• 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.

• Proceedings of the KIEE Conference
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• 1993.07a
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• pp.410-413
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• 1993

Chamferless peg-in-hole process of the cylindrical type parts using force/torque sensor and vision sensor is analyzed and simulated in this paper. Peg-in-hole process is classified to the normal mode (only position error) and tilted mode(position and orientation error). The tilted mode is sub-classified to the small and the big tilted mode according to the relative orientation error. Since the big tilted node happened very rare, most papers dealt with only the normal or the small tilted mode. But the most errors of the peg-in-hole process happened in the big tilted mode. This problem is analyzed and simulated in this paper using the force/torque sensor and vision senor. In the normal mode, fuzzy logic is introduced to combine the data of the force/torque sensor and vision sensor. Also the whole processing algorithms and simulations are presented.

• International Journal of Control, Automation, and Systems
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• v.3 no.3
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• pp.469-476
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• 2005

Performance of a force-torque sensor is affected significantly by an error signal that is included in the sensor signal. The error sources may be classified mainly into two categories: one is a structural error due to inaccuracy of sensor body, and the other is a noise signal existing in sensed information. This paper presents a principle of 6-axis force-torque sensor briefly, a double-hole structure to be able to improve a structural error, and then a signal conditioning to reduce the effect of a noise signal. The validity of the proposed method is investigated through experimental study, which shows that SIN ratio is improved significantly in our experimental setup, and the sensor can be implemented cheaply with reasonable performance.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.119-122
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• 2001

This paper discusses the peg-in-hole task of chamferless parts using force/moment/vision sensors. The directional error occurring during the task are categorized into two cases according to the degree of initial errors, And different Mechanical analysis has been accomplished for each cases. This paper proposes an algorithm which enables to reduce intial directional error using digital Images acquired from hand-eyed vision sensor, And to continue the task even with the large directional error by adjusting the error using digital image processing. The effectiveness of the algorithm has been demonstrated through experimentation using 5-axis robot equipped with a developed controller force/moment sensor and color digital camera on its hand.

• Journal of Welding and Joining
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• v.6 no.3
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• pp.37-42
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• 1988

The Hole Drilling Method(HDM) is widely used to measure residual stresses in the welded structures. The purpose of this study is to evaluate the accuracy fo measuring residual stresses when drilling the hole by Air-abrasive Jet machine(AJM). Simulated residual stresses wre introduced by applying known stresses to steel bars. These known streses were then compared with measured stresses relaxed from hole drilling. the obtained results are summarized as follows; 1) It was possible to obtain well defined holes with the nozzle designed for this study. 2) If the hole shape is not cylindrical, critical may occur. 3) In the uniaxial strain field, the measurement error of the maximum principal stress was within .+-.10 percent. The orientation angle of the maximum principal stress was within 8.deg. from the given directioin. 4) meausrements were made varying hole depths. Little or no change of stresses occurs since holse were drilled more than the depth of the 0.6 times diameter. 5) The air-abrasive jet machining for drilling holse does not cause appreciable apparent stresses which si critical to measure residual stresses.

• Transactions of Materials Processing
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• v.19 no.5
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• pp.320-324
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• 2010

Multi-Layer Ceramic Circuit(MLCC) in the face of thousands of fine pitch multi hole is processed. However, the fine pitch multi hole has a size of only a few micrometers. Therefore, in order to curtail the measurement time and reduce error, the image processing measurement method is required. So, we proposed an image processing measurement algorithm which is required to accurately measure the fine pitch multi hole. The proposed algorithm gets image of the fine pitch multi hole, extracts object from the image by morphological process, and extracts the parameters of its position and feature by edge detecting process. In addition, we have used the sub-pixel algorithm to improve accuracy. As a result, the proposed algorithm shows 97% test-retest measurement reliability within 2 ${\mu}m$. We found that the algorithm was wellsuited for measuring the fine pitch multi hole.

• Electrical & Electronic Materials
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• v.9 no.6
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• pp.564-571
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• 1996

We calculated the drift-velocities of electrons and holes of I $n_{0.53}$(A $l_{x}$G $a_{1-x}$ )$_{0.47}$As, which is used for semiconductor materials of high performance HBTs, along with the various doping concentrations and Al mole fractions as well as the electric fields by Monte Carlo experiment. Especially, for the valence bands the accuracy of hole-drift-velocity was improved in the consideration of intervalley scattering due to the inelastic scattering of acoustic phonon. From the results the empirical formulas of the low- and high field mobility of electrons and holes were extracted by using nonlinear least square fitting method. The accuracy of the formulas was proved by comparing the formula of low-field electron mobility as well as drift-velocity of I $n_{0.53}$ G $a_{0.47}$As and of low-field hole mobility of GaAs with the measured values, where the error was below 10%. For the high-field mobilities of electron and hole the results calculated by the formulas were very well matched with the MC experimental results except at the narrow field range where the electrons produced the velocity overshoot and the corresponding error was about 30%.0%. 30%.0%.

• The Journal of Korea Robotics Society
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• v.12 no.4
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• pp.411-418
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• 2017

During the intramedullary nailing procedure, surgeons feel difficulty in manipulation of the X-ray device to align it to axes of nailing holes and suffer from the large radiation exposure from the X-ray device. These problems are caused by the fact the surgeon cannot see the hole's location directly and should use the X-ray device to find the hole's location and direction. In this paper, we proposed the robotic guidance of the distal screwing using an optical tracking system. To track the location of the hole for the distal screwing, the reference marker is attached to the proximal end of an intramedullary nail. To guide the drill's direction robustly, the 6-degree-of-freedom robotic arm is used. The robotic arm is controlled so as to align the drill guiding tool attached the robotic arm with the obtained the hole's location. For the safety, the robot's linear and angular velocities are restricted to the predefined values. The experimental results using the artificial bones showed that the position error and the orientation error were 0.91 mm and $1.64^{\circ}$, respectively. The proposed method is simple and easy to implement, thus it is expected to be adopted easily while reducing the radiation exposure significantly.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.25 no.2
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• pp.97-104
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• 2016

In this study, the qualitative effects of the positional error of carrier pin holes on the planet load sharing characteristics of the three-point suspension gearbox of wind turbines were investigated experimentally. A 35-kW gearbox comprising two planetary gear stages and a parallel gear stage and size one-fourth of that of a 2-MW three-point suspension gearbox was used as the test gearbox. The strain gauges attached to the ring gear teeth of the input planetary gear stage were used for the purpose of this study. The applied loading conditions were 50%, 75%, and 100% of the rated torque, and the mesh load factor was used as the load sharing index. The experimental results indicated that both the magnitude and direction of the positional error of pin holes had a significant effect on the planet load sharing characteristics of the three-point suspension gearbox. In addition, an increase in the applied torque results in uniform load sharing.

• Journal of KIISE
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• v.44 no.2
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• pp.186-194
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• 2017

Depth-image-based rendering is a technique that can be applied in a variety of 3D-display systems. It generates the images that have been captured from virtual viewpoints by using a depth map. However, disoccluded hole-filling problems remain a challenging issue, as a newly exposed area appears in the virtual view. Image inpainting is a popular approach for the filling of the hole region. This paper presents a robust hole-filling method that reduces the error and generates a high quality-virtual view. First, the adaptive-patch size is decided using the color and depth information. Also, a partial filling method for which the patch similarity is used is proposed. These efforts reduce the error occurrence and the propagation. The experiment results show that the proposed method synthesizes the virtual view with a higher visual comfort compared with the existing methods.