• International conference on construction engineering and project management
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• 2022.06a
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• pp.1250-1251
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• 2022

Measuring management is an important part of preventing the collapse of retaining walls in advance by evaluating their stability with a variety of measuring instruments. The current work of measuring management requires considerable human and material resources since measurement companies need to install measuring instruments at various places on the retaining wall and visit the construction site to collect measurement data and evaluate the stability of the retaining wall. It was investigated that the applicability of the current work of measuring management is poor at small and medium-sized urban construction sites(excavation depth<10m) where measuring management is not essential. Therefore, the purpose of this study is to develop a laser sensor-based hardware to support the wall displacement measurements and their control software applicable to small and medium-sized urban construction sites. The 2D lidar sensor, which is more economical than a 3D laser scanner, is applied as element technology. Additionally, the hardware is mounted on the corner strut of the retaining wall, and it collects point cloud data of the retaining wall by rotating the 2D lidar sensor 360° through a servo motor. Point cloud data collected from the hardware can be transmitted through Wi-Fi to a displacement analysis device (notebook). The hardware control software is designed to control the 2D lidar sensor and servo motor in the displacement analysis device by remote access. The process of analyzing the displacement of a retaining wall using the developed hardware and software is as follows: the construction site manager uses the displacement analysis device to 1)collect the initial point cloud data, and after a certain period 2)comparative point cloud data is collected, and 3)the distance between the initial point and comparison point cloud data is calculated in order. As a result of performing an indoor experiment, the analyses show that a displacement of approximately 15 mm can be identified. In the future, the integrated system of the hardware designed here, and the displacement analysis software to be developed can be applied to small and medium-sized urban construction sites through several field experiments. Therefore, effective management of the displacement of the retaining wall is possible in comparison with the current measuring management work in terms of ease of installation, dismantlement, displacement measurement, and economic feasibility.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.3
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• pp.16-22
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• 2019

Off-line programming and robot calibration through simulation are essential when setting up a robot in a robot automation production line. In this study, we developed a new robot calibration method to match the CAD data of the production line with the measurement data on the site using 3D scanner. The proposed method calibrates the robot using 3D point cloud data through Iterative Closest Point algorithm. Registration is performed in three steps. First, vertices connected by three planes are extracted from CAD data as feature points for registration. Three planes are reconstructed from the scan point data located around the extracted feature points to generate corresponding feature points. Finally, the transformation matrix is calculated by minimizing the distance between the feature points extracted through the ICP algorithm. As a result of applying the software to the automobile welding robot installation, the proposed method can calibrate the required accuracy to within 1.5mm and effectively shorten the set-up time, which took 5 hours per robot unit, to within 40 minutes. By using the developed system, it is possible to shorten the OLP working time of the car body assembly line, shorten the precision teaching time of the robot, improve the quality of the produced product and minimize the defect rate.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.174-179
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• 2003

Through the simultaneous localization and map building (SLAM) technique, a robot can create maps about its unknown environment while it continuously localizes its position. Grid maps and feature maps have been widely used for SLAM together with application of probability methods and POMDP (partially observed Markov decision process). But this approach based on grid maps suffers from enormous computational burden. Topological maps, however, have drawn more attention these days because they are compact, provide natural interfaces, and are easily applicable to path planning in comparison with grid maps. Some topological SLAM techniques like GVG (generalized Voronoi diagram) were introduced, but it enables the robot to decide only whether the current position is part of GVG branch or not in the GVG algorithm. In this paper, therefore, to overcome these problems, we present a method for updating a global topological map from the local topological maps. These local topological maps are created through a labeled Voronoi diagram algorithm from the local grid map built based on the sensor information at the current robot position. And the nodes of a local topological map can be utilized as the features of the environment because it is robust in light of visibility problem. The geometric information of the feature is applied to the extended Kalman filter and the SLAM in the indoor environment is accomplished. A series of simulations have been conducted using a two-wheeled mobile robot equipped with a laser scanner. It is shown that the proposed scheme can be applied relatively well.

• International journal of advanced smart convergence
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• v.6 no.4
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• pp.88-95
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• 2017

The conventional scan methods are based on a laser scanner and a depth camera, which requires high cost and complicated post-processing. Whereas in photometric scanning method, the 3D modeling data is acquired through multi-view images. This is advantageous compared to the other methods. The quality of a photometric 3D model depends on the environmental conditions or the object characteristics, but the quality is lower as compared to other methods. Therefore, various methods for improving the quality of photometric scanning are being studied. In this paper, we aim to investigate the effect of illumination conditions on the quality of photometric scanning data. To do this, 'Moai' statue is 3D printed with a size of $600(H){\times}1,000(V){\times}600(D)$. The printed object is photographed under the hard light and soft light environments. We obtained the modeling data by photometric scanning method and compared it with the ground truth of 'Moai'. The 'Point-to-Point' method used to analyseanalyze the modeling data using open source tool 'CloudCompare'. As a result of comparison, it is confirmed that the standard deviation value of the 3D model generated under the soft light is 0.090686 and the standard deviation value of the 3D model generated under the hard light is 0.039954. This proves that the higher quality 3D modeling data can be obtained in a hard light environment. The results of this paper are expected to be applied for the acquisition of high-quality data.

