• Journal of Institute of Control, Robotics and Systems
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• v.9 no.5
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• pp.368-373
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• 2003

This paper presents a cost-effective 3D foot scanner system that provides the 3-dimensional point cloud foot data to design the custom footwear. To measure the 3-dimensional point cloud data of the foot, a CCD camera, a Non-Gaussian laser line projector and optical triangulation method are employed. Furthermore, the integrated system employs a measurement base, a frame grabber, a CCD moving cart, a stepping motor and a computer. The measurement result is saved as 3D dxf format and it could be converted to 2D essential data fer a shoe design. The experimental results demonstrate that the proposed system have the decent resolution of 1mm which is enough for last and shoe design.

• Proceedings of the IEEK Conference
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• 1998.10a
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• pp.977-980
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• 1998

A real-time holography system using LCD with CCD camera is proposed. In this system, the rainbow hologram is used since it can be reconstructed by white light source. And to record on CCD camera, a kind of in-line holography method is used to widen the width of the fringe pattern. The interference fringe pattern by proposed system is detected with CCD camera and transferred to the LCD A 3-dimensional image is reconstructed when a white light source illuminates the LCD. So it can represent 3 dimensional moving images at real-time. In this paper, to confirm the usefulness of the proposed method, the reconstructed image by holographic film is compared to the same reconstruct image by LCD. In the recording of the interferenced processing, the optimal ratio of the reference and object beam intenstiy is also investigated.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.339-339
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• 2000

In this parer, a method of measuring the size of defects on the wall and restructing the defect image of 3-dimension is developed based on the tracking algorithm of a camera position which uses the inclination angle of line slit beam for overcoming the difficulty of the corresponding problem identifying the image point in the both image. In the experiments, an algorithm for estimating the horizontal angle of CCD camera is presented and validated by applying it to the measurement of area and length under the variations of both the distance and the angle of CCD camera. And its performance is compared to that of the rotating and mapping method of image which has the Euclidian distance.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.171-171
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• 2000

We have developed m innovative surface inspection system for automated quality control for steel products in POSCO. We had ever installed the various kinds of surface inspection systems, such as a linear CCD and a laser typed surface inspection systems at cold rolled strips production lines. But, these systems cannot fulfill the sufficient detection and classification rate, and real time processing performance. In order to increase detection and classification rate, we have used the Dark, Bright and Transition Field illumination and area type CCD camera, and fur the real time image processing, parallel computing has been used. In this paper, we introduced the automatic surface inspection system and real time image processing technique using the Object Detection, Defect Detection, Classification algorithms and its performance obtained at the production line.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.18 no.1
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• pp.25-32
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• 2000

These days, the quantitative analysis of digital image by on-line image analysis system is being progressed actively, so the application of digital image is being groped in the safe test of construction. In this study, the synchronized 3D image acquisition and the system for processing that were established for analyzing the deflection of construction by using the acquired image from CCD camera. The reliability and the possibility of this established system are presented by deriving the accuracy of image analysis and the deflection of object through concrete loading test.

• 한국해양학회지
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• v.23 no.1
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• pp.24-40
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• 1988

In the Korea Ocean Nodule Development (KONOD)-1 area between the Clarion and Clipperton fracture zones of the northeastern equatorial Pacific, the pelagic sediment layer can be divided into two or three units on air-gun seismic profile. The acoustic units can be also correlated with those in the DSDP site 163 core. The topmost unit (unit I) is acoustically transparent and consists of zeolitic clay and radiolarian ooze of late Oligocene to middle Eocene age. Unit IIA is well-stratified and transparent in the lower part. consisting of the radiolarian ooze intercalated with chert beds and zeolitic clay of early Eocene to Paleocene age. Unit IIB is stratified with layers of silicified and compacted flinty-cherty nannofossil chalk (late Cretaceous) on top of the acoustic basement. Units I and IIA form the Line Islands Formation that overlies an unnamed formation of unit lIB. The entire layers and the unit I layer propressively thin northward, except near the Line Islands Ridge. The distribution of sediment layer has been controlled by the equatorial Cenozoic CCD and the northward spreading of the Pacific plate. The change of CCD corresponding to the subsidence and migration of the plate has determined the sediment composition of the DSDP 163 core passed across the equator of high sedimentation suite. The late Cretaceous sedimentary layer (unit IIB) in the 163 core was formed above the CCD south of the equator. The unit IIA resulted from rapid subsidence of the Pacific plate below the CCD in the Paleocene. The unit IIA is seen only in the west of 149 W. Both the units IIA and I were probably formed during the Pacific plate passing and after leaving the equatorial region respectively since early Eocene. In the south of the KONOD-l area, the unit I was redistributed by bottom current, a branch of the Antarctic Bottom Water flowing eastward guided by the Clipperton fracture zone. The activities of bottom currents were prolonged for a long geological time. Turbidite layers occur more than 350 km from the Hawaiian Ridge to near the Clarion fracture zone. They originated directly from the Hawaiian Ridge, filling the topographic lows.

