• Journal of Institute of Control, Robotics and Systems
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• v.19 no.4
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• pp.372-378
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• 2013

In this paper, we research the localization problem of the crawler-type inspection robot for underwater structure which travels an outer wall of underwater structure. Since various factors of the underwater environment affect an encoder odometer, it is hard to localize robot itself using only on-board sensors. So in this research we used a depth sensor and an IMU to compensate odometer which has extreme error in the underwater environment through using Extended Kalman Filter(EKF) which is normally used in mobile robotics. To acquire valid measurements, we implemented precision sensor modeling after assuming specific situation that robot travels underwater structure. The depth sensor acquires a vertical position of robot and compensates one of the robot pose, and IMU is used to compensate a bearing. But horizontal position of robot can't be compensated by using only on-board sensors. So we proposed a localization algorithm which makes horizontal direction error bounded by using kinematics relationship. Also we implemented computer simulations and experiments in underwater environment to verify the algorithm performance.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.25 no.6
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• pp.486-491
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• 2016

Disturbance/vibration reduction is critical in many applications using machine vision. The off-focusing or blurring error caused by vibration degrades the machine performance. In line with this, real-time disturbance estimation and avoidance are proposed in this study instead of going with a more familiar approach, such as the vibration absorber. The instantaneous motion caused by the disturbance is sensed by an attitude heading reference system module. A periodic vibration modeling is conducted to provide a better performance. The algorithm for vibration avoidance is described according to the vibration modeling. The vibration occurrence function is also proposed, and its parameters are determined using the genetic algorithm. The proposed algorithm is experimentally tested for its effectiveness in the vision inspection system.

• Transactions of the Korean Society of Pressure Vessels and Piping
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• v.19 no.2
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• pp.93-101
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• 2023

In this study, a deep learning algorithm was used to diagnose electric potential signals obtained through CIPS and DCVG, used indirect inspection methods to confirm the soundness of buried pipes. The deep learning algorithm consisted of CNN(Convolutional Neural Network) model for diagnosing the electric potential signal and Grad CAM(Gradient-weighted Class Activation Mapping) for showing the flaw prediction point. The CNN model for diagnosing electric potential signals classifies input data as normal/abnormal according to the presence or absence of flaw in the buried pipe, and for abnormal data, Grad CAM generates a heat map that visualizes the flaw prediction part of the buried pipe. The CIPS/DCVG signal and piping layout obtained from the 3D finite element model were used as input data for learning the CNN. The trained CNN classified the normal/abnormal data with 93% accuracy, and the Grad-CAM predicted flaws point with an average error of 2m. As a result, it confirmed that the electric potential signal of buried pipe can be diagnosed using a CNN-based deep learning algorithm.

• Journal of the Korea institute for structural maintenance and inspection
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• v.10 no.6
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• pp.87-94
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• 2006

Estimating moving vehicle loads is important in modeling design loads for bridge design and construction. The paper proposes a moving force identification algorithm using moment influence lines measured at multi-axes. Density estimation function was applied to estimate more than two wheel loads when estimated load values fluctuated severely. The algorithm has been examined through simulation studies on a simple-span plate-girder bridge. Influences of measurement noise and error in velocity on the identification results were investigated in the simulation study. Also, laboratory experiments were carried out to examine the algorithm. The load identification capability was dependent on the type and speed of moving loads, but the developed algorithm could identify loads within 10% error in maximum.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.149-150
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• 2007

In this paper, we propose a novel defects inspection algorithm for TFT-LCD panels. We first compensate the distorted image caused by the camera distortion and the uneven illumination environment using the least squares method and the bezier surface. We find a starting point of each pattern. The reference frame, made by subtract method using several clean patterns, is compared to each pattern to find defects. The simulation example shows that our algorithm not only inspects the defects well, but also is robust to the 1-pixel error.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.29B no.1
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• pp.76-84
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• 1992

The vision system is essential for SMT(Surface Mounting Technology) automation. The system plays the role of matching the positions betweem SMD and PCB, and inspecting SMD in the final stage of mounting. Real-time processing and high-precision are indispensable for practical purpose. In this paper, a new algorithm for position matching and inspection of SMD is proposed, and which is implemented on the DSP board using DSP board using DSP5600. Experimental results show mean matching error within 0.1 mm in the direction of x,y and execution time within 300msec. Therefore, we could attain high-speed and high-precision of the vision system for SMT automation.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.10
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• pp.80-86
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• 1999

Since the quality of the coated wires is in various applications dependant on the coating depth, accuracy of hole size of dies used for coating wires must be maintained precisely, in general within one micron. This paper proposes a new vision system which measures automatically the size and shape of small holes having diameters less than 1mm within an error limit of 1 micron. To quickly obtain the focused image, this paper proposes an estimation method of the camera position using only a couple of defocused hole images. It measures the distributions of light intensity around the image boundary and decides the direction and distance of a camera motion. The proposed system measures the size, shape distortion, inclination of the hole against the axis of the dies structure, to decides the acceptability of the dies for use. The proposed algorithm has been implemented using a cheap 640${\times}$480 image system and has shown an average size error of 1micron when measuring the dieses having 0.1mm to 1.0mm diameters. It can be applied to the inspection of the size and position of holes in PCB, too.

• Journal of Korean Society for Quality Management
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• v.30 no.1
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• pp.74-96
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• 2002

The objectives of this study is to suggest the rectifying sampling inspection plan considering quality cost. Limiting quality level(LQL) plans(also called LTPD plans) and outgoing quality(OQ) plans are considered. The Hald's linear cost model is discussed with and without a beta prior for the distribution of the fraction of nonconforming items in a lot. It is assumed that the sampling inspection is error free. We consider the design of reliability acceptance sampling plan (RASP) for failure rate level qualification at selected confidence level. The lifetime distribution of products is assumed to be exponential. MIL-STD-690C and K C 6032 standards provide this procedures. But these procedures have some questions to apply in the field. The cost of test and confidence level(1-$\beta$ risk) are the problem between supplier and user. So, we suggest that the optimal life test sampling inspection plans using simple linear cost model considering product cost, capability of environment chamber, environmental test cost, and etc. Especially, we consider a reliability of lots that contain some nonconforming items. In this case we assumed that a nonconforming item fail after environmental life test. Finally, we develope the algorithm of the optimal sampling inspection plan based on minimum costs for rectifying inspection and RASP. And computer application programs are developed So, it is shown how the desired sampling plan can be easily found.

• Journal of the Korea institute for structural maintenance and inspection
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• v.15 no.2
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• pp.70-78
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• 2011

The paper aims at developing a more reliable and accurate BWIM(Bridge Weigh-In-Motion) algorithm using measured strain data and examining its efficiency with various tests on bridges. It proposes a BWIM algorithm using density estimation function and average modification factor for moment-strain relationship. Density estimation function has been proved to be reliably applied when multiple axle loads are estimated. An average modification factor is applied to minimize overall error that can be encountered between theoretically computed moments and measured strains at multiple locations in a bridge. The developed algorithm has been successfully examined through numerical simulations, laboratory tests, and also by field tests on a multi-girder composite bridge.

• Journal of the Korea institute for structural maintenance and inspection
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• v.10 no.6
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• pp.213-223
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• 2006

In this study, artificial neural network is applied to the evaluation of bearing capacity of the PHC auger-drilled piles at sites of domestic decomposed granite soils. For the verification of applicability of error back propagation neural network, a total of 168 data of in-situ test results for PHC auger-drilled plies are used. The results show that the estimation of error back propagation neural network provide a good matching with pile test results by training and these results show the confidence of utilizing the neural networks for evaluation of the bearing capacity of piles.