• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.433-437
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• 1988

Direct measurement of the relative position between the end effector of robot and moving objects reduces difficulties caused by the joint encoder reading and transformation. For those purpose, the on-line sensing method using PSD sensor was developed in this paper. The sensor was calibrated on the precision table. Then, the relative position of a moving objects on the conveyor was measured while the robot was tracking the one.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.47-50
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• 2000

Optical triangulation is one of the most common methods for acquiring range data. Using this method. We have developed a new type of Laser Displacement Sensor. We used Area CCD instead of linear CCD and PSD (Position Sensitive Detector). And we have developed the robust algorithm for increasing the accuracy and used USB instead of RS-232C for increasing speed. We present results that demonstrate the validity of our method using optical triangulation technique, Area CCD, and USB.

• 센서학회지
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• 제27권1호
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• pp.6-12
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• 2018

In this paper, a 32-variable pulse position modulation (32-VPPM) scheme is proposed to support a red-green-blue light-emitting-diode (RGB-LED)-based optical camera communication (OCC) system. Our proposed modulation scheme is designed to enhance the OCC data transmission rate, which is targeted for the wearable biomedical data monitoring system. The OCC technology has been utilized as an alternative solution to the radio frequency (RF) wireless system for long-term self-healthcare monitoring. Different biomedical signals, such as electrocardiograms, photoplethysmograms, and respiration signals are being monitored and transmitted wirelessly from the wearable biomedical device to the smartphone receiver. A common 30 frames per second (fps) smartphone camera with a CMOS image sensor is used to record a transmitted optical signal. Moreover, the overall proposed system architecture, modulation scheme, and data demodulation are discussed in this paper. The experimental result shows that the proposed system is able to achieve > 9 kbps using only a common smartphone camera receiver.

• 제어로봇시스템학회논문지
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• 제22권8호
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• pp.579-584
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• 2016

When surgical instruments are tracked in an image-guided surgical navigation system, a stereo vision system with high accuracy is generally used, which is called optical tracker. However, this optical tracker has the disadvantage that a line-of-sight between the tracker and surgical instrument must be maintained. Therefore, to complement the disadvantage of optical tracking systems, an internal vision sensor is attached to a surgical instrument in this paper. Monitoring the target marker pattern attached on patient with this vision sensor, this surgical instrument is possible to be tracked even when the line-of-sight of the optical tracker is occluded. To verify the system's effectiveness, a series of basic experiments is carried out. Lastly, an integration experiment is conducted. The experimental results show that rotational error is bounded to max $1.32^{\circ}$ and mean $0.35^{\circ}$, and translation error is in max 1.72mm and mean 0.58mm. Finally, it is confirmed that the proposed tool tracking method using an internal vision sensor is useful and effective to overcome the occlusion problem of the optical tracker.

• 한국정밀공학회지
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• 제33권12호
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• pp.1007-1013
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• 2016

This paper presents the development of a magneto-optical encoder for higher precision and smaller size. In general, optical encoders can have very high precision based on the position information of the slate, while their sizes tend to be larger due to the presence of complex and large components, such as an optical module. In contrast, magnetic encoders have exactly the opposite characteristics, i.e., small size and low precision. In order to achieve encoder features encompassing the advantages of both optical and magnetic encoders, i.e., high precision and small size, we designed a magneto-optical encoder and developed a method to detect absolute position, by compensating for the error of the hall sensor using the linear table compensation method. The performance of the magneto-optical encoder was evaluated through an experimental testbed.

• Journal of Welding and Joining
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• 제22권6호
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• pp.43-49
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• 2004

In this study, a visual sensor system which can detect I-butt weld joint with height variation and includes a seam tracking algorithm was investigated. Three-dimensional position of an object can be acquired by using the method of distance measurement, i.e., an optical trigonometry which results from the spatial relations between the camera, the object and the structured light by a visible laser. Effects of laser intensity and iris number for the image quality as well as object material were investigated for the optical system design. For the image processing, a region of interest is defined from the whole image and a line image of laser is drew by using the gray level difference in the image. From the drew laser line, the weld joint can be recognized in searching the biggest point position calculated from the central difference method. Through a series of welding experiments, a good tracking performance was confirmed under GMA welding.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.97.5-97
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• 2002

A sensor modeling via artificial neural network is presented in this paper. The optical sensor has been designed to treasure absolute 3-dimensional positions and orientations of objects in 6-DOF. The method utilizes a triangular pyramidal mirror having an equilateral cross-sectional shape referred as 3-facet mirror. The mirror has three lateral reflective surfaces inclined 45 degrees to its bottom surface. The 3-facet mirror is mounted on the object whose 6-DOF motion is to be measured. As optical components, a He-Ne laser source and three position-sensitive detectors(PSD) are used. The laser beam is emitted from the He-Ne laser source located at the upright position and vertically incident o...

• 한국정밀공학회지
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• 제16권7호
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• pp.40-50
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• 1999

Recently, a laser displacement sensor is widely used for the manufacturing automation. The sensor is generally composed of a diode laser and a light receiving device. The diode laser emits a laser beam and the receiving device detects the light reflected from the measured object. The object position is obtained based upon triangulation method. As a light receiving device, a PSD is usually utilized since its structure is very simple and rugged and has a high accuracy. Although the theoretical relationship for this sensor had been developed, the characteristics of the sensor have not been much experimentally studied. In this paper, several experimental results will presented. The measurement accuracy is affected by the surface conditions such as the reflectance characteristics, the angle of the object's surface and the laser intensity. In addition, it is found that the PSD and the signal processing circuit have nonlinearities and showed that those nonlinearities can be reduced by controlling the emitting laser intensity.

• 한국광학회지
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• 제22권3호
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• pp.151-158
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• 2011

본 논문에서는 반사형 장거리 정밀 변위 감지기용 광학계를 설계하고 실제 구성을 해 봄으로써 작동 성능을 측정한 결과를 소개하고자 한다. 10 m ~ 250 m 거리에 있는 교량 및 건축물 등의 진동 및 변위를 감지하는 장거리 변위 감지기용 광신호 송신 및 수신용 광학계를 설계하고, 관측 거리에 따라 관측 대상체에 다양한 반사광학계를 설치하여 실제 제작된 변위 감지기의 변위 감지 분해능을 측정하였다. 광신호 송신부는 두 개의 850 nm 파장대 LED와 수렴광학계로 구성되고, 수신부에서는 위치 센서(PSD: Position Sensitive Detector)와 망원형 수렴광학계가 사용되었다. 관측 대상체의 거리에 따라 10 m 거리에서는 0.1 mm 변위 분해능과 250 m 거리에서는 3 mm 이하의 변위 분해능이 가능함을 확인하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.471-474
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• 2002

A fuel tank contains water at the bottom under the fuel. The water comes from humidity by temperature change of inside and outside of tank. So it is necessary to measure both level to check precise amount of oil. But measuring instrument for level of water and fuel is not available yet. Since the fuel is inflammable, the sensor system must not include any electric circuits in the fuel tank. Optical cable sensor can satisfy this non-explosive condition. The displacement of a float changing by water level makes bending curvature of optical cable different. As the float rise up, the optical cable is bent more and the light signal in the cable decreases. The reduction of light signal is detected and it is converted into the change of water level. The output signal from a photo diode shows the proportional relation of water level. The increase of sensor voltage as a unit of ㎷ follows the level position of the float that is located between water and gasoline in the tank.