• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 1999.05a
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• pp.168-173
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• 1999

Many sensors such as a laser, CCD camera to obtain 3D information have been used, but most of calibration algorithms are inefficient since a huge memory and an experiment data for laser calibration are required. In this paper, the calibration algorithm of a slit beam laser based on triangulation method is introduced to calculate 3D information in the real world. The laser beam orthogonally mounted on the XY table is projected on the floor. A Cm camera observes the intersection plane of a light and an object plane. The 3D information is calculated using observed and calibration data. This method saves a memory and an experimental data since the 3D information are obtained simply triangulation method.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.6
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• pp.537-542
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• 2015

The measurement of 3D shape is important in inspecting the quality of product. In this paper, we present a 3D shape measurement system of fastener using a camera and a slit laser. Calibration structure with slits is used in the extrinsic calibration of the camera and laser. The pose of the camera and laser is computed under the same world coordinate system in the calibration structure. Reflection of laser light on the metal surface causes many difficulties in the robust detection of them on image. We overcome this difficulty by using color and dynamic programming. Motor stage is used to rotate the fastener to recover the whole 3D shape of the surface of it.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.713-716
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• 2000

In this study, we present a mobile robot for ultrasonic scanning of weldment. magnetic Caterpillar mechanism is selected in order to travel on the inclined surface and vertical wall. A motion control board and motor driver are developed to control four DC-servo motors. A virtual device driver is also developed for the purpose of communicating between the control board and a host PC with Dual 'port ram. To provide the mobile robot with stable and accurate movement, PID control algorithm is applied to the mobile robot control. And a vision system for detecting the weld-line are developed with laser slit beam as a light source. In the experiments, movement of the mobile robot is tested inclined on a surface and a vertical wall.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.8
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• pp.656-663
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• 2001

This paper presents a sensor fusion method to recognize a cylindrical object a CCD camera, a laser slit beam and ultrasonic sensors on a pan/tilt device. For object recognition with a vision sensor, an active light source projects a stripe pattern of light on the object surface. The 2D image data are transformed into 3D data using the geometry between the camera and the laser slit beam. The ultrasonic sensor uses an ultrasonic transducer array mounted in horizontal direction on the pan/tilt device. The time of flight is estimated by finding the maximum correlation between the received ultrasonic pulse and a set of stored templates - also called a matched filter. The distance of flight is calculated by simply multiplying the time of flight by the speed of sound and the maximum amplitude of the filtered signal is used to determine the face angle to the object. To determine the position and the radius of cylindrical objects, we use a statistical sensor fusion. Experimental results show that the fused data increase the reliability for the object recognition.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.40-43
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• 1997

This paper presents a 3D object recognition method for generation of 3D environmental map or obstacle recognition of mobile robots. An active light source projects a stripe pattern of light onto the object surface, while the camera observes the projected pattern from its offset point. The system consists of a laser unit and a camera on a pan/tilt device. The line segment in 2D camera image implies an object surface plane. The scaling, filtering, edge extraction, object extraction and line thinning are used for the enhancement of the light stripe image. We can get faithful depth informations of the object surface from the line segment interpretation. The performance of the proposed method has demonstrated in detail through the experiments for varies type objects. Experimental results show that the method has a good position accuracy, effectively eliminates optical noises in the image, greatly reduces memory requirement, and also greatly cut down the image processing time for the 3D object recognition compared to the conventional object recognition.

• Journal of the Korean Society of Safety
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• v.25 no.6
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• pp.9-13
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• 2010

An experimental study for characteristics of soot were conducted at the post-flame region in jet diffusion flames, where carbon dioxide was used as additives in oxidizer stream. Light-extinction method was performed using He-Ne laser with wave length at 632.8nm for the measurement of relative soot density and soot volume fraction with dimensionless extinction coefficient, $K_e$ and mass specific extinction coefficient, ${\sigma}_s$. To increase of resolution, laser light was modified for sheet-form using concave, convex lenses and slit. C/H ratio was introduced for quantitative analysis of soot growth which is expressed by carbonization and dehydrogen. Also transmission electron microscopy(TEM) was used for observation of morphological shape. The results show that the relative soot density in the post-flame region was lower when carbon dioxide was added in oxidizer stream because of reduction of flame temperature.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.6
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• pp.159-165
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• 2001

Recently Moire and PMP(Phase Measuring Profilometry) are adopted as a practical methodology for non-contact 3-D measurement of free surface. These methods extract the 3-D informations from the images of the object projected with stripe-pattern light. This paper presents a simple projector generating stripe-pattern light using expensive polygon mirror. In this projector, slit-beam is generated with a Laser diode and a rod lens and the laser diode is switched on/off synchronizing with the rotation of the polygon mirror. So its structure is very simple and light-weighted compared to the existent projection methods using several lenses and it is also easy to change the pitch and the phase of the stripe pattern. Experimental results show that the intensity profile of the stripe pattern can be approximated with sinusoidal curve by reducing the pitch of the stripe pattern.

• Proceedings of the Korean Fiber Society Conference
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• 2003.10a
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• pp.77-78
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• 2003

The surface evenness and texture of textile products are closely related with the irregularity of yarn thickness which has an important role to influence the quality and the process efficiency. For measuring yam thickness the capacitive method is known to dominate the market, delivering results that are in a close relation with the mechanical properties of yarn, while the optical method offers information that seems related rather with the apparent quality of yarn. If a thin light beam is applied for the optoelectrical measurement, it is very possible that this method can provide us with important information which is not obtainable from the capacitive type measurement. This paper reports the results of a study about the yarn thickness and its variation on the basis of a new measurement system using a laser slit beam. Analysis of the new system confirms that we can extract new information on the yarn irregularity ranging into much short wavelengths. Even the visual shade created by the yam doubling and twisting can be measured and represented well. Depending on the yam types, the thickness measurements show their own characteristics.

• Fibers and Polymers
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• v.6 no.1
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• pp.66-71
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• 2005

The surface evenness and texture are closely related with the irregularity of yam thickness. Besides, yam thickness variation has an important role to influence the yam performance and the textile process efficiency. Thus, the information not only on the yam thickness, but also on the short- term irregular characteristics that have not been known before is required for enhancing the qualities of textile products. This paper reports the results of a study about the yam thickness and its variation for various types of yam on the basis of a new measurement system applying a laser slit beam as a light source. The new method delivers effective information on the irregularity. The analysis of the measured signal confirms that the visual shade created by the yam doubling and twisting can be measured and the yam thickness characteristics can be represented by corre­lograms. Depending on yam types, correlograms have different shapes and can be approximated to an exponentially decaying function with or without fluctuating magnitude. In addition, the effective information on the yam irregularity can be influ­enced by the sampling length interval of the measuring device used for tests.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.3 no.4
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• pp.859-865
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• 1999

Many sensors such as a laser, and CCD camera to obtain 3D information have been used, but most of algorithms for laser calibration are inefficient since a huge memory and experiment data are required. This method saves a memory and an experimental data since the 3D information are obtained simply triangulation method. In this paper, the calibration algorithm of a slit km laser based on triangulation method is introduced to calculate 3D information in the real world. The laser beam orthogonally mounted on the XY table is projected on the floor. A CCD camera observes the intersection plane of a light and an object plane. The 3D information is calculated using observed and calibration data.