• Journal of Institute of Control, Robotics and Systems
• /
• 제20권2호
• /
• pp.218-222
• /
• 2014

In this paper, we introduce an autonomous calibration method for a 2D laser displacement sensor (e.g. laser vision sensor and laser range finder) by matching a single point on a flat structure. Many arc welding robots install a 2D laser displacement sensor to expand their application by recognizing their environment (e.g. base metal and seam). In such systems, sensing data should be transformed to the robot's coordinates, and the geometric relation (i.e. rotation and translation) between the robot's coordinates and sensor coordinates should be known for the transformation. Calibration means the inference process of geometric relation between the sensor and robot. Generally, the matching of more than 3 points is required to infer the geometric relation. However, we introduce a novel method to calibrate using only 1 point matching and use a specific flat structure (i.e. circular hole) which enables us to find the geometric relation with a single point matching. We make the rotation component of the calibration results as a constant to use only a single point by moving a robot to a specific pose. The flat structure can be installed easily in a manufacturing site, because the structure does not have a volume (i.e. almost 2D structure). The calibration process is fully autonomous and does not need any manual operation. A robot which installed the sensor moves to the specific pose by sensing features of the circular hole such as length of chord and center position of the chord. We show the precision of the proposed method by performing repetitive experiments in various situations. Furthermore, we applied the result of the proposed method to sensor based seam tracking with a robot, and report the difference of the robot's TCP (Tool Center Point) trajectory. This experiment shows that the proposed method ensures precision.

• Proceedings of the Korean Vacuum Society Conference
• /
• 한국진공학회 2012년도 제43회 하계 정기 학술대회 초록집
• /
• pp.276-277
• /
• 2012

플라즈마 아킹은 PECVD, 플라즈마 식각 그리고 토카막과 같은 플라즈마를 이용하는 여러 공정과 연구 분야에서 문제가 되어왔다. 하지만, 문제의 중요성과 다르게 아킹에 대한 본질적인 연구는 아직 미비한 상태이다. 플라즈마 아킹은 집단전자방출(collective electron emission)에 의한 스파크 방전(spark discharge) 현상이다. 집단전자방출은 전계방출(field emission)이나 플라즈마와 쉬스를 두고 인접한 표면위에서의 유전분극(dielec emission)에 의해 발생한다. 우리는 CCP 플라즈마를 이용해 micro-arcing(MA)을 일으키고 랑뮈르 프로브를 이용해 MA 동안의 플로팅 포텐셜의 변화를 측정한다. MA시 PM-tube를 이용해 광량의 변화를 측정하고 플로팅 포텐셜을 fast-imaging과 동기화 시켜 MA 발생 메커니즘을 유추한다. 우리는 $30{\times}20$ cm 크기의 사각 전극을 위 아래로 가진 챔버에서 Ar 가스를 RF (13.56 MHz) 파워를 이용해 방전시켰다. 방전 전압과 전류는 파워 전극 앞단에서 High voltage probe (Tektronix P6015A)와 Current probe (TCPA300 + TCP312)를 이용해 측정했다. 플라즈마 아킹시 변하는 플라즈마 플로팅 포텐셜은 챔버 중앙에 위치한 랑뮈프 프로브에 의해 측정되고 챔버 옆의 뷰포트 앞에 위치한 PM-tube를 이용해 아킹시 변하는 광량을 측정하고 Intensified CCD를 이용해 fast-imaging을 한다. 또한 CCD 앞에 band pass filter를 부착하여 MA의 발생 메커니즘을 유추한다. RF 방전에서의 플라즈마 아킹은 아킹시 플로팅 포텐셜의 변화에 의해 크게 세부분으로 나눌 수 있다. 아킹 발생과 동시에 급격히 감소하는 감소부분(약 2 us) 그리고 감소한 포텐셜이 유지되는 유지부분(약 0~10 ms) 그리고 감소했던 포텐셜이 서서히 원래 상태로 회복되는 회복부분(약 100 us)이다. 아킹 초기시 방출된 집단 전자들은 쉬스를 단락시키게 되고 이로 인해 플로팅 포텐셜은 급격히 감소하게 된다. 이렇게 감소한 플로팅 포텐셜은 아킹 스트리머가 유지되는 한 계속 감소한 상태를 유지하게 된다. 그리고 플라즈마를 섭동했던 집단전자방출이 중단되면 플라즈마는 섭동전의 원래 상태로 회복된다. 플라즈마 아킹 발생시 생성되는 순간적으로 많은 전자들을 국소적으로 생성하게 되고 이 전자들에 의해 광량이 순간적으로 증가하게 된다. PM-tube (750.4 nm)에 의해 측정된 아킹시 광량은 정상방전 상태의 두배 가량이 된다. 그리고 이 순간적으로 증가된 광량은 시간이 지남에 따라 감소하게 되고 정상방전 일때의 광량이 된다. 광량이 증가한 후 정상방전상태의 광량에 이르는 부분은 플로팅 포텐셜이 감소한 상태에서 유지되는 부분과 일치하고 이는 플로팅 포텐셜의 유지부분동안 집단전자방출이 있다는 간접적인 증거가 된다. 그리고 정상 방전 상태 일때의 광량이 되면 집단전자방출이 중단되었다는 것이므로 그 시점부터 플로팅 포텐셜은 정산 방전상태 일때의 포텐셜로 복구되기 시작한다. 이처럼 PM-tube를 이용한 아킹 광량 측정은 아킹 스트리머를 간접적으로 측정하게 하고 집단전자방출을 이용해 아킹 시의 플로팅 포텐셜의 변화를 설명하게 해 준다.

