• Journal of the Korean Society for Precision Engineering
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• v.24 no.10
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• pp.64-74
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• 2007

Because of the size and environment in the shipbuilding process, the portable type robot is required for the automatic seam tracking. For this reason, the structure of laser sensor should be considered in the initial design step and the coordinate transformation between welding robot and laser sensor, which is joint finder, must be identified exactly and the real time tracking algorithm based on these consideration could be developed. In this research, laser displacement sensor in which its structure is laser beam's vertical projection, is developed to recognize the location of weld joint. In practical applications, however, images of weld joints are often degraded because of the surface specularity or spatter. To overcome the problem, the constrained joint finding algorithm is proposed. In the approach of coordinate conversion rule for the visual feedback control among welding torch, robot body and laser sensor is applied by the same reference point method. In the real time seam tracking algorithms we propose constrained sampling method which uses look ahead distance. The RLS(Recursive Least Square) filter is applied to obtain the smooth tracking path from the sensitive edge data. From the experimental results, we could see the possibility that the developed laser sensor with proposed processing algorithm and real time seam tracking method can be used as a welding under the shipbuilding condition.

• Proceedings of the Korea Society of Design Studies Conference
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• 2004.05a
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• pp.78-79
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• 2004

• 유체기계공업학회:학술대회논문집
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• 2006.08a
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• pp.517-518
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• 2006

Transient and asymmetric density distributions have been investigated by three-dimensional digital speckle tomography with a novel integration method. Multiple CCD images captured movements of speckles in three angles of view simultaneously because the flows were asymmetric and unsteady. The speckle movements which have been formed by a ground glass between no flow and downward butane flow from a circular half opening have been calculated by a cross-correlation tracking method so that those distances can be transferred to deflection angles of laser rays for density gradients. A novel integration method has been developed to obtain projection data from the deflection angles for the speckle tomography.'The three-dimensional density fields have been reconstructed from the accurate projection values by a real-time multiplicative algebraic reconstruction technique (MART) with the developed integration method.

• 한국가시화정보학회:학술대회논문집
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• 2006.12a
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• pp.21-24
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• 2006

Transient and asymmetric density distributions have been investigated by a digital speckle tomography with a novel integration method. Multiple CCD images captured movements of speckles in three angles of view simultaneously because the flows were asymmetric and unsteady. The speckle movements which have been formed by a ground glass between no flow and downward butane flow from an elliptical nozzle have been calculated by a cross-correlation tracking method so that those distances can be transferred to deflection angles of laser rays for density gradients. A novel integration method has been developed to obtain projection data from the deflection angles for the speckle tomography. The unsteady density fields have been reconstructed from the accurate projection values by the digital speckle tomography method using the developed integration method.

• Journal of Platform Technology
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• v.9 no.4
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• pp.60-70
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• 2021

This paper proposes a method capable of stably tracking the coordinates of a patterned laser image in a curved screen shooting system using two or more channels of multiple cameras. This method can track and acquire target points very effectively when applied to a multi-screen shooting method that can replace the HMD shooting method. Images of curved screens with severe deformation obtained from individual cameras are corrected through image normalization, image binarization, and noise removal. This corrected image is created and applied as an Euclidean space map that is easy to track the firing point based on the matching point. As a result of the experiment, the image coordinates of the pattern laser were stably extracted in the curved screen shooting system, and the error of the target point position of the real-world coordinate position and the broadband Euclidean map was minimized. The reliability of the proposed method was confirmed through the experiment.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.31 no.3
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• pp.147-153
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• 2018

Cracking in concrete structure must be examined according to appropriate methods, to ensure structural serviceability and to prevent structural deterioration, since cracks opened wide for a long time expedite corrosion of rebar. A site investigation is conducted in a regular basis to monitor structural deterioration by tracking growing cracks. However, the visual inspection are labor intensive. and judgment are subject. To overcome the limit of the on-site visual investigation image processing for identifying the cracks of concrete structures by analyzing 2D images has been developed. This study develops a unique 3D technique utilizing a line laser and its projection image onto concrete surfaces. Automated process of crack detection is developed by the algorithms of automatizing crack map generation and image data acquisition. Performance of the developed method is experimentally evaluated.