• 제어로봇시스템학회논문지
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• 제2권3호
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• pp.200-208
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• 1996

This paper describes the mechanism, guidance, sensor system, and navigation algorithm of METRO, a free ranging mobile robot. METRO is designed for use in structured surroundings or factory environments rather than unstructured natural environments. An overview of the physical configuration of the mobile robot is presented as well as a description of its sensor system, an omnidirectional laser range finder. Except for the global path planning algorithm, a guidance and a navigation algorithm with a local path planning algorithm are used to navigate the mobile robot. In METRO the computer support is divided into a supervisor with image processing and local path planning and a slave with motor control. The free ranging mobile robot is self-controlled and all processing being performed on board.

• 한국생산제조학회지
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• 제19권6호
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• pp.768-775
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• 2010

Automotive industry is a major business area in this country and it becomes more and more important. In order to maintain high quality of vehicles, every parts should be inspected. Among them the inspection job of the knuckle bracket holes of the outer tube of shock-absorber has been done manually until now. So, it takes long time and every product can not be inspected. An automatized inspection system was proposed utilizing machine vision technology, which was composed of a slit beam laser, CCD camera, image processing computer, special jig and illuminating back lights. An algorithm which could process images of the laser and bracket holes, then gave the position, radius, roundness of the holes, was developed. This system was applied for the good and no good products and the performance was confirmed.

• 한국정밀공학회지
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• 제20권12호
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• pp.73-79
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• 2003

Recently, the tole-robot operations to an unstructured environment have been widely researched. The human's interaction with the tole-robot system can be used to improve robot operation and performance for an unknown environment. The exact modeling based on real environment is fundamental and important process for this interaction. In this paper, we propose an extrinsic parameter calibration and data augmentation method that only uses a circular jig in the hand-eye laser virtual environment. Compared to other methods, easier estimation and overlay can be done by this algorithm. Experimental results using synthetic graphic demonstrate the usefulness of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.237-240
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• 2003

Gas turbines are extensively used in flight propulsion, electrical power generation, and other industrial applications. During its life span, a turbine blade is taken out periodically for repair and maintenance. This includes re-coating the blade surface and re-drilling the cooling holes/channels. A successful laser re-drilling requires the measurement of a hole within the accuracy of ${\pm}0.15mm$ in position and ${\pm}3^{\circ}$ in orientation. Detection of gas turbine blade/vane cooling hole position and orientation thus becomes a very important step for the vane/blade repair process. The industry is in urgent need of an automated system to fulfill the above task. This paper proposes approaches and algorithms to detect the cooling hole position and orientation by using a vision system mounted on a robot arm. The channel orientation is determined based on the alignment of the vision system with the channel axis. The opening position of the channel is the intersection between the channel axis and the surface around the channel opening. Experimental results have indicated that the concept of cooling hole identification is feasible. It has been shown that the reproducible detection of cooling channel position is with +/- 0.15mm accuracy and cooling channel orientation is with +/$-\;3^{\circ}$ with the current test conditions. Average processing time to search and identify channel position and orientation is less than 1 minute.

• 국제학술발표논문집
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• The 3th International Conference on Construction Engineering and Project Management
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• pp.487-492
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• 2009

A large-scaled research project titled "Intelligent Excavating System (IES)" sponsored by Korean government has launched in 2006. An issue of real-time 3D terrain modeling has become a crucial point for successful implementation of IES due to many application limitations of state-of-the-art techniques developed in various high-technology fields. Many feasible technologies such as laser scanning, structured lighting and so on were widely reviewed by professionals and researchers for one year. Various efforts such as literature reviews, interviews, and indoor experiments make us select a structural light technique and stereo vision technique as appropriate techniques for accomplishment of real-time 3D terrain modeling. It, however, revealed that off-the-shelf products of structural light and stereo-vision technique had many technical problems which should be resolved for practical applications in IES. This study introduces diverse methods modifying off-the-shelf package of the structural light method, one of feasible techniques and eventually allowing this technique to be successfully utilized for achieving fundamental research goals. This study also presents many efforts to resolve practical difficulties of this technique considering basic characteristics of excavating operations and particular environment of construction sites. Findings showed in this study would be beneficial for other researchers to conduct new researches for application of vision techniques to construction fields by provision of detail issues about practical application and diverse practical methods as solutions overcoming these issues.

• Design & Manufacturing
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• 제14권3호
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• pp.44-49
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• 2020

One of display trends today is development of high pixel density. To get high PPI, a small size of pixel must be developed. RGB pixel is arranged by evaporation process which determines pixel size. Normally, a fine metal mask (FMM; Invar alloy) has been used for evaporation process and it has advantages such as good strength, and low thermal expansion coefficient at low temperature. A FMM has been manufactured by chemical etching which has limitation to controlling the pattern shape and size. One of alternative method for patterning FMM is laser micromachining. Femtosecond laser is normally considered to improve those disadvantages for laser micromachining process due to such short pulse duration. In this paper, a femtosecond laser drilling for thickness of 16 ㎛ FMM is examined. Additionally, we introduce experimental results for controlling taper angle of hole by vibration module adapted in laser system. We used Ti:Sapphire based femtosecond laser with attenuating optics, co-axial illumination, vision system, 3-axis linear stage and vibration module. By controlling vibration amplitude, entrance and exit diameters are controllable. Using vibrating objective lens, we can control taper angle when femtosecond laser hole drilling by moving focusing point. The larger amplitude of vibration we control, the smaller taper angle will be carried out.