• Proceedings of the Korean Society for Agricultural Machinery Conference
• /
• 한국농업기계학회 2017년도 춘계공동학술대회
• /
• pp.169-169
• /
• 2017

스마트 돈사 내의 열환경 분석에 필수적으로 고려되어야 인자는 가축의 복사 에너지 변화로 볼 수 있다. 열환경 제어의 대상이기도 하지만 회귀적으로 열환경 변화의 인자이기도 하다. 이러한 가축의 복사 에너지 분석을 위하여 시설 내에 용이하게 배포가 가능한 열화상 계측 시스템을 개발하였다. 초소형 마이크로 열화상 계측 시스템에 부가적으로 IOT(Internet of Thing) 기반 기술을 이용한 모듈화 개발을 병행하였다. 열화상 계측 센서로 LWIR(Longwave infrared)영역에 해당하는 $8{\mu}m{\sim}4{\mu}m$의 영역에서 $0.05^{\circ}C$의 분해능을 보이는 $Lepton^{TM}$ (500-0690-00, FLIR, Goleta, CA)모델을 사용하였다. SPI(Serial Peripheral Interface) 속도 2 Mhz로 마이크로프로세서(NanoPi NEO Air, FrendlyArm, CA, USA)와 고속 통신을 수행하여 9 Hz의 계측이 가능하다. 열화상 센서와 마이컴으로 구성되는 단위 계측 시스템의 통신 기능 확장을 위하여 다음과 같이 세 단계의 정보 전달 시나리오를 설계하였다. 1) 단독적으로 열화상을 계측 하고 내장된 메모리에 저장하는 형식 2) 인접한 사용자 인터페이스에서 1번 단독 모듈에 접속하여 열화상을 실시간으로 전송하여 화면에 도시하는 형식 3) 2번 사용자 도시모듈과 병행적으로 Local WI-FI 통신을 이용한 모바일 기기에 화면을 도시하는 형식. 이와 같은 계층적이며 모듈화된 계측 시스템을 구성하기 위해서 1번 모듈에 공개 소프트웨어인 Hostapd 2.5(http://w1.fi/hostapd)버전을 설치하였다. 외부 인터넷 환경이 없는 상황에 1번 모듈 단독으로 AP(Access Point) 기능을 제공하여 지근 거리에 있는 2번 모듈과 3번 모바일 기기의 접속을 관리할 수 있다. 2번 모듈의 경우 화면 다수의 1번 모듈에 접속을 교차적으로 수행하는 방식과 2번 모듈 자체가 AP가 되어 1번 모듈의 접속을 허용하는 형태로 구성되어 있다. 계측 시스템의 계측 매트릭스 구성에 따라 선택적으로 결정할 수 있다. 1번 2번 모듈 공통적으로 TCP/IP Listener와 Client 서비스를 병렬적으로 수행할 수 있도록 개발을 하였다. 3번 모바일 기기에서 사용자 인터페이스 구현을 위하여 범용 Android 기반 GUI 프로그램과 Socket 통신을 연동시켰다. 1개의 열화상 Frame의 전송량은 9,600 Byte ($=80{\times}60{\times}2Byte$) 로 WI-FI 통신 전송 시 2회 ~ 6회 정도 내외로 가변적인 통신 수행 횟수를 나타내었다. 센서 계측 시스템과 정보 전송 시스템을 병렬적으로 구성한 모듈화 된 계측시스템의 전 요소에서 센서에서 제공하는 최대 계측 주기인 9 Hz 구현이 일반적으로 가능하였다. 이를 이용한 추후 연구를 통해 가축 객체의 열복사 정보와 돈사 내 열환경 간의 역학성을 연구할 것이다.

