• Journal of the Korean Society for Precision Engineering
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• v.24 no.10
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• pp.64-74
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• 2007

Because of the size and environment in the shipbuilding process, the portable type robot is required for the automatic seam tracking. For this reason, the structure of laser sensor should be considered in the initial design step and the coordinate transformation between welding robot and laser sensor, which is joint finder, must be identified exactly and the real time tracking algorithm based on these consideration could be developed. In this research, laser displacement sensor in which its structure is laser beam's vertical projection, is developed to recognize the location of weld joint. In practical applications, however, images of weld joints are often degraded because of the surface specularity or spatter. To overcome the problem, the constrained joint finding algorithm is proposed. In the approach of coordinate conversion rule for the visual feedback control among welding torch, robot body and laser sensor is applied by the same reference point method. In the real time seam tracking algorithms we propose constrained sampling method which uses look ahead distance. The RLS(Recursive Least Square) filter is applied to obtain the smooth tracking path from the sensitive edge data. From the experimental results, we could see the possibility that the developed laser sensor with proposed processing algorithm and real time seam tracking method can be used as a welding under the shipbuilding condition.

• Journal of Korean Library and Information Science Society
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• v.50 no.1
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• pp.23-41
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• 2019

This study understand the subject domain of book which has been read by men and woman elderly by analizying the PFNET using library big data and confirm the difference between adult at age 30-40. This study extract co-occurrence matrix of book lending on the popular book list from library big data, for 4 group, men/woman elderly, men/woman adult. With these matrix, this study performs FP network analysis. And Pearson Correlation Analysis based on the Triangle Betweenness Centrality calculated on the loan book was performed to understand the correlation among the 4 clusters which has been created by PNNC algorithm. As a result, reading trend which has been focused on modern korean novel has been revealed in elderly regardless gender, among them, men elderly show extreme tendency concentrated on modern korean long series novel. In the correlation analysis, the male elderly showed a weak negative correlation with the adult male of r = -0.222, and the negative direction of all the other groups showed that the tendency of male elderly's loan book was opposite.