• Transactions of Materials Processing
• /
• v.23 no.1
• /
• pp.35-40
• /
• 2014

The deformation characteristics of a double round copper pipe and a single round copper pipe under biaxial compression were studied using a horizontal compression die. The change in punch load and in deformation behavior was measured during the experiments using various compressive deformation rates in the range of 10mm/min. ~ 450mm/min. The maximum punch load for both the double round copper pipe and the single round copper pipe decreased with increasing compressive deformation rate. The maximum punch load for the single round copper pipe was twice that of the double round copper pipe. After a 4.0mm stroke, the deformed shape of the single round copper pipe remained rectangular. However the outer tube of double round copper pipe remained rectangular while the inner tube was clover shaped. The stress and strain distributions in the double round copper pipe and the single round copper pipe show clear differences. The results of numerical simulations using Deform-2D are in good agreement with experimental results.

• Laser Solutions
• /
• v.12 no.1
• /
• pp.19-24
• /
• 2009

Because of its fast and precise welding performance, laser welding is becoming a new excellent welding method. However, the precise focusing and robust seam tracking are required to apply laser welding to the practical fields. In order to laser weld a type of T joint like a circular pipe on a square pipe, which could be met in the three dimensional structure such as an aluminum space frame, a visual sensor system was developed for automation of focusing and seam tracking. The developed sensor system consists of a digital CCD camera, a structured laser, and a vision processor. It is moved and positioned by a 2-axis motorized stage, which is attached to a 6 axis robot manipulator with a laser welding head. After stripe-type structured laser illuminates a target surface, images are captured through the digital CCD camera. From the image, seam error and defocusing error are calculated using image processing algorithms which includes efficient techniques handling continuously changed image patterns. These errors are corrected by the stage off-line during welding or teaching. Laser welding of a circular pipe on a square pipe was successful with the vision tracking system by reducing the path positioning and de focusing errors due to the robot teaching or a geometrical variation of specimens and jig holding.

• Transactions of Materials Processing
• /
• v.28 no.4
• /
• pp.175-182
• /
• 2019

In this study, compression process is performed on the seamless E235 pipe using the newly developed compression technology for seamless pipe. Experimental analysis on the heterogeneity of microstructures and mechanical properties of the deformed seamless pipe is conducted. As a result, the correlation between microstructures and mechanical properties are determined. The spatial distribution of effective stress and effective strain developed in the seamless pipe deformed through compression is analyzed using the finite element method (FEM) based on different inner pressure conditions. From the results of the FEM, the impact of the inner pressure on effective stress and effective strain of the seamless pipe deformed through compression can be understood theoretically.

• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.33B no.1
• /
• pp.38-48
• /
• 1996

We implemented and evaluated the preformance of a task level pipelined multicomputer "RV860-PIPE(Realtime Vision i860 system using PIPEline)" for computer vision applications. RV860-PIPE is a message-passing MIMD computer having ring interconnection network which is appropriate for vision processing. We designed the node computer of RV860-PIPE using a 64-bit microprocessor to have generality and high processing power for various vision algorithms. Furthermore, to reduce the communication overhead between node computers and between node computer and a frame grabber, we designed dedicated high speed communication channels between them. We showed the practical applicability of the implemented system by evaluting performances of various computer vision applications like edge detection, real-time moving object tracking, and real-time face recognition.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.51 no.6
• /
• pp.258-266
• /
• 2002

This paper proposes the methodology of the image processing algorithm that estimates the pose of the inner-pipe crawling robot. The inner-pipe crawling robot is usually equipped with a lighting device and a camera on its head for monitoring and inspection purpose of defects on the pipe wall and/or the maintenance operation. The proposed methodology is using these devices without introducing the extra sensors and is based on the fact that the position and the intensity of the reflected light from the inner wall of the pipe vary with the robot posture and the camera. The proposed algorithm is divided into two parts, estimating the translation and rotation angle of the camera, followed by the actual pose estimation of the robot . Based on the fact that the vanishing point of the reflected light moves into the opposite direction from the camera rotation, the camera rotation angle can be estimated. And, based on the fact that the most bright parts of the reflected light moves into the same direction with the camera translation, the camera position most bright parts of the reflected light moves into the same direction with the camera translation, the camera position can be obtained. To investigate the performance of the algorithm, the algorithm is applied to a sewage maintenance robot.

