• 한국통신학회논문지
• /
• 제34권3C호
• /
• pp.329-340
• /
• 2009

본 논문에서는 이진천이반송파 (binary offset carrier, BOC) 변조된 확산신호의 부호동기추적에 적합한 기법을 제안한다. 이진천이반송파 변조된 확산신호의 상관함수는 정확한 상관옵셋에서 나타나는 주첨두와 여러 부첨두를 갖고 있다. 다중 경로 채널환경에서 가시신호에 비해 다중경로신호는 항상 지연되어 수신되기 때문에 여러 부침두 가운데 정확한 상관옵셋보다 이른 상관옵셋 영역에 있는 상관함수는 늦은 상관옵셋영역에 있는 상관함수에 비해 덜 왜곡된다. 본 논문에서는 이 특징을 활용해 BOC(n,n) 변조된 확산신호의 부호추적에 적합한 이른영역상관(advanced region correlation, ARC) 기법을 제안한다. 그리고 모의실험을 통해 안정된 다중경로 (static multipath) 채널과 지상이동체위성시스템 (land mobile satellite system) 채널에서 기존과 제안한 기법의 부호동기 추적성능을 비교한다. 또한 BOC(pn,n) 변조된 확산신호에 적합한 이른영역상관 기법의 확장 형태인 일반화된 이른영역상관기법 (generalized-ARC, G-ARC) 제안하고, 모의실험을 통해 그 성능을 보인다.

• Journal of Welding and Joining
• /
• 제13권1호
• /
• pp.156-166
• /
• 1995

Experimental models which are able to determine the deviation between weld line and weaving center by measuring the weld current during welding were proposed for the gas metal arc welding process. The models were used for developing a weld seam tracking system which controls the weaving speed of a welding torch. However, it was revealed that the tracking result of the system is affected by the welding conditions. Thus an arc sensor system was developed by using fuzzy control approach for overcoming the difficulty of modelling the nonlinear process. The rule base and parameters of the fuzzy control system were determined on the basis of the results of experiments. This fuzzy control system has shown the successful tracking capability for the wide operating range of welding conditions.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
• /
• pp.270-275
• /
• 1993

In this paper, the arc welding robot controller using a touch sensor and a arc sensor is presented. The controller is composed of robot controller parts for moving torch, and arc welding controller for welding and tracking. In the controller, an compensated data is generated to control robot trajectory and seam tracking by the arc sensor function. The data is obtained by integration of arc current. Experimental results are presented confirming the controller performance.

• 한국공작기계학회논문집
• /
• 제16권1호
• /
• pp.9-18
• /
• 2007

There have been continuous efforts for automation of joint tracking system. This automation process is mainly used to do in root pass of gas metal arc welding in the field of heavy industry and shipbuilding etc. For automation, it is important using of vision sensor. Welding robot with vision sensor is used for weld seam tracking on welding fabrication. Recently, it is used to on post-weld inspection for weld quality evaluation. For real time seam tracking, it is very important role in vision process technique. Vision process is included in filtering and thinning, segmentation processing, feature extraction and recognition. In this paper, it has shown performance comparison results of seam tracking for real time root pass on gas metal arc welding. It can be concluded better segment splitting method than iterative averaging technique in the performance results of seam tracking.

• 한국공작기계학회논문집
• /
• 제13권5호
• /
• pp.110-117
• /
• 2004

In automatic welding process using a robot, seam tracking is one of the important parts. Sensor for seam tracking is divided broadly into two categories as non contact sensor and contact sensor. The arc sensor is one of the non contact sensors, and it can be applied in weaving arc and rotating arc welding process. In such the arc sensors, rotating arc sensor can be applied to high speed welding over tens of Hz. The decrease of self regulation by high rotating speed causes to improve accuracy and response of sensor. In this study, fuzzy controller was used to track the seam for the $CO_2$ arc welding which had unstable arc. It could be shown that the rotating arc sensor was better than the weaving arc sensor.

