• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.4
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• pp.410-417
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• 2017

Hydro-forming is being employed increasingly to realize lightweight vehicular parts. The bumper beam produced by this process weighs 30% less than the conventional products with equal stiffness. However, hydro-forming involves complex parameters to obtain the target geometry and low residual stress. Parametric studies are conducted using finite element analysis to obtain optimized process conditions. Through these numerical approaches, the internal and holding pressures and feeder forward stroke along the extruded direction are optimized to achieve low residual stress and to minimize springback. The numerical results are verified by experimental observations made by employing a three-dimensional laser scanner. The numerical and experimental results are compared in terms of the springback. Both results show similar tendencies.

• Journal of the Korean Society of Clothing and Textiles
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• v.38 no.4
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• pp.572-583
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• 2014

This study analyzes the foot shape of female high school students using 3D foot scan data based on a comparison with adult women (20s'-30s'). Data were collected from the foot anthropometry of 199 female high school students in Gwangju and Jeollanam-do. The right foot was measured indirectly by 3D laser scanner. There are 16 items in the foot anthropometric measurements. The $6^{th}$ Size Korea (measured by 3D scan data) is used for women's foot data. The results of the 3D measurements data investigation show that the foot length and foot width became longer and wider as the age increased. It is classified by three types after analyzing foot shape. Type 1 (28.1%) represented the shortest foot length, the narrowest foot width as well as the thick foot and long ankle shape. Type 2 (4.3%) represented the wide foot width such as the wide lateral ball width and semi-thickness shape. Type 3 (67.7%) referred to the widest foot width, flat foot and short ankle shape.

• Proceedings of the KSRS Conference
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• 2007.03a
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• pp.105-108
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• 2007

차량에 부착된 회전식 레이저 스캐너는 360도로 회전하면서 데이터를 취득하기 때문에 고정식 레이저 스캐너에 비해 더 광범위하고 정확한 3차원 데이터를 획득하고 생성할 수 있다. 그러나 레이저 데이터 자료는 표적까지의 거리와 취득 당시의 스캐너의 각도로만 구성되어있기 때문에 이를 사용하기 위해서 이 데이터들을 일련의 좌표변환과정을 거쳐서 3차원 직교좌표계로 변환시킨다. 이 논문의 목적은 회전식 레이저에서 획득된 데이터를 DEM화하고，DEM영상의 밝기값， 즉 높이값을 이용하여 도로변을 주위의 사물과 분리하여 추출하는 것에 있다. 도로면은 일반적으로 주위의 사물에 비해 그 높이가 낮고 고르게 분포되어 있다고 가정한다. 그렇기 때문에 이 도로면의 높이를 대표할 수 있는 적절한 임계값을 찾을 수 있다면 도로면의 분리 또한 가능하다. 도로면의 추출을 위해 제안된 방법은 취득된 레이저 데이터를 일정 간격의 높이로 나누고 그에 대한 히스토그램을 구한 후, 가장 많은 빈도수를 나타낸 지역의 값을 염계치로 설정하는 방법과，레이저 스캐너가 지표면을 향할 때의 각도，즉 270도 일 때 취득된 거리의 값들을 수집한 후, 그 평균값을 임계치로 설정하는 방법이다. 이렇게 구해진 임계치를 이용 그 값보다 작은 지역을 도로로 인식하였으며，실험 결과 레이저 스캐너의 각도를 이용한 방법이 더욱 효과적으로 도로를 추출할 수 있음을 확인할 수 있었다.

• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.2
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• pp.231-237
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• 2017

The profile of unpaved road is an important issue in the reliability of endurance test. Efforts on measuring 2D road profile and analyzing the severity have been continued in the study of performing reliable endurance test evaluations through reflecting the results of such measurement and analysis. However, 2D road profile has limitation in measuring the profile in the road width direction because data is obtained along the trailer wheel track. Therefore, in order to measure 3-dimensional shape of road surface and construct severity DB of 3D road profile, Changwon Proving Ground(CPG) of Agency for Defense Development(ADD) developed 3D profilometer which is composed of laser scanner, IMU, GPS, encoder and so on. This paper focuses on the analysis of unpaved road severity using 3D road profile for army operation roads. This results will be used to manage test courses severity of CPG.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2008.11a
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• pp.419-420
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• 2008