• Journal of the Korean Recycled Construction Resources Institute
• /
• v.5 no.2
• /
• pp.177-184
• /
• 2017

Many ground subsidence accidents have happened in Korea. The accident was caused by the subsidence and leakage of the deteriorated sewage pipe. This study aims to establish the empirical data of the ground penetration radar(GPR) detection for ground subsidence. A test bed was also manufactured for the same purpose. The GPR detection variables are embedment depth and horizontal distance of embedded cast iron pipe and expanded polystyrene(EPS). From the detection results, the EPS embedded by a depth of 1.5m was difficult for detection. The EPS closely embedded to the cast iron pipe within a 0.5m distance had a very strong cast iron pipe signal. Therefore, the detection was impossible. This study developed an image processing program, called the GPR image processing program(GPRiPP), to process the GPR detection results. Its major function is the gain function, which amplifies the wiggle wave signal. Compared to the existing programs, the GPRiPP is capable of showing a similar image processing performance.

• Journal of Institute of Control, Robotics and Systems
• /
• v.9 no.10
• /
• pp.822-831
• /
• 2003

A computer-vision based pipe-inspection algorithm is developed. The algorithm uses the modified Hough transformation and a line-scanning approach to identify the edge line and the radius of the pipe image, from which the eccentricity and dimension of the pipe-end is calculated. Line and circle detection was performed using Laplace operator with input image, which are acquired from the front and side cameras. In order to minimize the memory usage and the processing time, a clustering method with the modified Hough transformation is introduced for line detection. The dimension of inner and outer radius of pipe is calculated by the proposed line-scanning method. The method scans several lines along the X and Y axes, calculating the eccentricity of inner and outer circle, by which pipes with wrong end-shape can be classified and removed.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.29 no.6C
• /
• pp.793-800
• /
• 2004

In this paper, we propose a new automatic pipe grading algorithm for an efficient management of transmission pipe under the ground. Since the conventional transmission pipe evaluation was conducted by subjective decision made by an individual operator, it was difficult to grade them by means of numerical methods and also hard to realistically construct numerical database system. To solve these problems, we Int obtain some information on the current condition of pipes' sections by shooting laser beam at a regular rate and then apply grading algorithm after complete calculation of minimum diameter of pipe. We use some of preprocessing techniques to reduce noise and also use various color models to consider special conditions of each inner pipe. The measurement of pipes' minimum diameter and decision of grade are performed through a detailed processing stages. By some experimental results performed in the field, we show that over 90 percent of correct grade decisions are made by the proposed algorithm.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.11 no.2
• /
• pp.43-51
• /
• 1993

It is very important entity that a map of urban facility is in civic life and development of city. But now, there are many needs of computerization which was used for management of urban facility map because inefficiency was produced due to management of urban facility map by hand. This paper, it was showed that a processing of establishing database in computer by applying GIS. The used sample area in studying in Ansan city in Kyunggi province and a sewer pipe which was in there adapted to establish database in computer. A map of administration district, which is 1:38,000, a map of complex urban planning of city, which is 1:3,000, and the facility map were used for the input of spatial data and the address, the year when sewer pipe was burried, and the quality of pipe, the pipe diameter, and the length of pipe were used as attribute data. Relational structure was used for establishment of database then, searching, analyzing, and processing were possible. Additionary, the result of this studying can be used for replacement of a old sewer pipe, a material quantity which is related with repairement of sewer pipe, and calculation of time, cost by application program framed by Fortran.

• Journal of Welding and Joining
• /
• v.16 no.5
• /
• pp.119-133
• /
• 1998

To implement full automation in pipe welding, it si most important to develop special sensors and their related systems which act like human operator when detecting irregular groove conditions. In this study, an automatic pipe Gas Metal Arc Welding (GMAW) system was proposed to full control pipe welding procedure with intelligent sensor systems. A five-axes manipulator was proposed for welding torch to automatically access to exact welding position when pipe size and welding angle were given. Pool status and torch position were measured by using a weld-pool image monitoring and processing technique in root-pass welding for weld seam tracking and weld pool control. To overcome the intensive arc light, pool image was captured at the instance of short circuit of welding power loop. Captured image was processed to determine weld pool shape. For weld seam tracking, the relative distance of a torch position from the pool center was calculated in the extracted pool shape to move torch just onto the groove center. To control penetration of root pas, gap was calculated in the extracted pool image, and then weld conditions were controlled for obtaining appropriate penetration. welding speed was determined with a fuzzy logic, and welding current and voltage were determined from a data base to correspond to the gap. For automatic fill-pass welding, the function of human operator of real time weld seam control can be substituted by a sensor system. In this study, an arc sensor system was proposed based on a fuzzy control logic. Using the proposed automatic system, root-pass welding of pipe which had gap variation was assured to be appropriately controlled in welding conditions and in torch position by showing sound welding result and good seam tracking capability. Fill-pass welding by the proposed system also showed very successful result by tracking along the offset welding line without any control of human operator.