• 한국화재조사학회지
• /
• 제10권1호
• /
• pp.37-45
• /
• 2007

트래킹은 대표적인 전기적인 발화원으로서 화재현장의 조사과정에서 차단기 등에서 트래킹이 식별되는 경우, 트래킹을 발화원인으로 추정한 상태에서 화재조사가 진행되고 있는 것이 실정이며, 이 때문에 방화 또는 실화 등에 의하여 화재가 발생했음에도 불구하고 발화원인이 트래킹 즉, 전기화재로 오인되는 경우가 있다. 따라서 화재현장에서 식별되는 트래킹이 화재 원인으로서 단정할 수 있는 전기적인 특이점인지의 여부를 검증하기 위하여 트래킹이 화재현장의 분위기에서 연소로 인하여 단기간 내에 발생할 개연성을 입증하기 위한 실험을 행하였다. 화재현장의 분위기를 모의하기 위하여 차단기 자체를 직접 연소시키는 연소실험과 화재분위기에서 차단기를 2차적으로 연소시키는 화재재현 실험을 행하였으며, 차단기의 제조사 및 연소상황에 따라 트래킹의 발생시기 및 위치 등에 차이가 있었으나, 모든 차단기의 전원측 부분에서 트래킹이 발생하였다. 실험결과, 차단기에서 연소만으로도 단기간 내에 트래킹이 발생할 수 있다는 사실이 입증되었으며, 화재현장의 화재원인 조사과정 중에 차단기에서 트래킹 형태가 식별되는 점만으로는 발화여부 또는 발화원인에 대하여 논단할 수 없다는 결론을 도출하였다.

• International Journal of Korean Welding Society
• /
• 제2권2호
• /
• pp.51-56
• /
• 2002

The weld seam tracking system for arc welding process uses various kinds of sensors such as arc sensor, vision sensor, laser displacement sensor and so on. Among the variety of sensors available, electro-magnetic sensor is one of the most useful methods especially in sheet metal butt-joint arc welding, primarily because it is hardly affected by the intense arc light and fume generated during the welding process, and also by the surface condition of weldments. In this study, a dual-electromagnetic sensor, which utilizes the induced current variation in the sensing coil due to the eddy current variation of the metal near the sensor, was developed for arc welding of sheet metal I-butt joints. The dual-electromagnetic sensor thus detects the offset displacement of weld line from the center of sensor head even though there's no clearance in the joint. A set of design variables of the sensor was determined far the maximum sensing capability through the repeated experiments. Seam tracking is performed by correcting the position of sensor to the amount of offset displacement every sampling period. From the experimental results, the developed sensor showed the excellent capability of weld seam detection when the sensor to workpiece distance is near less than 5 ㎜, and it was revealed that the system has excellent seam tracking ability for the I-butt joint of sheet metal.

• Journal of Welding and Joining
• /
• 제8권3호
• /
• pp.70-78
• /
• 1990

The harsh nature of welding environments makes welding a prime candidate for process automation. Among the variety of welding processes available, gas metal arc welding is one of the most frequently used methods, primarily because it is highly suited to a wide range of applications, and also to automation. Automatic seam tracking method is one of the most demanded techniques for automatic control of arc welding. In this study a seam tracking system has been developed by using the welding arc itself as a sensor. This paper described the principle and experimental result of the arc sensor system, as well as the development and application of the automatic CO_2$ welding for the horizontal fillet welding. A basic problem in horizontal fillet welding is the prevention of hanging bead formation such as undercut at the vertical plate and overlap at the horizontal plate. To produce the symmetric bead shape, the relationship of bead shape to welding parameters(welding velocity, weaving width, weaving speed, tip to workpiece distance) was also investigated.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2003년도 추계학술대회
• /
• pp.1506-1511
• /
• 2003

This paper describes an automatic weld seam tracking method of plasma arc welding system designed for the corrugation panel that consists of a linear section and a curved section with various curvatures. Due to the complexity of the panel shape, it is difficult to find a seam and operate a torch manually in the welding process. So, the laser vision sensor for seam tracking is designed for sensing the seam position and controlling a torch automatically. To achieve precise seam tracking, the design of sensor head, image simulation, and calibration are carried out. Through a series of experiment result, compensation algorithm is added and real time error compensation is achieved. The experiment result shows that this vision sensor works effectively. It will provide more precise welding performance and convenience to the operator.

• Journal of Welding and Joining
• /
• 제18권4호
• /
• pp.70-75
• /
• 2000

The weld seam tracking system for arc welding process uses various kinds of sensors such as arc sensor, vision sensor, laser displacement and so on. Among the variety of sensors available, electro-magnetic sensor is one of the most useful methods especially in sheet metal butt-joint arc welding, primarily because it is hardly affected by the intense arc light and fume generated during the welding process, and also by the surface condition of weldments. In this study, a dual-electromagnetic sensor, which utilizes the induced current variation in the sensing coil due to the eddy current variation of the metal near the sensor, was developed for arc welding of sheet metal butt-joints. The dual-electromagnetic sensor thus detects the offset displacement of weld line from the center of sensor head even though there's no clearance in the joint. A set of design variables of the sensor were determined for the maximum sensing capability through the repeated experiments. Seam tracking is performed by correcting the position of sensor to the amount of offset displacement every sampling period. From the experimental results, the developed sensor showed the excellent capability of weld seam detection when the sensor to workpiece distance is near less than 5 mm, and it was revealed that the system has excellent seam tracking ability for the butt-joint of sheet metal.