• Journal of Welding and Joining
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• v.14 no.1
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• pp.99-106
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• 1996

Development of an automatic TIG welding system incorporating a vision sensor and torch control mechanism leads to an improved welding quality and greater production efficiency. The automatic welding system should be greatly restricted in its size and weight for the LNG(Liquefied Natural Gas) storage tank and also provide a unique torch rotating mechanism which keeps the torch tip in the constant position while the angle is changed continuously to maintain the welding torch substantially perpendicular to the weld line. The developed system is driven by two translation axes X, Z and one rotational axis. A moving line window method is adopted to the image recognition of the corrugated membranes with specular reflection. This method decides original laser stripe patterns in image which is affected by multi-reflection. A self-teaching algorithm, which guides the automatic welding machine with the information provided by the CCD camera without any previous learning of a reference trajectory, was developed for tracking the corrugated membrane of the LNG tank along the weld line.

• Proceedings of the KIEE Conference
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• 1999.07b
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• pp.668-670
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• 1999

We have developed a automatic surface inspection system for cold Rolled strips in steel making process for several years. We have experienced the various kinds of surface inspection systems, including linear CCD camera type and the laser type inspection system which was installed in cold rolled strips production lines. But, we did not satisfied with these inspection systems owing to insufficient detection and classification rate, real time processing performance and limited line speed of real production lines. In order to increase detection and computing power, we have used the Dark Field illumination with Infra_Red LED, Bright Field illumination with Xenon Lamp, Parallel Computing Processor with Area typed CCD camera and full software based image processing technique for the ease up_grading and maintenance. In this paper, we introduced the automatic inspection system and real time image processing technique using the Object Detection, Defect Detection, Classification algorithms. As a result of experiment, under the situation of the high speed processed line(max 1000 meter per minute) defect detection is above 90% for all occurred defects in real line, defect name classification rate is about 80% for most frequently occurred 8 defect, and defect grade classification rate is 84% for name classified defect.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.1
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• pp.25-32
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• 2010

The paper proposes a hierarchical fault detection method for the high voltage equipment using a microphone array which detects the location of fault and the thermal imaging and CCD cameras which verifies the fault and stores the image, respectively. There are partial arc discharges on the faulty insulators, which generates a specific pattern of sound. Detecting the signal using the microphone array, the location of the faulty insulator can be estimated. The 6th band-pass filter was applied to remove noise signal from wind or external influence. When the mobile robot carries the thermal and CCD cameras to the possible place of the fault insulator, the fault insulators or power transmission wires can be detected by the thermal images, which are caused by the aging or natural erosion. Finally, the CCD camera captures the image of the fault insulator for the record. The detection scheme of fault location using the microphone array and the thermal images have been proved to be effective through the real experiments. As a result of this research, it becomes possible to use a mobile robot with the integrated sensors to detect the fault insulators instead of a human being.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.85-86
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• 2007

본 논문은 기존에 사람의 인력이나 열화상 카메라에 의존하고 있는 배전선 기자재 점검을 사람대신 로봇이 점검 작업을 하고 기존의 열화상 카메라만 사용하는 점검 방법에 CCD 카메라를 추가로 사용하여 열화상 이미지와 실영상을 같이 획득하도록 하여 배전선 점검 작업의 안전성 확보와 고장진단의 결과 값들의 객관성 있고 정확한 데이터를 획득을 할 수 있도록 하였다. 그리고 로봇이 가공지선을 자율주행하면서 발생하는 포스트 간 이동, 가공지선 회피, 가공지선 다 분기와 같은 문제가 발생하게 되는데 이러한 문제점들은 센서 융합 방법을 사용하여 로봇이 가공지선을 원활하게 자율주행을 할 수 있도록 하였다. 그리고 배전선 기자재들의 자연적 현상 때문에 발생하는 기자재의 부식과 열화로 변하게 되는 기자재들의 온도를 열화상 카메라로 분석하여 배전선 기자재들의 불량 기준 온도를 초과하게 되면 열화상 이미지와 CCD 카메라의 실영상 이미지가 자동으로 캡쳐 되고 저장 될 수 있게 하였다. 이러한 모든 동작들은 로봇이 자율주행을 하면서 이루어진다.