• 한국정밀공학회지
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• 제17권10호
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• pp.63-68
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• 2000

We present an automatic inspection system which been developed to evaluate the geometric tolerances of the optical fiber connectors with an dimensional accuracy of$\pm0.1\mnm$. The main part of the inspection system comprises a series of machine vision and laser scanning probes to measure the internal and external circle diameters along with concentricity by making the most of advanced edge detection algorithms. Actual experimental results obtained through various repeatability tests demonstrate that the system well satisfies the required industrial demands for in-situ inspection of optical fiber connections in real manufacturing environment.

• 한국공작기계학회논문집
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• 제16권3호
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• pp.81-87
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• 2007

It is important to investigate the relationship between weld process parameters and weld bead geometry for adaptive arc robot welding. However, it is difficult to predict an exact back-bead owing to gap in process of butt welding. In this paper, the quantitative prediction system to specify the relationship external weld conditions and weld bead geometry was developed to get suitable back-bead in butt welding which is widely applied on industrial field. Multiple regression analysis and artificial neural network were used as the research methods. And, the results of two prediction methods were compared and analyzed.

• Journal of Advanced Marine Engineering and Technology
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• 제32권1호
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• pp.184-191
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• 2008

In order for a mobile robot to move under unknown or uncertain environment, it must have an environmental information. In collecting environmental information, the mobile robot can use various sensors. In case of using ultrasonic sensors to collect an environmental information, it is able to comprise a low-cost environmental recognition system compared with using other sensors such as vision and laser range-finder. This paper proposes a map building algorithm which can collect environmental information using ultrasonic sensors. And also this paper suggests a traveling algorithm using environmental information which leads to the map building algorithm. In order to accomplish the proposed traveling algorithm, this paper additionally discusses a position revision algorithm.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1998년도 춘계학술대회 논문집
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• pp.82-87
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• 1998

Laser printer, faximile and copy machine are a few examples of OA(office automation) system. In such a system, the reflecting mirror has been employed for transmitting a target image to optical device. Therefore, to develope a good quality of optical system, the quality control of optical mirror was required. In recent years, considerable efforts have been directed toward the development of automated optical glass inspection system because the inspection is eye-fatigue and monotonous job for humans to perform. In this paper, we propose a inspection system applying algorithm of image processing for detecting defects of optical glass such as pinhole, scratch. From the experiments, the proposed inspection system shows reliable results.

• 한국군사과학기술학회지
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• 제20권3호
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• pp.315-327
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• 2017

In this paper, we present a method for estimating of position and velocity of a moving target by using the range and the bearing measurements from multiple sensors of aiming unit. In many cases, conventional low cost gyro sensor and a portable laser range finder(LRF) degrade the accuracy of estimation. To enhance these problems, we propose two methods. The first is background image tracking and the other is principal component analysis (PCA). The background tracking is used to assist the low cost gyro censor. And the PCA is used to cope with the problems of a portable LRF. In this paper, we prove that our method is robust with respect to low-frequency, biased and noisy inputs. We also present a comparison between our method and the extended Kalman filter(EKF).

• 제어로봇시스템학회논문지
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• 제17권4호
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• pp.353-361
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• 2011

A precise embedded ultrasonic localization system is developed for autonomous mobile robots in indoor environments, which is essential for autonomous navigation of mobile robots with various tasks. Although ultrasonic sensors are more cost-effective than other sensors such as LRF (Laser Range Finder) and vision, they suffer inaccuracy and directional ambiguity. First, we apply the matched filter to measure the distance precisely. For resolving the computational complexity of the matched filter for embedded systems, we propose a new matched filter algorithm with fast computation in three points of view. Second, we propose an accurate ultrasonic localization system which consists of three ultrasonic receivers on the mobile robot and two or more transmitters on the ceiling. Last, we add an extended Kalman filter to estimate position and orientation. Various simulations and experimental results show the effectiveness of the proposed system.