• Journal of KIISE
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• v.43 no.5
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• pp.562-568
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• 2016

Point cloud data can be expressed in a specific coordinate system of a data set with a large number of points, to represent any form that generally has different characteristics in the three-dimensional coordinate space. This paper is aimed at finding a cylindrical pipe in the point cloud of the three-dimensional coordinate system using RANSAC, which is faster than the conventional Hough Transform method. In this study, the proposed cylindrical pipe is estimated by combining the results of parameters based on two mathematical models. The two kinds of mathematical models include a sphere and line, searching the sphere center point and radius in the cylinder, and detecting the cylinder with straightening of center. This method can match cylindrical pipe with relative accuracy; furthermore, the process is rapid except for normal estimation and segmentation. Quick cylinders matching could benefit from laser scanning and reverse engineering construction sectors that require pipe real-time estimates.

• The Journal of Advanced Prosthodontics
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• v.9 no.2
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• pp.124-129
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• 2017

PURPOSE. This study evaluated the effect of span length on the adaptation of implant-supported cobalt chromium frameworks fabricated by three techniques. MATERIALS AND METHODS. Models with two solid abutment analogs at different inter-abutment distances were digitized using a laboratory scanner. Frameworks of two-, three-, and four-unit fixed prostheses were designed by a computer. Six dots with a diameter of 0.2 mm were preset on the surface of each framework. A total of 54 implant-supported cobalt chromium frameworks were fabricated by milling, selective laser melting (SLM), and cast techniques. The frameworks were scanned and exported as Stereolithography files. Distances between two dots in X, Y, and Z coordinates were measured in both the designed and fabricated frameworks. Marginal gaps between the framework and the abutments were also evaluated by impression replica method. RESULTS. In terms of distance measurement, significant differences were found between three- and four-unit frameworks, as well as between two- and four-unit frameworks prepared by milling technique (P<.05). Significant differences were also noted between two- and three-unit frameworks, as well as between two- and four-unit frameworks prepared by cast technique (P<.05). The milling technique presented smaller differences than the SLM technique, and the SLM technique showed smaller differences than the cast technique at any unit prostheses (P<.05). Evaluation with the impression replica method indicated significant differences among the span lengths for any fabrication method (P<.05), as well as among the fabrication methods at any unit prostheses (P<.05). CONCLUSION. The adaptation of implant-supported cobalt chromium frameworks was affected by the span length and fabrication method.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2009.06a
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• pp.134-134
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• 2009

In this work, we report that crystallization speed as well as the electrical and optical properties about the N-doped $Ge_2Sb_2Te_5$ thin films. The 200-nm-thick N-doped $Ge_2Sb_2Te_5$ thin film was deposited on p-type (100) Si and glass substrate by RF reactive sputtering at room temperature. The amorphous-to-crystalline phase transformation of N-doped $Ge_2Sb_2Te_5$ thin films investigated by X-ray diffraction (XRD). 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 sheet resistance of N-doped $Ge_2Sb_2Te_5$ thin films annealed at different temperature. In addition, the surface morphology and roughness of the films were observed by Atomic Force Microscope (AFM). The crystalline speed of amorphous N-doped $Ge_2Sb_2Te_5$ films were measured by using nano-pulse scanner with 658 nm laser diode (power : 1~17 mW, pulse duration: 10~460 ns). It was found that the crystalline speed of thin films are decreased by adding N and the crystalline temperature is higher. This means that N-dopant in $Ge_2Sb_2Te_5$ thin film plays a role to suppress amorphous-to-crystalline phase transformation.

• Journal of Periodontal and Implant Science
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• v.46 no.2
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• pp.96-106
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• 2016

Purpose: Stress distribution and mandible distortion during lateral movements are known to be closely linked to bruxism, dental implant placement, and temporomandibular joint disorder. The present study was performed to determine stress distribution and distortion patterns of the mandible during lateral movements in Class I, II, and III relationships. Methods: Five Korean volunteers (one normal, two Class II, and two Class III occlusion cases) were selected. Finite element (FE) modeling was performed using information from cone-beam computed tomographic (CBCT) scans of the subjects' skulls, scanned images of dental casts, and incisor movement captured by an optical motion-capture system. Results: In the Class I and II cases, maximum stress load occurred at the condyle of the balancing side, but, in the Class III cases, the maximum stress was loaded on the condyle of the working side. Maximum distortion was observed on the menton at the midline in every case, regardless of loading force. The distortion was greatest in Class III cases and smallest in Class II cases. Conclusions: The stress distribution along and accompanying distortion of a mandible seems to be affected by the anteroposterior position of the mandible. Additionally, 3-D modeling of the craniofacial skeleton using CBCT and an optical laser scanner and reproduction of mandibular movement by way of the optical motion-capture technique used in this study are reliable techniques for investigating the masticatory system.

