• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.237-240
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• 1997

The design of underwater inspection robot system is presented. This robot system is designed for wall inspection in the nuclear plant facility. This paper describes the major components of the robot and its structures. This robot system is consisted of three parts : mechanical electrical and sensing pail. The main problem of designing mechanical part is to select the mechanism of driving. In this system the propeller driving mechanism is selected which can be move the robot continuously. For reducing the size of robot, we designed the CPU and motor controller board. The sensor system is consisted of two parts. One is environment monitoring part and the other is robot localization system.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1553-1558
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• 2007

This paper presents a vision based autonomous inspection system for welding quality control of car sinking seat. In order to overcome the precision error that arises from a visible inspection by operator in the manufacturing process of a car sinking seat, this paper proposes the MVWQC (machine vision based welding quality control) system. This system consists of the CMOS camera and NI machine vision system. The image processing software for the system has been developed using the NI vision builder system. The geometry of welding bead, which is the welding quality criteria, is measured by using the captured image with median filter applied on it. Experiments have been performed to verify the proposed MVWQC of car sinking seat.

• Computers and Concrete
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• v.33 no.4
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• pp.341-348
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• 2024

Ultra-high-performance concrete (UHPC) has received remarkable attentions in civil infrastructure due to its unique mechanical characteristics and durability. UHPC gains increasingly dominant in essential structural elements, while its unique properties pose challenges for traditional inspection methods, as damage may not always manifest visibly on the surface. As such, the need for robust inspection techniques for detecting cracks in UHPC members has become imperative as traditional methods often fall short in providing comprehensive and timely evaluations. In the era of artificial intelligence, computer vision has gained considerable interest as a powerful tool to enhance infrastructure condition assessment with image and video data collected from sensors, cameras, and unmanned aerial vehicles. This paper presents a computer vision-based approach employing deep learning to detect cracks in UHPC beams, with the aim of addressing the inherent limitations of traditional inspection methods. This work leverages computer vision to discern intricate patterns and anomalies. Particularly, a convolutional neural network architecture employing transfer learning is adopted to identify the presence of cracks in the beams. The proposed approach is evaluated with image data collected from full-scale experiments conducted on UHPC beams subjected to flexural and shear loadings. The results of this study indicate the applicability of computer vision and deep learning as intelligent methods to detect major and minor cracks and recognize various damage mechanisms in UHPC members with better efficiency compared to conventional monitoring methods. Findings from this work pave the way for the development of autonomous infrastructure health monitoring and condition assessment, ensuring early detection in response to evolving structural challenges. By leveraging computer vision, this paper contributes to usher in a new era of effectiveness in autonomous crack detection, enhancing the resilience and sustainability of UHPC civil infrastructure.

• Journal of the Society of Naval Architects of Korea
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• v.59 no.4
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• pp.192-199
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• 2022

With the advent of autonomous ships, it is emerging as one of the very important issues not only to operate with a minimum crew or unmanned ships, but also to secure the safety of ships to prevent marine accidents. On-site inspection of the hull is mainly performed by the inspector's visual inspection, and video information is recorded using a small camera if necessary. However, due to the shortage of inspection personnel, time and space constraints, and the pandemic situation, the necessity of introducing an automated inspection system using artificial intelligence and remote inspection is becoming more important. Furthermore, research on hardware and software that enables the automated inspection system to operate normally even under the harsh environmental conditions of a ship is absolutely necessary. For automated inspection systems, it is important to review artificial intelligence technologies and equipment that can perform a variety of hull failure detection and classification. To address this, it is important to classify the hull failure. Based on various guidelines and expert opinions, we divided them into 6 types(Crack, Corrosion, Pitting, Deformation, Indent, Others). It was decided to apply object detection technology to cracks of hull failure. After that, YOLOv5 was decided as an artificial intelligence model suitable for survey and a common hull crack dataset was trained. Based on the performance results, it aims to present the possibility of applying artificial intelligence in the field by determining and testing the equipment required for survey.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.16 no.5
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• pp.14-23
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• 2007

Welding fabrication invariantly involves three district sequential steps: preparation, actual process execution and post-weld inspection. One of the major problems in automating these steps and developing autonomous welding system is the lack of proper sensing strategies. Conventionally, machine vision is used in robotic arc welding only for the correction of pre-taught welding paths in single pass. However, in this paper, multipass tracking more than single pass tracking is performed by conventional seam tracking algorithm and developed one. And tracking performances of two algorithm are compared in multipass tracking. As the result, tracking performance in multi-pass welding shows superior conventional seam tracking algorithm to developed one.

