• 한국정밀공학회지
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• 제29권10호
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• pp.1089-1095
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• 2012

Laser beam machining (LBM) using nanosecond pulsed laser is widely known to be rapid and non-wear process for micromachining. However, the quality itself cannot meet the precision standard due to the recast layer and heat affected zone. In this paper, a fabrication method for machining micro features in stainless steel using a hybrid process of LBM using nanosecond pulsed laser and electrochemical etching (ECE) is reported. ECE uses non-contacting method for precise surface machining and selectively removes the recast layer and heat affected zone produced by laser beam in an effective way. Compared to the single LBM process, the hybrid process of LBM and ECE enhanced the quality of the micro features.

• 한국산업융합학회 논문집
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• 제17권2호
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• pp.77-83
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• 2014

This paper describes a new technology to develop the character recognition technology based on pattern recognition for non-contacting inspection optical lens slant or precision parts, and including external form state of lens or electronic parts for the performance verification, this development can achieve badness finding. And, establish to existing reflex data because inputting surface badness degree of scratch's standard specification condition directly, and error designed to distinguish from product more than schedule error to badness product by normalcy product within schedule extent after calculate the error comparing actuality measurement reflex data and standard reflex data mutually. Developed system to smallest 1 pixel unit though measuring is possible 1 pixel as $37{\mu}m{\times}37{\mu}m$ ($0.1369{\times}10-4mm^2$) the accuracy to $1.5{\times}10-4mm$ minutely measuring is possible performance verification and trust ability through an experiment prove.

• 동굴
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• 제85호
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• pp.28-34
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• 2008

For trying to frontal attack of new solution by fusion of technical tasks and conditions with it's solving methods of the essential tasks of marine resource development and environmental conservation in addition with elements of electronic high-technologies, the magnetic oil spill adsorbent of Mag-Sorbent* has been prepared and proposed to dispose oil spill from the marine disaster for preventing oil pollution by using them and their system with sequentially circular collection of oil spill mag-sorbent powder and fabrics on the electronic equipment like as barge robot for the scheme of sustainable development of environment-friendly technology. Because of recent marine accident occurred at Tae-An cost and earthquake in Sichuan province were very large scale accident of disaster to prevent and manage of them. So, it was verified from the experiment of electronic demonstrator that the skimmer system of oil spill mag-sorbent powder and fabrics prepared was very effective and useful technique to collect oil spill samples on the water surface specially at the closed space of underground cave. At this point, the barge-based electronic remote control was very useful system operating easily on the marine fields but also water level at the small pool to skim it with the environment-friendly system of the disposing marine disaster and preventing oil pollution using magnetic adsorbents of Mag-Sorbent*.

• 제어로봇시스템학회논문지
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• 제22권5호
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• pp.320-325
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• 2016

This paper presents a robust finite-time sliding mode control (SMC) scheme for unknown disturbance and unmodeled nonlinear friction and dynamics in the robotic manipulator. A finite-time SMC (FSMC) surface and finite-time sliding mode controller are constructed to obtain faster error convergence than the conventional infinite-time based SMC. By adding prescribed constraint control term to a finite-time SMC to compensate for unknown disturbance and uncertainties, a robust control scheme can be designed as well as faster convergence control. In addition, simpler controller structure is built by using feed-forwarding upper bound coefficients of each manipulator dynamic parameters instead of model-based control or adaptive observer to estimate unknown manipulator parameters. Simulation and experimental evaluations highlight the efficacy of the proposed control scheme for an articulated robotic manipulator.

• ETRI Journal
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• 제38권2호
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• pp.337-346
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• 2016

We propose a data-driven kinematic control method for a robotic spatial augmented reality (RSAR) system. We assume a scenario where a robotic device and a projector-camera unit (PCU) are assembled in an ad hoc manner with loose kinematic specifications, which hinders the application of a conventional kinematic control method based on the exact link and joint specifications. In the proposed method, the kinematic relation between a PCU and joints is represented as a set of B-spline surfaces based on sample data rather than analytic or differential equations. The sampling process, which automatically records the values of joint angles and the corresponding external parameters of a PCU, is performed as an off-line process when an RSAR system is installed. In an on-line process, an external parameter of a PCU at a certain joint configuration, which is directly readable from motors, can be computed by evaluating the pre-built B-spline surfaces. We provide details of the proposed method and validate the model through a comparison with an analytic RSAR model with synthetic noises to simulate assembly errors.

