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고경철(K. C. Koh),조형석(H. S. Cho) 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
Real-time mobile robot controllers usually have been designed with an emphasis on control theory ignoring the importance of system integration. This Paper demonstrates that useful mobile robots require a real time controller with a wide range of capabilities in addition to control theory. These capabilties include: path-planning, position estimation, path tracking control and wheel control. An architectural framework supporting these capabilities has been designed and implemented. Using this frame work, individual modules such as a path planner, a path tracking controller, position esitmators, wheel controllers and other cruical elements have been successfully integrated into the control system for the LCAR robot which was developed as a proto-type mobile robot in our laboratory. The context of the research, the architecture, its implementation and performance results from experiments are discussed.
이민석(M . S . Rhee),이유인(Y . I . Lee),이석(S . Lee),김성훈(S . H . Kim),정영철(Y . C . Jung),고경철(K . C . Koh),홍기창(K . C . Hong),김병철(B . C . Kim) 한국축산학회 1996 한국축산학회지 Vol.38 No.5
A total of 115 pork carcasses (L = Landrace; Y = Large Yorkshire; D = Duroc; F₁ = Landrxe × Large Yorkshire; F₂ = Duroc × Landrace × Large Yorkshire) in Korea was tested to compare their carcass values and meat quality for the development of high pork quality. Carcass values that were measured included dressing percentage (DP), backfat thickness (BF), loin eye area (LEA) and meat percentage (MP). The following measurements of meat quality were carried out : pH-value at 1hr and 24hrs postmortem, subjective scoring test ; color, firmness, marbling degree, meat color ; L^* , a^* , b^* , chroma and Co¨fo-value, water holding capacity (WHC); filterpaper absorption method and bag drip method. In carcass values, D had lower MP and thicker BF compared to the others and they also had the smallest LEA(p$lt;.05). D and F₂ had significantly higher mailing scores than others but F₁ had the lowest(p$lt;.05). D and Y showed lower L^* and higher WHC. On the contrary, F₂ had lower WHC. In meat quality, D was superior to others in terms of moderate marbling, lower lightness and the lowest drip. In spite of the bad carcass values in D, it could be concluded that D must be utilized in a crossing system for the production of higher quality pork.
CMM(Compact Camera Module) 불량 검사
고국원(K. W. Ko),이유진(Y. J. Lee),최병욱(B. W. Choi),고경철(K. C. Koh) 한국정밀공학회 2004 한국정밀공학회 학술발표대회 논문집 Vol.2004 No.10월
This paper deals with the algorithm development that inspects defects such as Lens Focus, Black Defect, Dim Defect, Color Defect, White Balance, and Line Defect caused by the process of Compact Camera Module (CCM). These days the demand of CCM goes on increasing in various types like PDA, a cellular phone and PC camera every year. However, owing to the defect inspection of CCM by the semiskilled work the average inspection time of CCM takes about 40 to 50 seconds. As time goes by the efficiency takes a sudden turn for the worse because workers must inspect with seeing a monitor directly. In this paper, to solve these problems, we developed the imaging processing algorithm to inspect the defects in captured image of assembled CCM. The performances of the developed inspection system and its algorithm are tested on many samples.Experimental results reveal that the proposed system can focus the lens of CCM within 5s and we can recognize various types of defect of CCM modules with good accuracy and high speed.