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Real-time Omni-directional Distance Measurement with Active Panoramic Vision
Sooyeong Yi,Byoungwook Choi,Narendra Ahuja 대한전기학회 2007 International Journal of Control, Automation, and Vol.5 No.2
Autonomous navigation of mobile robot requires a ranging system for measurement of distance to environmental objects. It is obvious that the wider and the faster distance measurement gives a mobile robot more freedom in trajectory planning and control. The active omni-directional ranging system proposed in this paper is capable of obtaining the distance for all 3600 directions in real-time because of the omni-directional min-or and the structured light. Distance computation including the sensitivity analysis and the experiments on the omni-directional ranging are presented to verify the effectiveness of the proposed system.
이수영(Sooyeong Yi),최대성(Daesung Choi),최병욱(Byoungwook Choi) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.6
A motion planning algorithm is presented in this paper for a commercialized quadruped walking of robot pet. Stable walking is the basic requirement for a commercial-purpose legged robot. In order to secure the walking stability, modified body sway to the centroid of support polygon is addressed. By representation of walking motion with respect to the world coordinate system rather than body coordinate, it is possible to design the several gaits in unified fashion. The initial gait posture is introduced to maximize the stride and to achieve fast walking. The proposed walking motion planning is verified through computer simulation and experiments.
이수영(Sooyeong Yi),최병욱(Byungwook Choi) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.4
A new method for the catadioptric omnidirectional stereo vision with single camera is presented in this paper. The proposed method uses a concave lens with a convex mirror. Since the optical part of the proposed method is simple and commercially available, the resultant omnidirectional stereo system becomes versatile and cost-effective. The closed-form solution for 3D distance computation is presented based on the simple optics including the reflection and the refraction of the convex mirror and the concave lens. The compactness of the system and the simplicity of the image processing make the omnidirectional stereo system appropriate for real-time applications such as autonomous navigation of a mobile robot or the object manipulation. In order to verify the feasibility of the proposed method, an experimental prototype is implemented.
Microfluidic method for measuring viscosity using images from smartphone
Kim, Sooyeong,Kim, Kyung Chun,Yeom, Eunseop Elsevier 2018 Optics and lasers in engineering Vol.104 No.-
<P><B>Abstract</B></P> <P>The viscosity of a fluid is the most important characteristic in fluid rheology. Many microfluidic devices have been proposed for easily measuring the fluid viscosity of small samples. A hybrid system consisting of a smartphone and microfluidic device can offer a mobile laboratory for performing a wide range of detection and analysis functions related to healthcare. In this study, a new mobile sensing method based on a microfluidic device was proposed for fluid viscosity measurements. By separately delivering sample and reference fluids into the two inlets of a Y-shaped microfluidic device, an interfacial line is induced at downstream of the device. Because the interfacial width (W) between the sample and reference fluid flows was determined by their pressure ratio, the viscosity (μ) of the sample could be estimated by measuring the interfacial width. To distinguish the interfacial width of a sample, optical images of the flows at downstream of the Y-shaped microfluidic device were acquired using a smartphone. To check the measurement accuracy of the proposed method, the viscosities of glycerol mixtures were compared with those measured by a conventional viscometer. The proposed technique was applied to monitor the variations in blood and oil samples depending on storage or rancidity. We expect that this mobile sensing method based on a microfluidic device could be utilized as a viscometer with significant advantages in terms of mobility, ease-of-operation, and data management.</P> <P><B>Highlights</B></P> <P> <UL> <LI> A smartphone is adopted to measure the fluid viscosity in microfluidic device. </LI> <LI> Viscosity is estimated by measuring interfacial width of sample in reference fluid. </LI> <LI> Proposed method can measure viscosity reasonably compared to a Brookfield viscometer. </LI> <LI> This method can monitor the variations of blood viscosity due to blood storage. </LI> <LI> This method can distinguish degradation of frying oil based on viscosity measurement. </LI> </UL> </P>
이수영(Sooyeong Yi),이재영(Jaeyoung Rhi),김순철(Soonchul Kim),이정규(Jeonggyu Lee) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.10
In this paper, a 3D coordinates acquisition method for a mechanical assembly is developed by using multiview X-ray images. The multi-view X-ray images of an object are obtained by a rotary table. From the rotation transformation, it is possible to obtain the 3D coordinates of corresponding edge points on multi-view X-ray images by triangulation. The edge detection algorithm in this paper is based on the attenuation characteristic of the X-ray. The 3D coordinates of the object points are represented on a graphic display, which is used for the inspection of a mechanical assembly.