• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1934-1935
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• 2011

In order for a service robot to perform several tasks, basically autonomous navigation technique such as localization, mapping, and path planning is required. The localization (estimation robot's pose) is fundamental ability for service robot to navigate autonomously. In this paper, we propose a new system for point pattern matching based visual global localization using spot lightings in ceiling. The proposed algorithm us suitable for system that demands high accuracy and fast update rate such a guide robot in the exhibition. A single camera looking upward direction (called ceiling vision system) is mounted on the head of the mobile robot and image features such as lightings are detected and tracked through the image sequence. For detecting more spot lightings, we choose wide FOV lens, and inevitably there is serious image distortion. But by applying correction calculation only for the position of spot lightings not whole image pixels, we can decrease the processing time. And then using point pattern matching and least square estimation, finally we can get the precise position and orientation of the mobile robot. Experimental results demonstrate the accuracy and update rate of the proposed algorithm in real environments.

• Journal of Welding and Joining
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• v.18 no.3
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• pp.60-67
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• 2000

In this study, we constructed a preview-sensing visual sensor system for weld seam tracking in GMA welding. The visual sensor consists of a CCD camera, a diode laser system with a cylindrical lens and a band-pass-filter to overcome the degrading of image due to spatters and/or arc light. To obtain weld joint position and edge points accurately from the captured image, we compared Hough transform method with central difference method. As a result, we present Hough transform method can more accurately extract the points and it can be applied to real time weld seam tracking. Image processing is carried out to extract straight lines that express laser stripe. After extracting the lines, weld joint position and edge points is determined by intersecting points of the lines. Although a spatter trace is in the image, it is possible to recognize the position of weld joint. Weld seam tracking was precisely implemented with adopting Hough transform method, and it is possible to track the weld seam in the case of offset angle is in the region of $\pm15^{\circ}$.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.643-646
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• 2000

In this study, we constructed a preview-sensing visual sensor system for weld seam tracking in real time in GMA welding. A sensor part consists of a CCD camera, a band-pass filter, a diode laser system with a cylindrical lens, and a vision board for inter frame process. We used a commercialized robot system which includes a GMA welding machine. To extract the weld seam we used a inter frame process in vision board from that we could remove the noise due to the spatters and fume in the image. Since the image was very reasonable by using the inter frame process, we could use the simplest way to extract the weld seam from the image, such as first differential and central difference method. Also we used a moving average method to the successive position data of weld seam for reducing the data fluctuation. In experiment the developed robot system with visual sensor could be able to track a most popular weld seam, such as a fillet-joint, a V-groove, and a lap-joint of which weld seam include planar and height directional variation.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.4 no.2
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• pp.31-36
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• 2005

Machining technique for optical crystals with single point diamond turning tool is reported in this paper. The main factors influencing the machined surface quality are studied and regularities of machining process are drawn. Optical crystals have been known to more and more important applications in the field of modern optics. Ge is more brittle material of poor machinability. The traditional machining method is polishing which has many shortcomings such as low production efficiency, poor ability to be automatically controlled and edge effect of the workpiece. The purpose of our research is to find the optimum machining conditions for ductile cutting of Ge and apply the SPDTM technique to the manufacturing of ultra precision optical components of Ge. As a result, the surface roughness is the best when cutting speed is 180m/min, feed rate is 2mm/min, depth of cut is $0.5{\mu}m$ and nose radius of tool is 0.8mm.

• KIEAE Journal
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• v.9 no.2
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• pp.81-90
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• 2009

Relating to grasping sequential landscape characteristics in consideration of the behavioral characteristics of the subject experiencing visual perception, this study was made on the subject of main walking line section for visitors of three treasures of Buddhist temples. Especially, as a method of obtaining data for grasping sequential visual perception landscape, the researcher employed [momentum sequential viewpoint setup] according to [the interval of pointers arbitrarily] and fisheye-lens-camera photography using the obtained omni-directional angle visual perception information. As a result, in terms of viewpoint selection, factors like approach road form, change in circulation axis, change in the ground surface level, appearance of objects, etc. were verified to make effect, and among these, approach road form and circulation axis change turned out to be the greatest influences. In addition, as a result of reviewing the effectiveness via the subjects, for the sake of qualitative evaluation of landscape components using the VR picture image obtained in the process of acquiring omni-directional angle visual perception information, a positive result over certain values was earned in terms of panoramic vision, scene reproduction, three-dimensional perspective, etc. This convinces us of the possibility to activate the qualitative evaluation of omni-directional angle picture information and the study of landscape through it henceforth.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.9
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• pp.179-185
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• 2001

