irrespective of location of cameras, if visual cues are displayed in the same camera plane. Thus, this study is to investigate the optimal number of cameras used for the developed vision control system according to the change of the number of cameras. This study is processed in the two ways : a) effectiveness of vision system model b) optimal number of cameras c) These results show the evidence of the adaptability of the developed vision control method using the optimal number of cameras.

매니퓰레이터의 조립작업을 위한 비젼시스템 모델 개발

장완식,백은석 한국공작기계학회 1997 한국생산제조학회지 Vol.6 No.2

This paper presents the development of real-time estimation and control details for a computer vision-based robot control method. This is accomplished using a sequential estimation scheme that permits placement of these points in each of the two-dimensional image planes of monitoring cameras. Estimation model is developed based on a model that generalizes known 4-axis Scorbot manipulator kinematics to accommodate unknown relative camera position and orientation, etc. This model uses six uncertainty-of-view parameters estimated by the iteration method. The method is tested experimentally in two ways ; First the validity of estimation model is tested by using the self-built test model. Second, the practicality of the presented control method is verified in performing 4-axis manipulator's assembly task. These results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as deburring and welding.

宋明 理學家詩의 特性에 관한 硏究

崔完植 韓國中國語文學會 1991 中國文學 Vol.19 No.-

비젼 제어시스템에 사용된 카메라의 최적개수에 대한 실험적 연구

장완식,김경석,김기영,안힘찬 한국공작기계학회 2004 한국생산제조학회지 Vol.13 No.2

The vision system model used for this study involves the six parameters that permits a land of adaptability in th relationship between the camera space location of manipulable visual cues and the vector of robot joint coordinates is estimated in real he. Also this vision control method quires the number of cameras to transform 2-D camera plane from 3-D physical space, and be used irrespective of location of cameras, if visual cues are displayed in the same camera plane. Thus, this study is to investigate the optimal number of cameras used for the developed vision control system according to the change of the number of cameras. This study is processed in the two ways : a) effectiveness of vision system model b) optimal number of cameras. These results show the evidence of the adaptability of the developed vision control method using the optimal number of cameras.

이미지 평면에서 다물체 중심 위치를 구하기 위한 화상처리 기법 개발

장완식,김기영,안힘찬 朝鮮大學校 機械技術硏究所 2002 機械技術硏究 Vol.5 No.2

Recently, the use of vision system is rapidly increasing in inspection and robot's position control. To apply the vision system, it is necessary to transform the physical coordinate of object into the image information acquired by CCD camera, which is called image processing. Thus, to use the application of the vision system in the inspection and robot's position control in real time, we have to know the position of object in the image plane. Particularly, in case of rigid body using multi-cues to identify its shape, the each position of multi-cues must by calculated in an image plane at the same time. To solve these problems, this study is developed the image processing algorithm of multi-cue's centroids position.