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Stereo Vision Based Automation for a Bin-Picking Solution
오종규,이석한,이찬호 제어·로봇·시스템학회 2012 International Journal of Control, Automation, and Vol.10 No.2
As flexibility becomes an important factor in factory automation, the bin-picking system, where a robot performs pick-and-place tasks for randomly piled parts in a bin through measuring the 3D pose of an object by a 3D vision sensor, has been actively studied. However, conventional bin-picking systems that are employed for particular tasks are limited by such things as the FOV (Field of View), the shape of landmark features, and computation time. This paper proposes a general-purpose stereo vision based bin-picking system. To detect the workpiece to be picked, a geometric pattern matching (GPM) method with respect to the 2D image with a wide FOV is applied. The accurate 3D pose of a se-lected workpiece among the pick-up candidates is acquired by measuring the 3D positions of three features in the workpiece using the stereo camera. In order to improve the 3D position estimation per-formance, the GPM method is also used instead of the stereo matching method. The multiple pattern registration and ellipse fitting techniques are additionally applied to increase the reliability. The grasp position of a workpiece without collision is determined using the pose of the object and the bin infor-mation. By using these methods a practical bin-picking strategy is established to operate robustly with minimum help from the human workers in the factory. Through experiments on commercial industrial workpieces and industrial robot, we validated that the proposed vision system accurately measures the 3D pose of part and the robot successfully manipulates the workpiece among randomly stacked parts.
오종규,하연희,김지현,권순기,안태규,김윤희,장재영 한국고분자학회 2021 한국고분자학회 학술대회 연구논문 초록집 Vol.46 No.1
Two naphthalene diimide (NDI)-based small molecules with the donors of thiophene-vinylene-thiophene (TVT) or selenophene-vinylene-selenophene (SVS) were newly synthesized for semiconductors of n-type organic field-effect transistors (OFETs). The results of density functional theory showed the monomeric molecular structure of N-SVS-N is tilted twice as much as that of N-TVT-N. which means that N-SVS-N has lower backbone planarity. However, the thin films of N-SVS-N showed unexpectedly more uniform surface morphology and predominantly edge-on packed structure in comparison with those of N-TVT-N. As the result, the optimally annealed OFETs with N-SVS-N exhibited electron mobilities of up to 0.016 cm<sup>2</sup> V<SUP>-1</SUP> s<sup>-1</sup>, while OFETs with N-TVT-N showed a lower electron mobilities of up to 6.6 × 10<sup>-3</sup> cm<sup>2</sup> V<SUP>-1</SUP> s<sup>-1</sup>. These results could be explained by the structural advantages of N-SVS-N that facilitate interactions between the electron-rich selenophenes.