• 한국축산시설환경학회지
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• 제8권3호
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• pp.165-170
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• 2002

This study was carried out to measure the 3D-distance of a cow model teat for an application possibility on Robotic Milking System(RMS). A teat recognition algorithm was made to find 3D-distance of the model by using Gonzalrez's theory. Some of the results are as follows. 1 . In the distance measurement experiment on the test board, as the measured length, and the length between the center of image surface and the measured image point became longer, their error values increased. 2. The model teat was installed and measured the error value at the random position. The error value of X and Y coordinates was less than 5㎜, and that of Z coordinates was less than 20㎜. The error value increased as the distance of camera's increased. 3. The equation for distance information acquirement was satisfied with obtaining accurate distance that was necessary for a milking robot to trace teats, A teat recognition algorithm was recognized well four model cow teats. It's processing time was about 1 second. It appeared that a teat recognition algorithm could be used to determine the 3D-distance of the cow teat to develop a RMS.

• 한국생산제조학회지
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• 제19권2호
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• pp.275-281
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• 2010

This research's goal is to process directly aspherics with big sagment and thin center thickness. If we can process directly aspherics with big sagment and thin center thickness, we think it greatly helps to reduce the time of developing optical system. We made very thin glass using diamond grinding whetstone regarding the trace of tool and the detailed drawing of tool super precisive aspherics that has 0.46mm center thickness and over $30^{\circ}$ segment, $0.1{\mu}m$ machining accuracy, 15nm surface accuracy. We think this research's result will be effective to open new market because it is applied not only cell phone optical system but also CCTV robot optical system, internet phone optical system. Also we expect to enhance the super strong brittle precisive process's possibility with super precisive processing technique that achieves 0.46mm glass center thickness as first in the world.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.123-123
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• 2000

Polishing a die that has free-form surfaces is a time-consuming and tedious job, and requires a considerable amount of high-precision skill. In order to reduce the polishing time and cope with the shortage of skilled workers, a user-friendly automatic polishing system was developed in this research. The polishing system with five degrees of freedom is able to keep the polishing tool normal to the die surface. The polishing system is controlled by a PC-NC controller. And, to easily onerate the developed polishing system, this stud)r developed a integrated program in the Windows environment. This program consists of 4 modules: polishing module, a graphic simulator, a polishing data generation module, and a teaching. Also, the automatic teaching system was developed to easily obtain a teaching data. The developed teaching system consists of a three dimensional joystick and a proximity sensor. In order to evaluate stability of the driving program and the leaching system, polishing experiments of the die of saddle shape were carried out.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2010년도 춘계학술대회
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• pp.569-571
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• 2010

본 논문에서는 플라스틱 제품의 공정 과정에서 발생하는 미성형, 이물질, 찍힘 등의 제품 불량을 검사하기 위한 비전 검사 시스템을 개발한다. 본 시스템의 검사 알고리즘은 플라스틱 제품의 곡면구조를 고려한 영상 2치화, 모폴로지 연산을 이용한 영상의 노이즈 제거 및 후보영역 구분을 위한 레이블링 기법, 최종 결함 유무 판단을 위한 영상 필터링 및 캘리브레이션(Calibration) 방법 등으로 구성된다. 또한 사용자를 고려한 GUI(Graphical User Interface) 기반의 고속 영상처리 알고리즘 개발을 통해 검사 효율 및 성능을 향상시킨다. 본 검사 시스템의 정확도, 검사 알고리즘 처리 시간 등의 평가를 통해 시스템의 유효성을 확인하였다.

• 한국산학기술학회논문지
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• 제16권6호
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• pp.3714-3721
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• 2015

서셉터 히터에서 쉬스 열선을 사용하는 방법이 일반화되어 있지만, 대면적 초고온 조건에서는 서셉터의 온도 균일도 성능 저하의 문제가 있다. 본 연구에서는 온도균일도 성능을 향상시킬 수 있도록 판형 형태의 열선을 기본으로 새로운 서셉터를 설계하여 프로토타입을 개발하였다. 표면 온도 $450^{\circ}C$의 고온에서 1.4% 이내로 온도 균일도가 시제작된 서셉터에서 검증될 수 있었다. 또한 온도 학습 데이터를 이용하여 측정 온도 데이터를 예측할 수 있는 커널 회귀 알고리즘을 개발하고, 이러한 예측 데이터와 측정 데이터의 비교 분석으로 균일도 측정 온도의 신뢰성을 확인할 수 있었다.