• Journal of the Korean Society for Precision Engineering
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• v.23 no.11 s.188
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• pp.58-67
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• 2006

Due to the variety of signal processing and complicated mathematical analysis, it is not easy to accomplish 3D bin-picking with non-contact sensor. To solve this difficulties the reliable signal processing algorithm and a good sensing device has been recommended. In this research, 3D laser scanner and CCD camera is applied as a sensing device respectively. With these sensor we develop a two-step bin-picking method and reliable algorithm for the recognition of 3D bin object. In the proposed bin-picking, the problem is reduced to 2D intial recognition with CCD camera at first, and then 3D pose detection with a laser scanner. To get a good movement in the robot base frame, the hand eye calibration between robot's end effector and sensing device should be also carried out. In this paper, we examine auto-calibration technique in the sensor calibration step. A new thinning algorithm and constrained hough transform is also studied for the robustness in the real environment usage. From the experimental results, we could see the robust bin-picking operation under the non-aligned 3D hole object.

• Korean Journal of Construction Engineering and Management
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• v.10 no.1
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• pp.136-145
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• 2009

The objective of the Intelligent Excavation System (IES) is to recognize the work environment and produce work plan and automatically control the excavator through integrating sensor and robot technologies. This paper discusses one of the core technologies of IES development project, development of 3D work environment modeling. 3D laser scanner is used for 3-dimensional mathematical model that can be visualized in virtual space in 3D. This paper describes (1) how the most appropriate 3D imaging system has been chosen; (2) the development of user interface and customization of the s/w to control the scanner for IES project; (3) the development of the mobile station for the scanner; (4) and the algorithm for the automatic registration of laser scan segments for IES project. The development system has been tested on the construction field and lessons learned and future development requirements are suggested.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.529-530
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• 2009

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.06a
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• pp.835-836
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• 2008

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.27 no.2
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• pp.187-194
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• 2009

This study is to improve position accuracy by selecting proper a servo motor and applying FOC(Field Oriented Control) on developing a 3D terrestrial laser scanner. A 3D terrestrial laser scanner under developing has range of scanning of azimuth 360$^\circ$and elevation 270$^\circ$. It is implemented by precise controlling of a azimuth motor and a elevation motor. In the consequence of study, we have known that position accuracy of the motor can be able to be improved with constant torque of the motor by using FOC(Field Oriented Control). The control technic of the motor is possible to apply a 3D terrestrial laser scanner as well as a robotic total station.

• IE interfaces
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• v.24 no.2
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• pp.105-111
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• 2011

Measurement protocols for hand anthropometry have been studied for ergonomic product design. The present study developed a 3D semi-automatic measurement protocol (3D-SAMP) which semi-automatically measures various hand dimensions using a 3D scanner. The 3D-SAMP was compared with the conventional direct measurement method (DMM) to examine its effectiveness. The 3D-SAMP consists of (1) fabricating a plaster cast of the hand, (2) placing landmarks on the plaster hand, (3) scanning the plaster hand with a 3D scanner, (4) identifying automatically the positions of the landmarks on the digital hand, and (5) extracting automatically hand anthropometric measurements (lengths, widths, thicknesses, and circumferences). An evaluation experiment conducted in the study found the 3D-SAMP preferred to the DMM in terms of reliability (the number of dimensions exceeding the variability criteria SD=2 mm and CV=5% : 3D-SAMP =2 and DMM=24) and ease of measurement (3D-SAMP=5.2 and DMM=4.3 out of 7). The 3D-SAMP can be applied to ergonomic design of a hand-held product.

• The Research Journal of the Costume Culture
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• v.23 no.2
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• pp.242-253
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• 2015

The aim of this study was to use a 3D human body scanner to analyze the cross section of different body parts when a girdle is worn. Two types of girdles were selected as experimental garments: a standard type girdle (Garment A) and a high-waist type girdle (Garment B). Their sizes were 88 (S) and 94 (M). Ten female subjects in their twenties who wear girdles sizes 88 (S) and 94 (M) participated the experiment. Their bodies were scanned three times with the 3D human body scanner, before and after wearing experimental girdles. The data were collected by overlapping the cross sections of the 3D scanned body shape data. The space length was measured from the overlapped cross sections. The results show that human body silhouette are changed after wearing the compression type garments and the amount and place of the body change is different by style of garments. First, the waist girth shape became rounder. Second, there was a definite difference in space amount at abdomen girth between two types of girdle. The abdomen area was pushed toward the front after wearing the standard type girdle (A). The high-waist type girdle (B) pushed abdomen area toward the back. Third, there was clear difference at the hip area after wearing two types of girdle. The hip area pushed toward the front with the standard type girdle (A) and pushed toward the back with the high-waist type girdle (B).

