• 한국정보통신학회논문지
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• 제6권8호
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• pp.1374-1380
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• 2002

용접을 하는데 있어서 보다 균일한 용접상태를 유지하고, 용접품질의 향상 및 동일시간에 보다 많은 용접을 함으로써 생산성 향상을 위해 로봇의 이용이 점차로 증가하고 있다. 로봇용접의 과정 중 실제 용접을 실시하기 위해 로봇을 움직이기 이전에 용접할 부위의 검출이 선행되어야 하고, 그 검출방법에 있어서 크게 접촉식과 비접촉식의 센서가 활용이 되고 있다. 본 논문에서는 비접촉식 중 비전센서인 레이저 다이오드와 CCD 카메라를 이용하여 CCD 카메라를 거친 영상을 처리하여 용접선을 추적하고 용접을 하도록 하고 있다. 레이저 다이오드를 용접모재와 일정 각도를 가지도록 조사하게 되면 모재표면의 형상에 따라 반사되는 굴곡면이 달라지게 되는데 이 형상이 CCD 카메라를 통해 입력되고, 이 입력된 화상을 이미지 보드와 프로그램을 통하여 분석을 하고, 얻어진 용접선의 화상의 좌표 값을 토대로 로봇을 이동시킴으로써 용접을 하도록 하고 있다. 용접은 실시간으로 이루어짐으로써 생산성 향상에 크게 기여할 수 있다. 또한 모재에 따라 굴곡이 다른 1차원 평면의 용접인 경우는 약간의 프로그램 수정으로 대부분 추적 가능하다는 것을 확인할 수 있었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.825-830
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• 1990

This paper reports the design procedure and testing result of a servo driven pan/tilt device which is capable of tracking arbitrary movement of a specified target object. In order to achieve real-time acquisition of feedback signal, a 2 degrees-of-freedom non-contact type displacement follower is used. The performance of the system is tested for different target velocities and control gains. The result of the research may provide an effective tool for visual transfer in the context of teleoperation.

• 대한전기학회논문지:전기물성ㆍ응용부문C
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• 제49권5호
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• pp.302-309
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• 2000

The tracking characteristics of silicone rubber degraded by accelerated outdoor exposure employing a weather-o-meter were investigated. The tracking test was performed according to ICE Publ.587 method but the concentration of conductive solution was two times higher than IEC standard in order to accelerate the tracking failure. The number of large effective scintillation and the current of high voltage circuit were measured simultaneously. It was shown that the number of effective scintillation had valuable information of the tracking degradation state of silicone rubber, while the average current between electrodes could not provide information enough for diagnosis. Based upon the experimental results, it could be said that the key factor accelerating tracking failure was not Joule heating by current but pyrolysis by burning of silicone rubber, and that reduction of contact angle was due to chain scission which resulted in the free radicals of low molecules.

• 전기학회논문지
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• 제66권7호
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• pp.1111-1116
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• 2017

In this paper, we developed bio-signal based eye tracking system using electrooculogram (EOG) and electromyogram (EMG) which measured simultaneously from same electrodes. In this system, eye gazing position can be estimated using EOG signal and we can use EMG signal at the same time for additional command control interface. For EOG signal processing, PLA algorithms are applied to reduce processing complexity but still it can guarantee less than 0.2 seconds of reaction delay time. Also, we developed dual machine learning structure and it showed robust and enhanced tracking performances. Compare to conventional EOG based eye tracking system, developed system requires relatively light hardware system specification with only two skin contact electrodes on both sides of temples and it has advantages on application to mobile equipments or wearable devices. Developed system can provide a different UX for consumers and especially it would be helpful to disabled persons with application to orthotics for those of quadriplegia or communication tools for those of intellectual disabilities.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2001년도 춘계종합학술대회
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• pp.460-464
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• 2001

최근, 아크용접을 하는데 있어서 보다 균일한 용접상태와 용접품질의 향상 및 동일시간에 보다 많은 용접을 함으로써 생산성 향상을 위해 로봇의 이용이 점차로 증가하고 있다. 로봇용접의 과정 중 실제 용접을 실시하기 위해 로봇을 움직이기 이전에 용접할 부위의 검출이 선행되어야 하고, 그 검출방법에 있어서 크게 접촉식과 비접촉식으로 대별된다. 본 논문에서는 비접촉식 중 영상처리센서인 레이저 다이오드와 CCD 카메라를 이용하여 CCD 카메라를 거친 영상을 처리하여 용접선을 추적하고 용접을 하도록 하고 있다. 레이저 다이오드를 용접모재와 어떤 각도를 가지도록 조사하게 되면 모재표면의 형상에 따라 반사되는 굴곡면이 달라지게 되는데 이 형상이 CCD 카메라를 통해 입력되고, 이 입력된 화상을 이미지 보드와 프로그램을 통하여 분석을 하고, 얻어진 용접선의 화상의 좌표 값을 토대로 로봇을 이동시킴으로써 용접을 하도록 하고 있다. 용접은 실시간으로 이루어짐으로써 생산성 향상에 크게 기여할 수 있다. 또한 모재에 따라 굴곡이 다른 1차원 평면의 용접인 경우는 약간의 프로그램 수정으로 대부분 추적 가능하다.