• Proceedings of the Korean Society of Medical Physics Conference
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• 2003.09a
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• pp.80-80
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• 2003

디지털 의료영상 획득기술과 컴퓨터 및 네트워크 기술의 발달로 현재 각 병원에서는 PACS(Picture Archiving and Communication System)를 설치하여 필름을 사용하지 않고 진단과 진료를 하는 병원이 증가하고 있으며, 이에 따라 기존 필름상태의 의료영상은 필름디지타이저로 디지털 영상화한 후 모니터를 통하여 판독과 진료에 이용하고 있다. 본 연구에서는 현재 세브란스병원에서 사용되고 있는 CCD 방식 필름디지타이저와 레이저 스캐너방식 필름디지타이저의 픽셀값 균일도에 대해 중점적으로 비교, 분석하고자 한다. 픽셀값 균일도 측정을 위해 필름프린터를 이용하여 균일한 광학밀도를 가진 필름을 출력하였다. 그 테스트 필름은 각 사분면에 각기 다른 광학밀도를 가지고 있었으며, 그 광학밀도 값은 각각 0.19, 0.71, 1.41, 그리고 3.10 이었다. 제작된 필름은 레이저 (Model 2905, Array Corp., Japan) 방식과 CCD 방식 (SEDAS Media Film Scanner, Kodak, japan) 디지타이저에 의해 디지털화 되었다. 그 영상들은 다시 분석을 위해 PACS를 통해 PC로 전송되어졌고 자체 제작된 소프트웨어를 이용하여 균일도에 대한 분석을 수행하였다. 하나의 사분면 영상에 대하여 일정한 간격과 크기로 20개의 ROI를 만들고, 그 내부의 픽셀값들의 평균값을 구하여 그 영역의 대푯값으로 하였다. 그 대푯값들 중 최대값과 최소값의 차이에 대한 백분율로써 균일도를 표시하였다. 그 결과 광학밀도가 0.19인 사분변의 영상에서의 균일도는 레이저 방식 및 CCD 방식 각각에서 99.8%, 94.3%였으며, 0.71인 사분면에서는 99.4%, 75.6%, 1.41 일때는 97.9%, 62.96%, 그리고 3.1인 사분면에서는 82.7%, 53.7%였다. 같은 광학밀도를 가진 사분면에서는 레이저방식의 균일도가 CCD 방식에 비해 더 우수함을 알 수 있었으며, 같은 방식에서 얻은 영상이라 할지라도 광학 밀도값이 높은 사분변에서 얻은 영상일수록 균일도가 떨어짐을 알 수 있었다. 결론적으로, 레이저 방식 필름 디지타이저는 균일도 면에서도 CCD 방식에 비해 우수함을 알 수 있었으며 CCD 방식은 백라이트의 균일도가 영상의 균일도에 영향을 미칠수도 있는 만큼 향후 거기에 대한 연구도 이루어져야 할 것으로 생각된다.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.21 no.7
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• pp.629-637
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• 2008

We report several experimental data capable of evaluating the amorphous-to-crystalline (a-c) phase transformation in $(Ag)_x(Ge_2Sb_2Te_5)_{1-x}$ (x = 0, 0.05, 0.1) thin films prepared by a thermal evaporation. The isothermal a-c structural phase changes were evaluated by XRD, and the optical transmittance was measured in the wavelength range of $800{\sim}3000$ nm using a UV-vis-IR spectrophotometer. A speed of the a-c transition was evaluated by detecting the reflection response signals using a nano-pulse scanner with 658 nm laser diode (power P = $1{\sim}17$ mW, pulse duration t = $10{\sim}460$ ns). The surface morphology and roughness of the films were imaged by AFM. It was found that the crystallization speed was so enhanced with an increase of Ag content. While the sheet resistance of c-phase $(Ag)_x(Ge_2Sb_2Te_5)_{1-x}$ was similar to that of c-phase $Ge_2Sb_2Te_5$ (i.e., $R_c{\sim}10{\Omega}/{\square}$), the sheet resistance of a-phase $(Ag)_x(Ge_2Sb_2Te_5)_{1-x}$ was found to be lager than that of a-phase $Ge_2Sb_2Te_5$, $R_a{\sim}5{\times}10^6{\Omega}{/\square}$. For example, the ratios of $R_a/R_c$ for $Ge_2Sb_2Te_5$ and $(Ag)_{0.1}(Ge_2Sb_2Te_5)_{0.9}$ were approximately $5{\times}10^5$ and $5{\times}10^6$, respectively.