• Journal of the Korean Institute of Intelligent Systems
• /
• v.26 no.6
• /
• pp.505-510
• /
• 2016

This paper presents a searching method of corresponding points robust to rotational error for scan-matching used for SLAM(Simultaneous Localization and Mapping) in mobile robot. A differential driving mechanism is one of the most popular type for mobile robot. For driving curved path, this type controls the velocities of each two wheels independently. This case increases a wheel slip of the mobile robot more than the case of straight path driving. And this is the reason of a drifting problem. To handle this problem and improves the performance of scan-matching, this paper proposes a searching method of corresponding points using extraction of a closest point based on rotational radius of the mobile robot. To verify the proposed method, the experiment was conducted using LRF(Laser Range Finder). Then the proposed method is compared with an existing method, which is an existing method based on euclidian closest point. The result of our study reflects that the proposed method can improve the performance of searching corresponding points.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2002.10a
• /
• pp.393-398
• /
• 2002

This study proposes a method to reduce error scanning data of laser scanner. The method co of 3 stages. First, there is an error indu difference of the distance between the prob the object. It is possible to reduce the e planning a scanning strategy: object settin path. Second, the scan data loss of the tooli affects calculating the tooling ball con z-direction compensation is given to calculat accurate registration points. Third, three p used to determine a transformation matrix on frame. As merging, the maximum error usually on the third tooling ball in the conven method, which select a point among three po randomly. We find the centroid of 3 points apply it to determine a new transformation mat

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.06a
• /
• pp.657-662
• /
• 2005

In this study, the deposition of micrometer-scale metallic interconnects on LCD glass for the repair of open-circuit type defects is investigated. Although there had been a few studies Since 1980 s for the deposition of metallic interconnects by laser-induced chemical vapor deposition, those studies mostly used continuous wave lasers. In this work, a third harmonic Nd:YLF laser (351nm) of high repetition rates, up to 10 KHz, was used as the illumination source and $W(CO)_6$ was selected as the precursor. General characteristics of the metal deposit (tungsten) such as height, width, morphology as well as electrical properties were examined for various process conditions. Height of the deposited tungsten lines ranged from 35 to 500 nm depending on laser power and scan speed while the width was controlled between $3\~50{\mu}$ using a slit placed in the beam path. The resistivity of the deposited tungsten lines was measured to be below 1 $O\cdot{\mu}m$, which is an acceptable value according to the manufacturing standard. The tungsten lines produced at high scan speed had good surface morphology with little particles around the patterns. Experimental results demonstrated that it is likely that the deposit forms through a hybrid process, namely through the combination of photolytic and pyrolytic mechanisms.

• Journal of the Korean Society for Precision Engineering
• /
• v.22 no.8 s.173
• /
• pp.165-173
• /
• 2005

This paper presents the results for deposition of micrometer-scale metal lines on glass for the development of TFT-LCD circuit repair-system. Although there had been a few studies in the late 1980's for the deposition of metallic interconnects by laser-induced chemical vapor deposition, those studies mostly used continuous wave lasers. In this work, a third harmonic Nd:YLF laser (351nm) of high repetition rates, up to 10 KHz, was used as the illumination source and W(CO)s was selected as the precursor. General characteristics of the metal deposit (tungsten) such as height, width, morphology as well as electrical properties were examined for various process conditions. Height of the deposited tungsten lines ranged from 35 to 500 m depending on laser power and scan speed while the width was controlled between 50um using a slit placed in the beam path. The resistivity of the deposited tungsten lines was measured to be below $1{\Omega}{\cdotu}um$, which is an acceptable value according to the manufacturing standard. The tungsten lines produced at high scan speed had good surface morphology with little particles around the patterns. Experimental results demonstrated that it is likely that the deposit forms through a hybrid process, namely through the combination of photolytic and pyrolytic mechanisms.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.3
• /
• pp.249-255
• /
• 2007

Under the situation of a fire, it is difficult for a rescue robot to use sensors such as vision sensor, ultrasonic sensor or laser distance sensor because of diffusion, refraction or block of light and sound by dense smoke. But, braille blocks that are installed for the visaully impaired at public places such as subway stations can be used as a map for autonomous mobile robot's localization and navigation. In this paper, we developed a laser sensor stan device which can detect braille blcoks in spite of dense smoke and integrated the device to the robot developed to carry out rescue mission in various hazardous disaster areas at KIST. We implemented MCL algorithm for robot's attitude estimation according to the scanned data and transformed a braille block map to a topological map and designed a nonlinear path tracking controller for autonomous navigation. From various simulations and experiments, we could verify that the developed laser sensor device and the proposed localization method are effective to autonomous tracking of braille blocks and the autonomous navigation robot system can be used for rescue under fire.

• The Journal of the Korea Contents Association
• /
• v.9 no.6
• /
• pp.256-265
• /
• 2009

Laser output becomes output adjustment from 20 w to 100 w consecutively and time of exposure is available adjustment through water plant in 0.01 seconds. Pulse action can intercept laser beam periodically and supermarket pulse 0.1 $\sim$ between 1ms discharge consist and momentary laser output is increased to 5 $\sim$ 10. Specially, that must remove malignancy cell in womb nine escarps in the case of uterine cancer first of all stability of tube output about pulse by weight very, stable soft switching action area is defined without high frequency transformer leakage inductance ($L_1$) increase and additional series inductor insertion to converter the first main circuit securing zero voltage and marks of switching action in this research specially, because circulation current path of inductor ($L_f$) current is intercepted, converter the first main circuit switching component and spiritual enlightenment damage of high frequency transformer take decreasing greatly and high frequency the second stoppage department ($D_5,\;D_6$) becomes soft switching, and also, switching damage absorption quantity characteristic that can come to life again as subordinate have, and to become tube stabilization design and result that manufacture and experiment, brought result that improve of 10% than existing equipment, and if supplement as systematic late, it becomes thought to get into superior result.

