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비주얼 서보 기반 양립형 구조 광 로봇을 이용한 6 자유도 변위 측정
전해민,방유석,명현 제어로봇시스템학회 2011 제어로봇시스템학회 국내학술대회 논문집 Vol.2011 No.5
This study aimed to demonstrate the feasibility of a visual servo-based paired structured light (SL) robot for estimating structural displacement under various external loads. The former paired SL robot, which was proposed in the previous study, is composed of two screens facing with each other each with one or two lasers and a camera. In the study, it was found that the proposed robot can estimate the translational and rotational displacement each in 3-DOF with high accuracy and low cost. However, the measurable range is fairly limited due to the limited screen size. In this paper, therefore, a visually servoed 2-DOF manipulator which controls the pose of lasers is introduced. By controlling the positions of the projected laser points to be on the screen, the proposed robot can estimate the displacement regardless of its magnitude. We performed various simulations to verify the effect of the newly proposed robot. The results show that the proposed system overcomes the main problem of the former system and it could be utilized to accurately estimate the structural displacement.
U-City 를 위한 로봇과 사용자의 실내외 연속 위치 인식 시스템
전해민,이승목,명현 제어로봇시스템학회 2009 제어로봇시스템학회 국내학술대회 논문집 Vol.2009 No.9
Seamless localization technology is one of the core technologies for realizing Ubiquitous city (Ucity). This paper provides seamless indoor/outdoor localization system which can transform indoor local coordinate system to outdoor global coordinate system using a range-finder sensor and a beacon pair. Before calculating the global position, we use extended Kalman filter (EKF) algorithm to localize the positions of a robot and beacons and use particle filter (PF) algorithm to localize users in indoor environment. These positions of a robot, beacons and users, however, are based on local coordinate system, which are different from global position values. Therefore, we propose a coordinate transformation device for calculating global positions based on the local position values and range information. Also the simulation result of the coordinate transformation system shows the feasibility of the proposed method.
Vision-based remote 6-DOF structural displacement monitoring system using a unique marker
전해민,Youngjae Kim,이동화,명현 국제구조공학회 2014 Smart Structures and Systems, An International Jou Vol.13 No.6
Structural displacement is and important indicator for assessing structural safety. For structural displacement monitoring, vision-based displacement measurement systems have been widely developed; however, most systems estimate only 1 or 2-DOF translational displacement. To monitor the 6-DOF structural displacement with high accuracy, a vision-based dispalcement measurement system with a uniquely desinged marker is proposed in this paper. The system is composed of a uniquely disigned marker and a camera with a zooming capability, and relative translational and rotational displacement between the marker and the camera is estimated by finding a homography transformation. The novel marker is designed to make the system robust to measurement noise based on a sensitivity analysis of the conventional marker and it has been verified through Monte Carlo simulation results. The performance of the displacement estimation has been verified through two kinds of experimental tests; using a shaking table and a motorized stage. The results show that the system estimates the structural 6-DOF displacement, especially the translational displacement in Z-axis, with high accuracy in real time and is robust to measurement noise.
구조물의 6자유도 변위 측정을 위한 비주얼 서보잉 기반 양립형 구조 광 로봇 시스템
전해민(Haemin Jeon),방유석(Yuseok Bang),김한근(Hangeun Kim),명현(Hyun Myung) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.10
This study aims to demonstrate the feasibility of a visual servoing-based paired structured light (SL) robot for estimating structural displacement under various external loads. The former paired SL robot, which was proposed in the previous study, was composed of two screens facing with each other, each with one or two lasers and a camera. It was found that the paired SL robot could estimate the translational and rotational displacement each in 3-DOF with high accuracy and low cost. However, the measurable range is fairly limited due to the limited screen size. In this paper, therefore, a visual servoing-based 2-DOF manipulator which controls the pose of lasers is introduced. By controlling the positions of the projected laser points to be on the screen, the proposed robot can estimate the displacement regardless of the screen size. We performed various simulations and experimental tests to verify the performance of the newly proposed robot. The results show that the proposed system overcomes the range limitation of the former system and it can be utilized to accurately estimate the structural displacement.
실시간 구조물 변위 모니터링을 위한 증분형 변위 측정 알고리즘
전해민(Haemin Jeon),신재욱(Jae-Uk Shin),명완철(Wancheol Myeong),명현(Hyun Myung) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.6
The purpose of this paper is to suggest IDE (Incremental Displacement Estimation) algorithm for the previously proposed visually servoed paired structured light system. The system is composed of two sides facing with each other, each with one or two lasers with a 2-DOF manipulator, a camera, and a screen. The 6-DOF displacement between two sides can be estimated by calculating the positions of the projected laser beams and rotation angles of the manipulators. In the previous study, Newton-Raphson or EKF (Extended Kalman Filter) has been used as an estimation algorithm. Although the various experimental tests have validated the performance of the system and estimation algorithms, the computation time is relatively long since aforementioned algorithms are iterative methods. Therefore, in this paper, a non-iterative incremental displacement estimation algorithm which updates the previously estimated displacement with a difference of the previous and the current observed data is introduced. To verify the performance of the algorithm, experimental tests have been performed. The results show that the proposed non-iterative algorithm estimates the displacement with the same level of accuracy compared to the EKF with multiple iterations with significantly less computation time.