• Journal of Institute of Control, Robotics and Systems
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• v.21 no.12
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• pp.1109-1114
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• 2015

This paper presents an improved learning-based visual inspection method for auto parts inspection in severe lighting changes. Automobile sunroof frames are produced automatically by robots in most production lines. In the sunroof frame manufacturing process, there is a quality problem with some parts such as volts are missed. Instead of manual sampling inspection using some mechanical jig instruments, a learning-based machine vision system was proposed in the previous research[1]. But, in applying the actual sunroof frame production process, the inspection accuracy of the proposed vision system is much lowered because of severe illumination changes. In order to overcome this capricious environment, some selective feature vectors and cascade classifiers are used for each auto parts. And we are able to improve the inspection accuracy through the re-learning concept for the misclassified data. The effectiveness of the proposed visual inspection method is verified through sufficient experiments in a real sunroof production line.

• Proceedings of the Korean Nuclear Society Conference
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• 2005.05a
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• pp.1341-1342
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• 2005

• Proceedings of the Korean Nuclear Society Conference
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• 2005.05a
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• pp.1337-1338
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• 2005

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.3
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• pp.236-241
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• 1996

This paper presents a new eddy current testing system for inspecting tubes of steam generator in nuclear power plant. The proposed system adopted embedded expert system concept to automate tasks of the inspection such as inspection planning and flaw signal interpretation, and integrated all the tasks into a client/server type computing architecture using database management system. Therefore, human factor errors occurred during inspection could be minimized and the inspection data could be transferred in real-time. As a result, we can increase the level of inspection confidence and the productivity of a personal inspector. A prototype of the proposed system has been developed for 5 years and the test operation has been performed in domestic nuclear power plants.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.12
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• pp.1099-1104
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• 2013

This paper presents a learning-based visual inspection method that addresses the need for an improved adaptability of a visual inspection system for parts verification in panorama sunroof assembly lines. It is essential to ensure that the many parts required (bolts and nuts, etc.) are properly installed in the PLC sunroof manufacturing process. Instead of human inspectors, a visual inspection system can automatically perform parts verification tasks to assure that parts are properly installed while rejecting any that are improperly assembled. The proposed visual inspection method is able to adapt to changing inspection tasks and environmental conditions through an efficient learning process. The proposed system consists of two major modules: learning mode and test mode. The SVM (Support Vector Machine) learning algorithm is employed to implement part learning and verification. The proposed method is very robust for changing environmental conditions, and various experimental results show the effectiveness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.106-106
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• 2000

This study is to embody automatic inspection system of motor body panel by visual system. since it is inefficient to examine the adhesion condition of components with the naked eye, picture processing algorithm is presented to replace the existing manual inspection process with an automatic inspection process. The developed automatic inspection system presents the examination method of the adhesion condition of components with a ixed camera, which leads to an increase of the productivity and a reduction of manufacturing cost.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.288-288
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• 2000

Reactor vessel is one of the most important equipment with regard to the safety of nuclear power plant. Thus nuclear regulation requires its periodical examination by certified inspection experts. Conventional reactor inspection machines are obsolete, hard to handle, and very expensive. To solve these problems we developed robotic reactor vessel inspection system which are small, easy to use for inspection, cost effective, and convenient in operation. This paper describes the main features of Main Control System which is one part of robotic inspection equipment we developed.

• Nuclear Engineering and Technology
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• v.41 no.1
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• pp.125-134
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• 2009

This paper presents details on a tube inspection robotic system and a positioning method of the robot for a steam generator (SG) in nuclear power plants (NPPs). The robotic system is separated into three parts for easy handling, which reduces the radiation exposure during installation. The system has a supporting leg to increase the rigidity of the robot base. Since there are several thousands of tubes to be inspected inside a SG, it is very important to position the tool of the robot at the right tubes even if the robot base is positioned inaccurately during the installation. In order to obtain absolute accuracy of a position, the robot kinematics was mathematically modeled with the modified DH(Denavit-Hartenberg) model and calibrated on site using tube holes as calibration points. To tune the PID gains of a commercial motor driver systematically, the time delay control (TDC) based gain tuning method was adopted. To verify the performance of the robotic system, experiments on a Framatomes 51B Model type SG mockup were undertaken.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2508-2513
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• 2003

This paper presents a nuclear steam generator tube inspection/maintenance robot system. The robot assists in automatic non-destructive testing and the repair of nuclear steam generator tubes welded into a thick tube sheet that caps a hemispherical or quarter-sphere plenum which is a high-radiation area. For easy carriage and installation, the robot system consists of three separable parts: a manipulator, a water-chamber entering and leaving device for the manipulator and a manipulator base pose adjusting device. A software program to control and manage the robotic system has been developed on the NT based OS to increase the usability. The software program provides a robot installation function, a robot calibration function, a managing and arranging function for the eddy-current test, a real time 3-D graphic simulation function which offers remote reality to operators and so on. The image information acquired from the camera attached to the end-effecter is used to calibrate the end-effecter pose error and the time-delayed control algorithm is applied to calculate the optimal PID gain of the position controller. The developed robotic system has been tested in the Ulchin NPP type steam generator mockup in a laboratory.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.1
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• pp.89-93
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• 1997

This paper describes the automatic testing system developed for powder metallurgy process using the visual inspection, and its some internal algorithms. The system consists of one unit from each of the five types of units; feeding, slot, vision inspection, volumn counter, and inferior good extractor units. Some applications of the system to powder metallurgy process has shown the possibility of reducing the rework and increasing the efficiency of operation.