• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.163.2-163
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• 2001

Confocal scanning microscopy (CSM) has been reported as an excellent method using the optical probe in scanning probe microscopy (SPM). Transmission or reflection confocal scanning microscopy (TCSM, RCSM) has been used in the three-dimensional reconstruction of specimen or the non-destructive measurement in vivo. The axial movement of the primary focal point having the information of specimen gives a good measurement performance with the great sensitivity. Application of the confocal theory and astigmatism to displacement measurement sensor uses the aperture as the pinhole or slit after collecting lens relating to confocal response in non-contact measurement; and astigmatic lens using four-segments detector as short-range sensor, long-range one combining the grating and rotary one hating the rotary directional grating. The aperture type can play an ...

• 대한기계학회논문집A
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• 제20권3호
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• pp.891-900
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• 1996

The vision sensor which is based on the optical triangulation theory with the laser as an auxiliary light source can detect not only the seam position but the shape of seam. In this study, a vision sensor using the scanning laser beam was investigated. To design the vision sensor which considers the reflectivity of the sensing object and satisfies the desired resolution and measuring range, the equation of the focused laser beam which has a Gaussian irradiance profile was firstly formulated, Secondly, the image formaing sequence, and thirdly the relation between the displacement in the measuring surface and the displacement in the camera plane was formulated. Therefore, the focused beam diameter in the measuring range could be determined and the influence of the relative location between the laser and camera plane could be estimated. The measuring range and the resolution of the vision sensor which was based on the Scheimpflug's condition could also be calculated. From the results mentioned above a vision sensor was developed, and an adequate calibration technique was proposed. The image processing algorithm which and recognize the center of joint and its shape informaitons was investigated. Using the developed vision sensor and image processing algorithm, the shape informations was investigated. Using the developed vision sensor and image processing algorithm, the shape informations of the vee-, butt- and lap joint were extracted.

• 한국통신학회논문지
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• 제24권8B호
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• pp.1472-1479
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• 1999

본 연구에서는 단일 Fabry-Perot 필터를 이용해 다중 FBG 센서에 대하여 파장 스캐닝과 로킹을 동시에 실현하여 기존의 스캐닝 방식의 단점을 보완한 다중 FBG 스트레인 센서 스캔-로킹 신호처리 방안을 제안하고, 이를 시스템으로 구성하여 스트레인 측정 실험을 하였다. 단일 센서에 대한 스트레인 측정에서는 3me 정도의 분해능이 측정되었고, 다중 센서 스트레인 측정의 경우에는 10me의 분해능을 얻었다.

• Nuclear Engineering and Technology
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• 제55권9호
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• pp.3206-3212
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• 2023

We developed a miniaturized multi-dimensional radiation sensor system consisting of an inorganic scintillator array and plastic optical fibers. This system can be applied to remotely obtain the radioactivity distribution and identify the radionuclides in radioactive waste by utilizing a scanning method. Variation in scintillation light was measured in two-dimensional regions of interest and then converted into radioactivity distribution images. Outliers present in the images were removed by using a digital filter to make the hot spot location more accurate and cubic interpolation was applied to make the images smoother and clearer. Next, gamma-ray spectroscopy was performed to identify the radionuclides, and three-dimensional volume scanning was also performed to effectively find the hot spot using the proposed array sensor.

• 제어로봇시스템학회논문지
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• 제19권3호
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• pp.219-226
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• 2013

A distortion correction technique is presented to enhance the 3D scanning performance of a micro-size camera-projector system. Recently, several types of micro-size digital projectors and cameras are available. However, there have been few effort to develop a micro-size 3D scanning system. We develop a micro-sized 3D scanning system which is based on the structured light technique. Three images of phase-shifted sinusoidal patterns are projected, captured, and analyzed by the system to reconstruct 3D shapes of very small objects. To overcome inherent optical imperfection of the micro 3D sensor, we correct the vignetting and blooming effects which cause distortions in the phase image. Error analysis and 3D scanning results on small real objects are presented to show the performance of the developed 3D scanning system.