• Laser Solutions
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• v.18 no.1
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• pp.1-6
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• 2015

High welding speed and narrow weld seam are favorable for welding of magnesium alloy. Magnesium alloy is recommended for the smart frame because it has several advantages such as low density, high thermal conductivity, EMI shielding capability and good cast ability. This study is for the assembly welding of the magnesium smart frame with high productivity, good performance and low cost. The window for battery on AZ91D frame produced by die-casting was prepared by CNC machining. Corresponding AZ31 blank of 0.2mm thickness was prepared by die-blanking cut. All system set was fixed at the stationary bed but the laser beam was manipulated by scanner up-to 1,000mm/s speed. The weld joint between AZ31 sheet and AZ91D frame was welded by fiber laser on 850~1,000W output power. The joint showed penetration enough but some humping bead. The distortion by the weld heat was almost free because of the quick dissipation of the heat by small beam size and fast welding. Consequently, the thinner magnesium foil was assembled successfully to the magnesium frame of mobile phone.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.26 no.2C
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• pp.133-142
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• 2006

Many methods have been tried to more correctly measure rock joint roughness. However, true roughness may be distorted and underestimated due to the sampling interval and measurement method. Thus, currently used measurement methods produce a dead zone and distort roughness profiles. The purpose of this study is to suggest new roughness measurement method by a camera-type 3D scanner as an alternative of currently used methods. First, the underestimation of artificial roughness is analyzed by using the current measurement method such as laser profilometry. Second, we replicate eight specimens from two rock joint surfaces, and digitize by a 3D scanner. Then, the roughness coefficient values obtained from eight numbers of 3D surface data and from three hundred twenty numbers of 2D profiles data are analyzed by using current and new measurement methods. The artificial simulation confirms that the sampling interval is one of main factors for the distortion of roughness and shows that inclination of waviness may not be considered any current methods. The experimental results show that the camera-type 3D scanner produces 10% larger roughness values than current methods. As the proposed new method is a fast, high precision and more accurate method for the roughness measurement, it should be a promising technique in this area.

• The Korean Journal of Nuclear Medicine
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• v.38 no.3
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• pp.259-267
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• 2004

Purpose: NEMA NU2-2001 was proposed as a new standard for performance evaluation of whole body PET scanners. in this study, system performance of Siemens CTI ECAT EXACT 47 PET scanner including spatial resolution, sensitivity, scatter fraction, and count rate performance in 2D and 3D mode was evaluated using this new standard method. Methods: ECAT EXACT 47 is a BGO crystal based PET scanner and covers an axial field of view (FOV) of 16.2 cm. Retractable septa allow 2D and 3D data acquisition. All the PET data were acquired according to the NEMA NU2-2001 protocols (coincidence window: 12 ns, energy window: $250{\sim}650$ keV). For the spatial resolution measurement, F-18 point source was placed at the center of the axial FOV((a) x=0, and y=1, (b)x=0, and y=10, (c)x=70, and y=0cm) and a position one fourth of the axial FOV from the center ((a) x=0, and y=1, (b)x=0, and y=10, (c)x=10, and y=0cm). In this case, x and y are transaxial horizontal and vertical, and z is the scanner's axial direction. Images were reconstructed using FBP with ramp filter without any post processing. To measure the system sensitivity, NEMA sensitivity phantom filled with F-18 solution and surrounded by $1{\sim}5$ aluminum sleeves were scanned at the center of transaxial FOV and 10 cm offset from the center. Attenuation free values of sensitivity wire estimated by extrapolating data to the zero wall thickness. NEMA scatter phantom with length of 70 cm was filled with F-18 or C-11solution (2D: 2,900 MBq, 3D: 407 MBq), and coincidence count rates wire measured for 7 half-lives to obtain noise equivalent count rate (MECR) and scatter fraction. We confirmed that dead time loss of the last flame were below 1%. Scatter fraction was estimated by averaging the true to background (staffer+random) ratios of last 3 frames in which the fractions of random rate art negligibly small. Results: Axial and transverse resolutions at 1cm offset from the center were 0.62 and 0.66 cm (FBP in 2D and 3D), and 0.67 and 0.69 cm (FBP in 2D and 3D). Axial, transverse radial, and transverse tangential resolutions at 10cm offset from the center were 0.72 and 0.68 cm (FBP in 2D and 3D), 0.63 and 0.66 cm (FBP in 2D and 3D), and 0.72 and 0.66 cm (FBP in 2D and 3D). Sensitivity values were 708.6 (2D), 2931.3 (3D) counts/sec/MBq at the center and 728.7 (2D, 3398.2 (3D) counts/sec/MBq at 10 cm offset from the center. Scatter fractions were 0.19 (2D) and 0.49 (3D). Peak true count rate and NECR were 64.0 kcps at 40.1 kBq/mL and 49.6 kcps at 40.1 kBq/mL in 2D and 53.7 kcps at 4.76 kBq/mL and 26.4 kcps at 4.47 kBq/mL in 3D. Conclusion: Information about the performance of CTI ECAT EXACT 47 PET scanner reported in this study will be useful for the quantitative analysis of data and determination of optimal image acquisition protocols using this widely used scanner for clinical and research purposes.