• 한국생산제조학회지
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• 제25권3호
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• pp.217-223
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• 2016

In this research, a continuous roll-to-roll screen printing system was developed using a flat screen. It has a newly devised sliding mechanism of screen printing module, which can be controlled accurately in sync with a moving web, driven by a roll-to-roll tension control and web-guiding system. In addition, the real-time precision alignment module that consists of a vision camera and an $X-Y-{\theta}$ alignment stage was implemented. With this developed system, the feasibility of continuous printing with minimum pattern width below $60{\mu}m$ was verified, and an overlay of ${\pm}60{\mu}m$ between the laser-patterned reference mark and the printed mark on a 300-mm-wide film was achieved.

• 한국정밀공학회지
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• 제27권1호
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• pp.125-133
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• 2010

A versatile micro-robotic platform for micro/nano scale assembly has been demanded in a variety of application areas such as micro-biology and nanotechnology. In the near future, a flexible and compact platform could be effectively used in a scanning electron microscope chamber. We are developing a platform that consists of miniature mobile robots and a compact positioning stage with multi degree-of-freedom. This paper presents the design and the implementation of a low-cost and compact multi degree of freedom position sensor that is capable of measuring absolute translational and rotational displacement. The proposed sensor is implemented by using a CMOS type image sensor and a target with specific hole patterns. Experimental design based on statistics was applied to finding optimal design of the target. Efficient algorithms for image processing and absolute position decoding are discussed. Simple calibration to eliminate the influence of inaccuracy of the fabricated target on the measuring performance also presented. The developed sensor was characterized by using a laser interferometer. It can be concluded that the sensor system has submicron resolution and accuracy of ${\pm}4{\mu}m$ over full travel range. The proposed vision-based sensor is cost-effective and used as a compact feedback device for implementation of a micro robotic platform.

• Design & Manufacturing
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• 제14권1호
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• pp.8-14
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• 2020

In general, auto parts production assembly line is assembled and produced by automatic mounting by an automated robot. In such a production site, quality problems such as misalignment of parts (doors, trunks, roofs, etc.) to be assembled with the vehicle body or collision between assembly robots and components are often caused. In order to solve such a problem, the quality of parts is manually inspected by using mechanical jig devices outside the automated production line. Automotive inspection technology is the most commonly used field of vision, which includes surface inspection such as mounting hole spacing and defect detection, body panel dents and bends. It is used for guiding, providing location information to the robot controller to adjust the robot's path to improve process productivity and manufacturing flexibility. The most difficult weighing and measuring technology is to calibrate the surface analysis and position and characteristics between parts by storing images of the part to be measured that enters the camera's field of view mounted on the side or top of the part. The problem of the machine vision device applied to the automobile production line is that the lighting conditions inside the factory are severely changed due to various weather changes such as morning-evening, rainy days and sunny days through the exterior window of the assembly production plant. In addition, since the material of the vehicle body parts is a steel sheet, the reflection of light is very severe, which causes a problem in that the quality of the captured image is greatly changed even with a small light change. In this study, the distance between the car body and the door part and the door are acquired by the measuring device combining the laser slit light source and the LED pattern light source. The result is transferred to the joint robot for assembling parts at the optimum position between parts, and the assembly is done at the optimal position by changing the angle and step.

• 한국산학기술학회논문지
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• 제14권8호
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• pp.3617-3624
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• 2013

원전 연료집합체의 연료봉 내에 잔존하여 연료봉의 손상을 발생시킬 수 있는 이물질의 잔존 여부 및 연료봉의 손상, 연료봉의 휨, 뒤틀림, 그리드 손상여부를 비젼기술과 레이저 스캔 기술을 응용한 원전 연료집합체 스크린 검사 방법을 개발하여 계획예방 정비 기간 중 검사가 가능하도록 연료집합체 검사의 신뢰성과 생산성을 확보하였다. 또한 검사 데이터를 집계, 분석하여, 연료집합체의 변형 상태를 지속적으로 감시함으로써, 국내 각 원자로별 노심 내 연료변형 패턴을 이해할 수 있다. 이는 연료 재장전 도중 발생 가능한 그리드 손상을 방지하는데 기술정보로 활용되어 국내외 원전 안전 운영의 중요한 데이터베이스를 제공하게 된다.