In this study, a visual sensor system for weld seam tracking the I-butt weld joints in GMA welding was constructed. The sensor system consists of a CCD camera, a diode laser with a cylindrical lens and a band-pass-filter to overcome the degrading of image due to spatters and arc light. In order to obtain the enhanced image, quantitative relationship between laser intensity and iris number was investigated. Throughout the repeated experiments, the shutter speed was set at 1-milisecond for minimizing the effect of spatters on the image, and therefore most of the spatter trace in the image have been found to be reduced. Region of interest was defined from the entire image and gray level of searched laser line was compared to that of weld line. The differences between these gray levels lead to spot the position of weld joint using central difference method. The results showed that, as long as weld line was within $^\pm$15$^\circ$from the longitudinal straight fine, the system constructed in this study could track the weld line successful1y. Since the processing time reduced to 0.05 sec, it is expected that the developed method could be adopted to high speed welding such as laser welding.

• Journal of Mechanical Science and Technology
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• v.19 no.10
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• pp.1856-1863
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• 2005

In this study, a visual sensor system for weld seam tracking the I-butt weld joints in GMA welding was constructed. The sensor system consists of a CCD camera, a diode laser with a cylindrical lens and a band-pass-filter to overcome the degrading of image due to spatters and arc light. In order to obtain the enhanced image, quantitative relationship between laser intensity and iris opening was investigated. Throughout the repeated experiments, the shutter speed was set at 1/1000 second for minimizing the effect of spatters on the image, and therefore the image without the spatter traces could be obtained. Region of interest was defined from the entire image and gray level of the searched laser stripe was compared to that of weld line. The differences between these gray levels lead to spot the position of weld joint using central difference method. The results showed that, as long as weld line is within $\pm15^{o}$ from the longitudinal straight line, the system constructed in this study could track the weld line successfully. Since the processing time is no longer than 0.05 sec, it is expected that the developed method could be adopted to high speed welding such as laser welding.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2003.10a
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• pp.645-648
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• 2003

This paper presents an active vision system for on-line traffic sign recognition. The system is composed of two cameras, one is equipped with a wide-angle lens and the other with a telephoto lends, and a PC with an image processing board. The system first detects candidates for traffic signs in the wide-angle image using color, intensity, and shape information. For each candidate, the telephoto-camera is directed to its predicted position to capture the candidate in a large size in the image. The recognition algorithm is designed by intensively using built in functions of an off-the-shelf mage processing board to realize both easy implementation and fast recognition. The results of on-road experiments show the feasibility of the system.

• Journal of information and communication convergence engineering
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• v.13 no.4
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• pp.275-279
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• 2015

There are several methods to record three dimensional (3D) information of objects such as lens array based integral imaging, synthetic aperture integral imaging (SAII), computer synthesized integral imaging (CSII), axially distributed image sensing (ADS), and axially distributed stereo image sensing (ADSS). ADSS method is capable of recording partially occluded 3D objects and reconstructing high-resolution slice plane images. In this paper, we present a computational method for depth extraction of partially occluded 3D objects using ADSS. In the proposed method, the high resolution elemental stereo image pairs are recorded by simply moving the stereo camera along the optical axis and the recorded elemental image pairs are used to reconstruct 3D slice images using the computational reconstruction algorithm. To extract depth information of partially occluded 3D object, we utilize the edge enhancement and simple block matching algorithm between two reconstructed slice image pair. To demonstrate the proposed method, we carry out the preliminary experiments and the results are presented.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.12
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• pp.22-27
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• 2010

The usage of ultra-precision machining is increasing by the manufacturing of precision optical elements such as camera lens, laser printer, CD player, DVD and microscope parts etc.. The WC alloy material is in wide use by mold core to improve the productivity and accuracy in manufacturing those precision parts. The WC alloy mould core can be machined effectively by the parallel grinding process which is an excellent technique for manufacturing of surface profile hard to machining materials such as the hardened metal alloy, Ceramics, Glass and so on. Magnetic assisted polishing as a final polishing process has also been utilized to obtain ultra-precision mirror surface with the elimination of traces presented on ground surface. It is able to deduce the optimal ultra-precision machining conditions of the WC alloy material from the experiment and analyses results.