• 제어로봇시스템학회논문지
• /
• 제7권8호
• /
• pp.656-663
• /
• 2001

This paper presents a sensor fusion method to recognize a cylindrical object a CCD camera, a laser slit beam and ultrasonic sensors on a pan/tilt device. For object recognition with a vision sensor, an active light source projects a stripe pattern of light on the object surface. The 2D image data are transformed into 3D data using the geometry between the camera and the laser slit beam. The ultrasonic sensor uses an ultrasonic transducer array mounted in horizontal direction on the pan/tilt device. The time of flight is estimated by finding the maximum correlation between the received ultrasonic pulse and a set of stored templates - also called a matched filter. The distance of flight is calculated by simply multiplying the time of flight by the speed of sound and the maximum amplitude of the filtered signal is used to determine the face angle to the object. To determine the position and the radius of cylindrical objects, we use a statistical sensor fusion. Experimental results show that the fused data increase the reliability for the object recognition.

• International Journal of Korean Welding Society
• /
• 제1권2호
• /
• pp.23-29
• /
• 2001

In this study, a preview-sensing visual sensor system is constructed far weld seam tracking in GMA welding. The visual sensor system consists of a CCD camera, a diode laser system with a cylindrical lens, and a band-pass-filter to overcome the degrading of image due to spatters and/or arc light. Among the image processing methods, Hough transform method is compared with the central difference method from a viewpoint of the capability for extracting the accurate feature position. As a result, it was revealed that Hough transform method can more accurately extract the feature positions and it can be applied to real time weld seam tracking. Image processing which includes Hough transform method is carried out to extract straight lines that express laser stripe. After extracting the lines, weld joint position and edge points are determined by intersecting the lines. Even though the image includes a spatter trace on it, it is possible to recognize the position of weld joint. Weld seam tracking was precisely implemented with adopting Hough transform method, and it is possible to track the weld seam in the case of offset angle is in the region of $\pm$ $15^{\circ}$.

• Journal of Welding and Joining
• /
• 제18권3호
• /
• pp.60-67
• /
• 2000

In this study, we constructed a preview-sensing visual sensor system for weld seam tracking in GMA welding. The visual sensor consists of a CCD camera, a diode laser system with a cylindrical lens and a band-pass-filter to overcome the degrading of image due to spatters and/or arc light. To obtain weld joint position and edge points accurately from the captured image, we compared Hough transform method with central difference method. As a result, we present Hough transform method can more accurately extract the points and it can be applied to real time weld seam tracking. Image processing is carried out to extract straight lines that express laser stripe. After extracting the lines, weld joint position and edge points is determined by intersecting points of the lines. Although a spatter trace is in the image, it is possible to recognize the position of weld joint. Weld seam tracking was precisely implemented with adopting Hough transform method, and it is possible to track the weld seam in the case of offset angle is in the region of $\pm15^{\circ}$.

• 제어로봇시스템학회논문지
• /
• 제8권9호
• /
• pp.776-787
• /
• 2002

Automation of welding process in shipyards is ultimately necessary, since the welding site is spatially enclosed by floors and girders, and therefore welding operators are exposed to hostile working conditions. To solve this problem, a welding mobile robot that can navigate autonomously within the enclosure has been developed. To achieve the welding task in the closed space, the robotic welding system needs a sensor system for the working environment recognition and the weld seam tracking, and a specially designed environment recognition strategy. In this paper, a three-dimensional laser vision system is developed based on the optical triangulation technology in order to provide robots with 3D work environmental map. Using this sensor system, a spatial filter based on neural network technology is designed for extracting the center of laser stripe, and evaluated in various situations. An environment modeling algorithm structure is proposed and tested, which is composed of the laser scanning module for 3D voxel modeling and the plane reconstruction module for mobile robot localization. Finally, an environmental recognition strategy for welding mobile robot is developed in order to recognize the work environments efficiently. The design of the sensor system, the algorithm for sensing the partially structured environment with plane segments, and the recognition strategy and tactics for sensing the work environment are described and discussed with a series of experiments in detail.

• 한국CDE학회논문집
• /
• 제14권1호
• /
• pp.10-17
• /
• 2009

Surface detection and parameter estimation in point cloud is a relevant subject in CAD/CAM, reverse engineering, computer vision, coordinate metrology and digital factory. In this paper we present a software for a fully automatic surface detection and parameter estimation in unordered, incomplete and error-contaminated point cloud with a large number of data points. The software consists of three algorithmic modules each for object identification, point segmentation, and model fitting, which work interactively. Our newly developed algorithms for orthogonal distance fitting(ODF) play a fundamental role in each of the three modules. The ODF algorithms estimate the model parameters by minimizing the square sum of the shortest distances between the model feature and the measurement points. We demonstrate the performance of the software on a variety of point clouds generated by laser radar, computer tomography, and stripe-projection method.