• 전자공학회논문지CI
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• 제40권4호
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• pp.232-239
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• 2003

본 연구에서는 컴퓨터 비전 기술을 응용하여 프리젠테이션시에 슬라이드의 내용을 설명하기 위해 사용되는 일반 레이저 포인터로 슬라이드 쇼를 효율적으로 제어하는 실제 시스템을 제안하고 구현하였다. 슬라이드 상에 레이저 포인터로 포인팅 할 가상 버튼 영역을 설정하여 카메라에서 보이는 슬라이드의 가상 버튼 영역에서 레이저 포인터를 검출함으로써 슬라이드 쇼 제어 명령을 수행한다. 따라서 발표자가 슬라이드 쇼를 제어하기 위해 키보드나 마우스 주변에 머물거나 다른 사람의 도움을 받을 필요가 없다. 본 연구에서는 사용자가 처음에 카메라에서 보이는 슬라이드의 모양에 대한 정보를 입력하는 복잡한 캘리브레이션 과정 없이 실시간으로 가상 버튼 영역을 계산하는 방법을 제안하였다. 또한, 가상 버튼 영역에 속하는 픽셀들의 컬러 정보 획득을 위해 해당 픽셀들의 좌표들을 동적 큐를 생성하여 저장 사용함으로써 계산의 복잡도를 낮추었다. 현재 구현된 시스템은 마이크로소프트사의 파워포인트를 기반으로 이루어졌으나, 이와 유사한 다른 프리젠테이션 소프트웨어에도 쉽게 적용이 가능하다. 이와 같은 인간 중심의 발표 시스템 하에서, 발표자는 기존의 슬라이드를 제어하기 위한 공간적인 제약에서 벗어나 편리하고 효율적으로 청중에게 내용 전달을 할 수 있다.

• Journal of Biosystems Engineering
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• 제39권2호
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• pp.134-141
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• 2014

Purposes: This study was to validate the Robotic Smart Work System that can provides better working conditions and high productivity in unstructured environments like bio-industry, based on a tele-operation system for fruit harvesting with low cost 3-D positioning system on the laboratory level. Methods: For the Robotic Smart Work System for fruit harvesting and cultivation management in agriculture, a vision based tele-operating system and 3-D position information are key elements. This study proposed Robotic Smart Farming, an agricultural version of Robotic Smart Work System, and validated a 3-D position information system with a low cost omni camera and a laser marker system in the lab environment in order to get a vision based tele-operating system and 3-D position information. Results: The tasks like harvesting of the fixed target and cultivation management were accomplished even if there was a short time delay (30 ms ~ 100 ms). Although automatic conveyor works requiring accurate timing and positioning yield high productivity, the tele-operation with user's intuition will be more efficient in unstructured environments which require target selection and judgment. Conclusions: This system increased work efficiency and stability by considering ancillary intelligence as well as user's experience and knowhow. In addition, senior and female workers will operate the system easily because it can reduce labor and minimized user fatigue.

• 마이크로전자및패키징학회지
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• 제23권3호
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• pp.37-41
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• 2016

본 논문에서는 긴 작동거리(working distance, WD)를 가지는 근적외선 형광 이미징 시스템을 소개하고, gain, 노출시간, 작동거리, 확대배율 등 측정 변수에 의한 형광 영상의 차이에 대해 분석하였다. 노출시간이 길수록, 확대배율이 클수록 형광신호는 더욱 강해지고, gain이 클수록 형광신호도 강해지지만, 배경신호도 함께 증가하여 SBR은 나빠질 수 있다. 제안한 시스템은 레이저 조사 방식으로 인해 작동거리가 짧은 경우 레이저 조사 영역의 강도 분포가 균일하지 못해서 형광신호가 약해지며, 그에 따른 해결방안을 제안하였다.

• 한국산학기술학회논문지
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• 제9권3호
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• pp.605-610
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• 2008

용접구조물의 시공시 발견되는 외관상, 성능상 사용자에게 불만족을 발생시키는 결함들을 일반적으로 총칭하여 용접부의 결함이라 한다. 이들 결함들을 시간의 손실 없이 효과적으로 검출해내어 용접부 전체의 품질을 효과적으로 판정하기 위한 용접성 평가 시스템 구축이 어느 때보다 절실하다. 본 연구에서는 레이저 비전 카메라를 이용하여, 용접부의 형상에 대한 원 데이터를 채취하고 이를 화상처리하고, 여기서 얻은 정보로 1차적으로 정량적 결함을 판별하고, 동시에 분류된 결함을 정성적으로 판단하기 위해 퍼지 패턴인식의 한 단계인 다중 패턴 인식을 이용하여 용접 물 전체의 결함을 판정하였으며, 사용자의 편의를 위해 용접성의 결과가 화상별, 최종집계와 함께 이를 그래픽의 형태로 표시하여, 손쉽게 용접성 양부를 결정할 수 있게 하였으며, 이는 또한 생산라인에 적용하여 실시간 용접성 판별을 할 수 있는 기반 연구 성과를 제시하였다.