• Journal of Electrical Engineering and Technology
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• 제10권1호
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• pp.355-363
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• 2015

HVDC technology has become popular as an economic mode of bulk power transmission over very long distances. Polymeric insulators in HVDC power transmission lines are affected by surface tracking and erosion problems due to contamination deposit, which pose a greater challenge in maintaining the reliability of the HVDC system. In addition, polymeric insulators are also naturally affected by aging due to various environmental stresses, which in turn accelerates the surface tracking and erosion problems. Research works towards the improvement of tracking and erosion resistance of polymeric insulators by adding nano-sized fillers in the base material are being carried out worldwide. However, surface tracking and erosion performance of nano-filled aged polymeric insulators for HVDC applications are not well reported. Hence, in the present work, tracking and erosion resistance of the nano $Al(OH)_3$ filled silicone rubber insulation material has been evaluated under DC voltages at different filler concentrations and aged conditions, as per IEC 60587 test procedures. Leakage current and contact angle measurements were carried out to understand the surface hydrophobicity. Moving average technique was used to analyze the trend followed by leakage current. Water aged specimen shows less tracking resistance when compared with thermal aged specimen. It is observed that nano-filler concentration of 5% is even sufficient to get better tracking/erosion resistance under DC voltages.

• 대한기계학회논문집
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• 제17권9호
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• pp.2373-2380
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• 1993

This paper addresses the design procedure and testing result of a servo driven pan/tilt device which is capable of tracking arbitrary movement of a specified target object. In order to achieve real-time acquisition of feedback signal, a 2 degree-of freedom non-contact type displacement follower has been employed in stead of vision camera. The performance of the designed system is tested for different target velocities and control gains. The test result shows the satisfactory performance to be adopted as an effective tool for visual transfer in the context of teleoperation.

• 대한기계학회논문집
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• 제18권8호
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• pp.2062-2072
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• 1994

This paper presents the development of a fuzzy controller for driving camera pan/tilt device so that the camera's viewing direction can automatically track a moving object. To achieve computational efficiency a non-contact type displacement follower is used as a feedback sensor instead of a vision camera. The displacement follower, however, is extremely sensitive to object's lighting condition and results in unstable response at high speed. To this end, a fuzzy controller is developed in such a way to provide stable tracking performance at high speed where the sensory signal is subjected to intermittant disturbances of large magnitude. The test result shows stable tracking response even for high speed and non-uniform lighting condition. The resulting camera autotracking system can be adopted as an effective tool for visual transfer in the context of teleoperation and autonomous robotics.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2002년도 하계학술대회 논문집
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• pp.447-450
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• 2002

Recently polymeric insulators and arresters are being used for outdoor high voltage applications. Polymeric insulators for transmission line have significant advantages over porcelain and glass insulators, especially for ultra-high voltage(UHV) transmission lines. Their advantages are light weight, vandalism resistance and hydrophobicity. Polymeric insulator kind are a relatively new technology, but their expected life is still unknown. In this paper, the material property for polymeric insulating material such as silicone rubber and EPBM is investigated by cross-link time and the relation between tracking resistance and W resistance is analyzed by IEC 60587 and W aging experiment.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 D
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• pp.1404-1406
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• 1998

The outdoor polymeric insulating materials such as silicone rubber, ethylene propylene diene monomer(EPDM), ethylene vinyl acetate(EVA) and epoxy are aged by various natural environment with the long-term performance in outdoor. In this paper, the effects of UV-ray on surface of silicone rubber were investigated by using the weather-Ometer. The accelerated aging stresses were simulated by UV radiation. high temperature and humidity as well as water spray. These the aging characteristics were examined through contact angle measurements, tracking resistance test, FT-IR and SEM/EDS analysis. the experimental results showed that tracking resistance decreases with increase in the UV-ray irradiation period. But the surface of silicone rubber kept hydrophobicity. It is found that the inorganic filler such as $Al(OH)_3$ improves tracking resistance and the $TiO_2$ is very effective in preventing degradation of silicone rubber surface from UV-ray.