• 한국산업융합학회 논문집
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• 제18권3호
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• pp.167-172
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• 2015

In this paper, we propose a new approach to design and control a smart gripper of robot system. A control method for flexible grasping a object in partially unknown environment was proposed, where a proximate sensor detecting the distance between the fingertip and object was used. Based on the proximate sensor signal the finger motion controller could plan the grasping process divided in three phases. The first step is scanning process which two first joints were moved to mid-position of the detected range by a state-variable feedback position controller, after the scanning was finished. The contact force of fingertip was then controlled using the detection sensor of the servo controller for finger joint control. The proposed grasping planning was tested on rectangular bar.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
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• pp.105-110
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• 1999

This paper presents a local obstacle avoidance method for indoor mobile robots using Lane method and velocity Space Command approach. The method locates local obstacles using the information form multi-sensors, such that ultrasonic sensor array and laser scanning sensor. The method uses lane method to determine optimum collision-free heading direction of a robot. Also, it deals with the robot motion dynamics problem to reduce some vibration and guarantee fast movement as well. It yields translational and rotational velocities required to avoid the detected obstacles and to keep the robot heading direction toward goal location as close as possible. For experimental verification of the method, a mobile robot driven by two AC servo motors, equipped with 24 ultrasonic sensor array and laser scanning sensor navigates using the method through a corridor cluttered with obstacle.

• 한국기계가공학회지
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• 제14권5호
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• pp.28-35
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• 2015

This paper introduces a resistance scanning-type flexible tactile sensor for intelligent robots and presents the output characteristics of the sensor via signal processing. The sensor was produced via the lamination method using multi-walled carbon nanotubes (a conductive material), an insulator, and Tango-plus (an elastic material). Analog and digital signal processing boards were produced to analyze the output signal of the sensor. The analog signal processing board was made up of an integrator and an amplifier for signal stability, and the digital signal processing board was made up of an IIR filter for noise removal. Finally, the sensor output for the contact force was confirmed through experiments.

• 스마트미디어저널
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• 제12권9호
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• pp.134-141
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• 2023

본 논문에서는 3차원 객체의 인식률을 높이고 객체 검출 품질이 보장되며, 환경에 강건한 3차원 공간 스캔용 ToF-Stereo 융합 센서 시스템을 제안한다. ToF-Stereo 센서 융합 시스템은 ToF 센서와 Stereo RGB 센서의 센싱 값을 융합하는 방식을 사용하며, 하나의 센서가 동작하지 않더라도 다른 하나의 센서를 이용하여 계속해서 객체를 검출해 나갈 수 있다. ToF 센서와 Stereo RGB 센서의 센싱 거리, 센싱 해상도, 빛 반사도 및 조도 등에 따른 품질이 달라지므로, 신뢰도 추정에 기반하여 센서의 기능을 조절할 수 있는 모듈을 두었다. ToF-Stereo 센서 융합 시스템은 ToF 센서와 Stereo RGB 센서의 센싱 값을 결합하고, 신뢰도를 추정한 후 신뢰도에 따라 센서의 기능을 조절하여 두 센싱 값을 융합하므로 3차원 공간 스캔의 품질을 향상할 수 있다.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2003년도 추계종합학술대회
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• pp.277-279
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• 2003

본 논문은 단일 광원의 CIS에서 조도제어를 적용한 흑백 이미지 스케닝시스템 설계 및 구현에 관한 연구이다. 스케닝 방법은 이미지 스켄센서를 고정한 상태에서 스텝모터를 이용하여 스케닝 하고자 하는 문서를 이동하는 종이공급 방식을 사용하였다. 소형의 최적화된 시스템을 구현하기 위해 전용의 영상처리프로세서를 사용하여 시스템을 구성하였고, 센서를 통해 피딩 스텝마다 1라인의 스케닝된 입력된 데이터는 시스템 메모리에 저장된다. 스케닝을 시작하면 CIS 광원을 ON하여 스케닝하는 문서에서 반사되는 데이터를 수집하게 되는데, CIS 광원을 주기적으로 ON/OFF 하여 스케닝하고자 하는 문서의 조도를 제어하도록 하였다 스케닝 환경에 따라 조도를 제어함으로서 스케닝 이미지에서 적용전의 이미지에 비하여 PSNR이 0.3% 향상 되었다.