• Proceedings of the Materials Research Society of Korea Conference
• /
• 한국재료학회 2009년도 추계학술발표대회
• /
• pp.41.1-41.1
• /
• 2009

Aerosol Deposition (AD) is anovel way to fabricate bioactive ceramic coatings in biomedical implants and prostheses applications. In the present work, silicon-substituted hydroxyapatite (HA) coatings on commercially pure titanium were prepared by aerosol deposition using Si-HA powders. The incorporation of silicon in the HA lattice is known to improve the bioactivity of the HA, makingsilicon-substitute HA an attractive alternative to pure HA in biomedical applications. Si-HA powders with the chemical formula $Ca_{10}(PO_4)_6-x(SiO_4)x(OH)_2-x$, having silicon contents up to x=0.5 (1.4 wt%), were synthesized by solid-state reaction of $Ca_2P_2O_7$, $CaCO_3$, and $SiO_2$. The Si-HA powders were characterized by X-ray diffraction (XRD), X-ray fluorescence spectrometry (XRF), and Fourier transform infrared spectroscopy(FT-IR). The corresponding coatings were also analyzed by XRD, scanning electron microscopy (SEM), and electron probe microanalyzer (EPMA). The results revealed that a single-phase Si-HA was obtained without any secondary phases such as $\alpha$- or $\beta$-tricalcium phosphate (TCP) for both the powders and the coatings.The Si-HA coating was about $5\;{\mu}m$ thick, had a densemicrostructure with no cracks or pores. In addition, the proliferation and alkaline phosphatase (ALP) activity of MC3T3-E1 preosteoblast cells grown on the Si-HA coatings were significantly higher than those on the bare Ti and pure HA coating. These results revealed the stimulatory effects induced by siliconsubstitution on the cellular response to the HA coating.

• Journal of environmental and Sanitary engineering
• /
• 제22권2호
• /
• pp.9-20
• /
• 2007

The incineration process has commonly used for wastes amount reduction and thermal treatments of pollutants as the technologies accumulated. However, the process is getting negative public images owing to matter of hazardous pollutants emission. Specially dioxins became a main issue and were mostly emitted from municipal solid wastes incineration. In this reason, pyrolysis/gasification/melting process is presented as an alternative of incineration process. The pyrolysis/gasification/melting process, a novel technology, is middle of verification of commercial plant and development of technologies in Korea. But the survey about the pollutant emission from the process, and background data in these facilities is necessary. So in this survey, t is investigated that the behavior of chlorobenzenes and chlorophenols in plasma type pyrolysis/gasification/melting plant of pilot scale. We investigated discharging behavior of each phase of chlorobenzene through each process in the plsasma type pyrolysis/gasification/melting process. From this result, it was found that about 99 percent of particle-phase chlorobenzene was removed, but on the other hand gas-phase chlorobenzene was increased by about 600 percent through heat exchanger, flue gas cooling, system and semi dry absorption bag filter(SDA/BF). Also, this investigation presented that di-chlorobenzene(DCB) tri-chlorobenzene(TCB), tetra-chlorobenzene(TeCB), penta-chlorobenzene (PCB), except mono-chlorobenzene(MCB) and hexa-chlorobenzene(HCB) were increased through the flue gas cooling system and the semi dry absorption bag filter(SDA/BF). It was investigated that concentration of particle-phase chlorophenol was decreased by about 66 percent, but on the other hand, concentration of gas-phase chlorophenol was increased by about 170 percent through heat exchanger, flue gas cooling system, and semi dry absorption bag filter(SDA/BF). Also, it was found that di-chlorophenol(DCP), tri-chlorophenol(TCP), and penta-chlorophenol(PCP) were increased through the flue gas cooling system, and the semi dry absorption bag filter(SDA/BF). It can be considered that small-scale pilot facility and short investigation period might cause the concentration increase through the flue gas cooling system and the semi dry absorption bag filter(SDA/BF). A further study on real-scale pilot facility and accurate investigation may be required.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• 제21권7호
• /
• pp.262-269
• /
• 2020

Recently, many attempts have been made to reduce the time required for payment in various shopping environments. In addition, for the Fourth Industrial Revolution era, artificial intelligence is advancing, and Internet of Things (IoT) devices are becoming more compact and cheaper. So, by integrating these two technologies, access to building an unmanned environment to save people time has become easier. In this paper, we propose a smart shopping cart system based on low-cost IoT equipment and deep-learning object-detection technology. The proposed smart cart system consists of a camera for real-time product detection, an ultrasonic sensor that acts as a trigger, a weight sensor to determine whether a product is put into or taken out of the shopping cart, an application for smartphones that provides a user interface for a virtual shopping cart, and a deep learning server where learned product data are stored. Communication between each module is through Transmission Control Protocol/Internet Protocol, a Hypertext Transmission Protocol network, a You Only Look Once darknet library, and an object detection system used by the server to recognize products. The user can check a list of items put into the smart cart via the smartphone app, and can automatically pay for them. The smart cart system proposed in this paper can be applied to unmanned stores with high cost-effectiveness.