In this work, we report several experimental data capable of evaluating the phase transition characteristics of (InTe)x(GeTe)y (x = 0.1, 0.3, y =1) pseudo-binary thin films. (InTe)x(GeTe)y phase change thin films have been prepared by thermal evaporator. The crystallization characteristics of amorphous (InTe)x(GeTe)y thin films were investigated by using nano-pulse scanner with 658 nm laser diode (power : 1~17 mW, pulse duration : 10~460 ns) and XRD measurement. It was found that the crystalline speed of In-Ge-Te thin films are faster than $Ge_2Sb_2Te_5$[1] and also the crystalline temperature is higher. Changes in the optical transmittance of as-deposited and annealed films were measured using a UV-VIS-IR spectrophotometer and four-point probe was used to measure the sheeresistance of InGeTe films annealed at different temperature.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.822-827
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• 2003

Topological maps have drawn more attention recently because they are compact, provide natural interfaces, and are applicable to path planning easily. To build a topological map incrementally, Voronoi diagram was used by many researchers. The Voronoi diagram, however, has difficulty in applying to arbitrarily shaped objects and needs long computation time. In this paper, we present a new method for global topological map from the local topological maps incrementally. The local topological maps are created through a thinning algorithm from a local grid map, which is built based on the sensor information at the current robot position. A thinning method requires simpler computation than the Voronoi diagram. Localization based on the topological map is usually difficult, but additional nodes created by the thinning method can improve localization performance. A series of experiments have been conducted using a two-wheeled mobile robot equipped with a laser scanner. It is shown that the proposed scheme can create satisfactory topological maps.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.7
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• pp.664-670
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• 2007

This study deals with image-based visual servoing for automatic recharging of mobile robot. Because mobile robot must be recharged periodically, it is necessary to detect and move to docking station. Generally, laser scanner is used for detect of position of docking station. CCD Camera is also used for this purpose. In case of using cameras, the position-based visual servoing method is widely used. But position-based visual servoing method requires the accurate calibration and it is hard and complex work. Another method using cameras is image-based visual servoing. Recently, image based visual servoing is widely used for robotic application. But it has a problem that cannot have linear trajectory in the 3-dimensional space. Because of this weak point, image-based visual servoing has a limit for real application. In case of 2-dimensional movement on the plane, it has also similar problem. In order to solve this problem, we point out the main reason of the problem of the resolved rate control method that has been generally used in the image-based visual servoing and we propose an image-based visual servoing method that can reduce the curved trajectory of mobile robot in the cartesian space.

• KOREAN JOURNAL OF CROP SCIENCE
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• v.50 no.spc1
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• pp.228-230
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• 2005

The denature polyacrylamide gel stain silver nitrate is used for routine nucleic acid detection. More sensitive stains, such as Vistra Green, SYBR Green are available to address a broad range of DNA applications requiring lower detection limits in polyacrylamide gel formats. Gel Scanners, laser-scanning instruments, provide sensitive fluorescence detection of DNA gel stains. We established one step fluorescent impregnation enhanced sensitivity with simple, rapid and low cost. We have applied this fluorescent staining procedure for the routine analysis of DNA profiles generated by SSR amplification.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.10
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• pp.99-106
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• 2002

This paper proposes an error compensation method that improves accuracy with geometry information of injection molding parts. Geometric information can give an improved accuracy in reverse engineering. Measuring data can not lead to get accurate geometric model, including errors of physical parts and measuring machines. Measuring data include errors which can be classified into two types. One is molding error in product, the other is measuring error. Measuring error includes optical error of laser scanner, deformation by probe forces of CMM and machine error. It is important to compensate these in reverse engineering. Least square method (LSM) provides the cloud data with a geometry compensation, improving accuracy of geometry. Also, the functional shape of a part and design concept can be reconstructed by error compensation using geometry information.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.6
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• pp.513-520
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• 2011

This paper presents the motion planning of robotic vehicles for the path tracking and the obstacle avoidance. To follow the given path, the vehicle moves through the turning radius obtained through the pure pursuit method, which is a geometric path tracking method. In this paper, we assume that the vehicle is equipped with a 2D laser scanner, allowing it to avoid obstacles within its sensing range. The turning radius for avoiding the obstacle, which is inversely proportional to the virtual force, is then calculated. Therefore, these two kinds of the turning radius are used to generate the steering angle for the front wheel of the vehicle. And the vehicle reduces the velocity when it meets the obstacle or the large steering angle using the potentials of obstacle points and the steering angle. Thus the motion planning of the vehicle is done by planning the steering angle for the front wheels and the velocity. Finally, the performance of the proposed method is tested through simulation.