• 한국신재생에너지학회:학술대회논문집
• /
• 한국신재생에너지학회 2010년도 춘계학술대회 초록집
• /
• pp.58.1-58.1
• /
• 2010

In solar cell module manufacturing, single solar cells has to be joined electrically to strings. Copper stripes coated with tin-silver-copper alloy are joined on screen printed silver of solar cells which is called busbar. The bus bar collects the electrons generated in solar cell and it is connected to the next cell in the conventional module manufacturing by a metal stringer using conventional hot air or infrared lamp soldering systems. For thin solar cells, both soldering methods have disadvantages, which heats up the whole cell to high temperatures. Because of the different thermal expansion coefficient, mechanical stresses are induced in the solar cell. Recently, the trend of solar cell is toward thinner thickness below 180um and thus the risk of breakage of solar cells is increasing. This has led to the demand for new joining processes with high productivity and reduced error rates. In our project, we have developed a new method to solder solar cells with a laser heating source. The soldering process using diode laser with wavelength of 980nm was examined. The diode laser used has a maximum power of 60W and a scanner system is used to solder dimension of 6" solar cell and the beam travel speed is optimized. For clamping copper stripe to solar cell, zirconia(ZrO)coated iron pin-spring system is used to clamp both joining parts during a scanner system is traveled. The hot plate temperature that solar cell is positioned during lasersoldering process is optimized. Also, conventional solder joints after $180^{\circ}C$ peel tests are compared to the laser soldering methods. Microstructures in welded zone shows that the diffusion zone between solar cell and metal stripes is better formed than inIR soldering method. It is analyzed that the laser solder joints show no damages to the silicon wafer and no cracks beneath the contact. Peel strength between 4N and 5N are measured, with much shorter joining time than IR solder joints and it is shown that the use of laser soldering reduced the degree of bending of solar cell much less than IR soldering.

• Journal of Welding and Joining
• /
• 제21권1호
• /
• pp.60-65
• /
• 2003

At present. welding of most pipes with large diameter is carried out by the manual process. Automation of the welding process is necessary f3r the sake of consistent weld quality and improvement in productivity. In this study, two vision sensors, based on the optical triangulation, were used to obtain the information for seam tracking and detecting the weld defects. Through utilization of the vision sensors, noises were removed, images and 3D information obtained and positions of the feature points detected. The aforementioned process provided the seam and leg position data, calculated the magnitude of the gap, fillet area and leg length and judged the weld defects by ISO 5817. Noises in the images were removed by using the gradient values of the laser stripe's coordinates and various feature points were detected by using an algorithm based on the iterative polygon approximation method. Since the process time is very important, all the aforementioned processes should be conducted during welding.

• 한국통신학회논문지
• /
• 제7권3호
• /
• pp.120-124
• /
• 1982

本論文에서는 스트라입 構造型 DH LD의 lateral waveguiding mechanism에 대한 理論的解析이 시도되었다. 解析過程에서 실제에 아주 근사한 활성충의 利得 및 屈折率變化에 대한 數學的모델을 이용하여 섭동이론에 의한 DH LD의 2차원적 waveguiding을 해석하고 미소굴절률변화(n), 활성층두께(d), cavity length(L)에 대한 빔폭 의존성을 해석하였다.

• 전자공학회논문지A
• /
• 제32A권10호
• /
• pp.43-50
• /
• 1995

A laser diode(LD) structure consisting of a single 150$\AA$ $Al_{0.07}$Ga$_{0.93}$As quantum well active region operating at ${\lambda}$=809nm, cladded with an AlGaAs graded-index separate confinement heterostructure, has bes been grown by MOCVD. Temperature coefficient of wavelength is approximately 0.2nm $^{\circ}C$ for the diode. The active aperture consists of five emitters separated from each other by means of SiO$_{2}$ deposition and stripe formation, which creates insulating regions that channel the current to 100-$\mu$m-wide stripes placed on 450-$\mu$m centers. From a typical uncoated LD, the output power of 0.8W has been obtained at a 1$\mu$s, 1kHz pulsed current level of 2.0$\AA$, which results in about 64% external quantum efficiency. The threshold current density is 736A/cm$^{2}$ for the case of 500$\mu$m cavity length LD's. The measure of an internal quantum efficiency was 75.8% and the internal loss 4.83$cm^{-1}$ . Finally, 3.1W output power has been obtained at a 1$\mu$s, 1kHz pulsed current level of 9A from the 500$\mu$m-aperture LD array with 460-$\mu$m- cavity length.

• 한국광학회지
• /
• 제14권4호
• /
• pp.454-459
• /
• 2003

단일 모드 광원이 집적된 Mach-Zehnder간섭계형 파장 변환기를 제작하여 세계 최초로 10 Gb/s에서 파장 변환 특성을 확인하였다. 제작된 파장 변환기는 수동 도파로 영역에서의 전파 손실을 줄이기 위해 undoped InP층이 수동 도파로 위에 형성된 새로운 BRS 구조를 사용하였다. 단일 모드 광원으로 손실 결합형 분포 궤환형 반도체 레이저(loss-coupled distributed feedback laser; LC-DFB LD)를 사용하여, 파장 변환기에 있는 반도체 광증폭기의 주입전류가 200 mA까지 측모드 억제율이 30 dB 이상의 값을 나타내었다. 제작된 LC-DFB LD 집적 파장 변환기는 10 Gb/s의 동적 파장 변환 특성 측정 결과, 7 dB 정도의 소광비를 갖는 eye 패턴을 얻을 수 있었으며, power penalty는 $10^{-9}$ bit error rate에서 2.8 dB의 값을 나타내었다.