• Journal of Animal Science and Technology
• /
• 제44권1호
• /
• pp.55-60
• /
• 2002

Two experiments were conducted to investigate the effect of dietary supplementation of plant phytase (Phytazyme$^{(R)}$) in corn-soybean meal based diets on utilization of phytase-bound phosphorus in laying hens and evaluate nitrogen(N) digestibility and phosphorus(P) availability in breeders. In the experiment one, three levels of the Phytazyme$^{(R)}$(0.05, 0.1, and 0.2% of diet) were added to diets containing a half of control TCP level(0.96%) for 4 wks. Feed consumption, egg production rate, egg weight and eggshell quality were recorded weekly. At the end of experiment, 8 birds per treatment were sacrificed, liver weight were weighed and right tibiae were removed for determination of P content. The second experiment was conducted to evaluate the P availability and nitrogen digestibility in breeders fed same diets for 2 wks. Feed and excreta were collected to determine the P and N contents for the last three days of experiment two. Addition of Phytazyme$^{(R)}$ resulted in no effects on feed intake, egg product rate, egg weight and egg shell quality. P excretion decreased and its availability enhanced as phytase supplementation increased in diets. Dietary supplementation of Phytazyme$^{(R)}$ above 0.1% level in corn-soybean meal based diets did not have an adverse effect on production and decreased level of phosphorus in excreta.

• Journal of the Korean Crystal Growth and Crystal Technology
• /
• 제20권2호
• /
• pp.93-100
• /
• 2010

The calcium to phosphate ratio (Ca/P) in biphasic calcium phosphates powders using X-ray diffraction analysis (XRD) was characterized. The BCP powders with various stoichiometric Ca/P molar ratio were synthesized with coprecipitation process and calcination. Compositions of the powders with Ca/P molar ratio between 1.5 and 1.67 were subjected to starting Ca/P molar ratio, pH = 10, and thermal treatment up to $900^{\circ}C$. The structural, morphological and chemical characterizations for BCP powders with stoichiometric Ca/P ratio were carried out with scanning electron microscope (SEM) and inductively coupled plasma atomic emission spectroscopy (ICP-AES) and a phase quantification was investigated by XRD. The solubility of HAp, $\beta$-TCP, and BCP powders was tested in the phosphate buffer solution (PBS) at $36.5^{\circ}C$ and pH = 7.4.

• Journal of the Institute of Electronics Engineers of Korea TC
• /
• 제47권7호
• /
• pp.109-117
• /
• 2010

Building a large-scale testbed for Future Internet is very important to evaluate a new protocol and new network architecture designed by clean-slate approach. In Korea, new Future Internet testbed project, called FIRST (Future Internet Research for Sustainable Testbed), has been started since Mar. 2009 to design and test new protocols. This project is working together with ETRI and 5 universities. The FIRST@PC is to implement a virtualized hardware-accelerated PC-node by extending the functions of NetFPGA card and build a Future Internet testbed on the KOREN and KREONET for evaluating newly designed protocols and interesting applications. In this paper, we first briefly introduce FIRST@PC project and explain a 'MAC in IP Capsulator' user-space program using raw-socket in Linux to interconnect OpenFlow enabled switch sites on the KOREN and KREONET. After that, we address test results for TCP throughput performance for varying packet size. The test results show that the software based capsulator can support a reasonable bandwidth performance for most of applications.

• Journal of Mushroom
• /
• 제18권3호
• /
• pp.208-213
• /
• 2020

Burkholderia contaminans PSB-A and Burkholderia ambifaria PSB-B were isolated from button mushroom bed to estimate their phosphate solubility. The phosphate-solubilizing abilities of these strains were assessed by measuring the phosphorus content in a single and co-inoculation medium for 7 days. The co-inoculation of these two strains released the highest content of soluble phosphorus (166.3 ㎍ mL^-1) into the medium, followed by single inoculation of B. contaminans PSB-A (143.73 ㎍ mL^-1) and B. ambifaria PSB-B (127.1 ㎍ mL^-1). The highest pH reduction, organic acid production, and glucose consumption were also observed in the co-inoculation medium. According to the plant growth promotion bioassay, co-inoculation enhanced the growth of romaine lettuce much more than the single inoculation (20.4% for leaf widths and 16.6% for root lengths). Although no significant difference was noted between single and co-inoculation of bacterial strains in terms of phosphorous release and plant growth, co-inoculation of PSB may have a beneficial effect on crop growth due to a synergistic effect between the strains.