• Journal of Welding and Joining
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• v.16 no.3
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• pp.85-94
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• 1998

Welding fabrication invariantly involves three district sequential steps: preparation, actual process execution and post-weld inspection. One of the major problems in automating these steps and developing autonomous welding system, is the lack of proper sensing strategies. Conventionally, machine vision is used in robotic arc welding only for the correction of pre-taught welding paths in single pass. In this paper, developed vision processing techniques are detailed, and their application in welding fabrication is covered. The software for joint tracking system is finally proposed.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2022.04a
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• pp.87-88
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• 2022

For an earthquake-safe urban environment, the Republic of Korea conducts seismic performance evaluation in accordance with laws and guidelines to assign safety ratings and implement necessary management measures such as repairs and reinforcements. In the seismic performance evaluation result, structures lacking in preparation for earthquakes are prioritized and classified into measures such as repair, reinforcement, or careful observation to respond to physical risks such as earthquakes. Such repair and reinforcement work is not a one-time thing, but it is necessary to further enhance the effect through continuous follow-up observation. In this study, the location of the vertical and horizontal displacement measuring part of the construction part is displayed so that the post-construction status of the reinforcement construction part can be visually checked by identifying the problems in the process of post-monitoring in 2022 for the maintenance and reinforcement work of local governments' public facilities carried out in 2021. We propose a plan to institutionalize the installation of, inspection tools, and crack gauges at certain locations in the construction department, and to have facility managers periodically inspect and manage them with a smartphone program or the 'Facility Autonomous Safety Inspection' app.

• Parasites, Hosts and Diseases
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• v.58 no.1
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• pp.37-46
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• 2020

Livestock husbandry is vital to economy of the Tarim Basin, Xinjiang Autonomous Region, China. However, there have been few surveys of the distribution of ixodid ticks (Acari: Ixodidae) and tick-borne pathogens affecting domestic animals at these locations. In this study, 3,916 adult ixodid ticks infesting domestic animals were collected from 23 sampling sites during 2012-2016. Ticks were identified to species based on morphology, and the identification was confirmed based on mitochondrial 16S and 12S rRNA sequences. Ten tick species belonging to 4 genera were identified, including Rhipicephalus turanicus, Hyalomma anatolicum, Rh. bursa, H. asiaticum asiaticum, and Rh. sanguineus. DNA sequences of Rickettsia spp. (spotted fever group) and Anaplasma spp. were detected in these ticks. Phylogenetic analyses revealed possible existence of undescribed Babesia spp. and Borrelia spp. This study illustrates potential threat to domestic animals and humans from tick-borne pathogens.

• Journal of Communications and Networks
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• v.10 no.4
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• pp.455-464
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• 2008

To provide network services consistently under various network failures, enterprise networks increasingly utilize path diversity through multi-homing. As a result, multi-homed non-transit autonomous systems become to surpass single-homed networks in number. In this paper, we address an inevitable problem that occurs when networks with multiple entry points deploy firewalls in their borders. The majority of today's firewalls use stateful inspection that exploits connection state for fine-grained control. However, stateful inspection has a topological restriction such that outgoing and incoming traffic of a connection should pass through a single firewall to execute desired packet filtering operation. Multi-homed networking environments suffer from this restriction and BGP policies provide only coarse control over communication paths. Due to these features and the characteristics of datagram routing, there exists a real possibility of asymmetric routing. This mismatch between the exit and entry firewalls for a connection causes connection establishment failures. In this paper, we formulate this phenomenon into a state-sharing problem among multiple fire walls under asymmetric routing condition. To solve this problem, we propose a stateful inspection protocol that requires very low processing and messaging overhead. Our protocol consists of the following two phases: 1) Generation of a TCP SYN cookie marked with the firewall identification number upon a SYN packet arrival, and 2) state sharing triggered by a SYN/ACK packet arrival in the absence of the trail of its initial SYN packet. We demonstrate that our protocol is scalable, robust, and simple enough to be deployed for high speed networks. It also transparently works under any client-server configurations. Last but not least, we present experimental results through a prototype implementation.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.26 no.3
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• pp.24-30
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• 2003

As domestic buildings have been large-scaled, diversified and high-rise, there have been a consistent demand for design, development of construction technology and accident prevention activity as well as quality enhancement. In spite of governmental and related institutions' efforts for reducing national losses which come from numerous accidents, there have been endless small and large accidents on the construction site and thus, it is urgent to conduct empirical researches in this area. Currently safety supervision system in construction industry has enforced harm and danger prevention planning system, however it merely stick to other existing materials. In addition, it is difficult to put it into practice in that it requires bearing too much burden to draw out the planning itself in a case of large construction work. Consequently in this paper we select evaluation criteria by construction progress, classify into several categories, and regard potential danger which often occurs, as a evaluation criterion. Further step is to allow workers or collaborated companies to express their expert opinions or experiences and to encourage quality and process control and autonomous safety control by applying PSM(Process Safety Management) method using AHP(Analytic Hierarchy Process) and to development of PSM evaluation method in the construction. The reason why PSM method should be quantitative and substantial progress is because it contributes Korean constructing companies to enhancing their safety control ability and to taking an equal stance just like developed countries, thereby strengthening their competitive edges. Boost of safety control system by PSM method could make an enormous contribution to preventing construction accidents on the site by establishing and securing an autonomous safety control system.