• Korean Journal of Computational Design and Engineering
• /
• v.4 no.1
• /
• pp.60-68
• /
• 1999

In reverse engineering (RE) sustems, the quality of the data aquisition process is crucial to the accuracy of the reverse engineered three dimensional computer-aided design (CAD) model. However, these tasks are predominantly done manually, and little work has been done to improve the efficiency of scanning by determining the minimum number of scans and the optimal scanning directions. In this paper, new scanning and registration methods using tooling balls are developed to assist in determining the optimal parameter for these processes. When the object to scanned has no concavity, attaching path of the object and its bounding rectangle are used for optimal scanning and registration. Then minimum number of tooling balls and their positions are calculated automatically. In the case of concave parts, the scanning plan should include a complete scan of the concave area. With the surface normal vector and the scanning direction, the minimum degree of rotating the part can be calculated. But the maximum rotation should be restricted in order to prevent occlusion of the part. Finally tow sample part ar scanned based on the proposed methods and the results are discussed.

• Journal of Korea Society of Industrial Information Systems
• /
• v.23 no.1
• /
• pp.13-21
• /
• 2018

AGVS (Automated Guided Vehicle System) is a core technology of logistics automation which automatically moves specific objects or goods within a certain work space. Conventional AGVS generally requires the in-door localization system and each AGV equips expensive sensors such as laser, magnetic, inertial sensors for the route recognition and automatic navigation. thus the high installation cost is inevitable and there are many restrictions on route(path) modification or expansion. To address this issue, in this paper, we propose a cost-effective and scalable AGV based on a light-weight pattern recognition technique. The proposed pattern recognition technology not only enables autonomous driving by recognizing the route(path), but also provides a technique for figuring out the loc ation of AGV itself by recognizing the simple patterns(bar-code like) installed on the route. This significantly reduces the cost of implementing AGVS as well as benefiting from route modification and expansion. In order to verify the effectiveness of the proposed technique, we first implement a pattern recognition algorithm on a light-weight MCU(Micro Control Unit), and then verify the results by implementing an MCU_controlled AGV prototype.

• Journal of the Institute of Electronics Engineers of Korea SP
• /
• v.41 no.3
• /
• pp.139-146
• /
• 2004

A 2D/3D complex optical system and its vision inspection algerian is proposed and implemented as a single probe system for high speed, precise vision inspection of the solder pastes. One pass un length labeling algorithm is proposed instead of the conventional two pass labeling algorithm for fast extraction of the 2D shape of the solder paste image from the recent line-scan camera as well as the conventional area-scan camera, and the optical probe path generation is also proposed for the efficient 2D/3D inspection. The Moire interferometry-based phase shift algerian and its optical system implementation is introduced, instead of the conventional laser slit-beam method, for the high precision 3D vision inspection. All of the time-critical algorithms are MMX SIMD parallel-coded for further speedup. The proposed system is implemented for simultaneous 2D/3D inspection of 10mm${\times}$10mm FOV with resolutions of 10 ${\mu}{\textrm}{m}$ for both x, y axis and 1 ${\mu}{\textrm}{m}$ for z axis. Experiments conducted on several nBs show that the 2D/3D inspection of an FOV, excluding an image capturing, results in high speed of about 0.011sec/0.01sec, respectively, after image capturing, with $\pm$1${\mu}{\textrm}{m}$ height accuracy.

• Journal of Korean Ophthalmic Optics Society
• /
• v.8 no.1
• /
• pp.35-39
• /
• 2003

The display technology on the retina is the key role in inspecting the condition of the patients. 2-dimensional retina image is widely used in the eye examination as of today. Recently, 3-dimensional retina image ones have been introduced to this area, but the quality of the image is not fully satisfied to the operator. For the purpose of developing 3-D retina imaging instrument, the optimization of a 3-D retina imaging system using Code-V tool was investigated in this thesis. He-Ne laser having the wavelength 632.8 nm was used to make a power source to detect the retina. Several lenses and mirrors installed on sledge which were developed to perform focus control on 3-D device were designed to make a beam focusing and direct line. Polygon scanner having 24 mirror facets and galvanometer making tilting movement were utilized to make a 2-D laser plane. Also, design of eye ball had been fulfilled to see the focus of the 2-D plane. Reflected ray from retina detected on the sensor array with the same path. All cognitive components were optimized for aberration correction in order to focus on retina. Results of optimization were compared to those of initial designed optics system. On the basis of above results, the result of third aberration has been corrected to stable values to the optical system. MTF evaluating the resolution of an image has been closely correlated to the diffraction limit and PSF indicating the strength distribution of an image has shown the SR value as 0.9998 having high performance. The possibility of new and powerful 3-D retina image instrument was verified by simulating each component of the instrument by Code-V.