• Journal of Institute of Control, Robotics and Systems
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• v.7 no.8
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• pp.656-663
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• 2001

This paper presents a sensor fusion method to recognize a cylindrical object a CCD camera, a laser slit beam and ultrasonic sensors on a pan/tilt device. For object recognition with a vision sensor, an active light source projects a stripe pattern of light on the object surface. The 2D image data are transformed into 3D data using the geometry between the camera and the laser slit beam. The ultrasonic sensor uses an ultrasonic transducer array mounted in horizontal direction on the pan/tilt device. The time of flight is estimated by finding the maximum correlation between the received ultrasonic pulse and a set of stored templates - also called a matched filter. The distance of flight is calculated by simply multiplying the time of flight by the speed of sound and the maximum amplitude of the filtered signal is used to determine the face angle to the object. To determine the position and the radius of cylindrical objects, we use a statistical sensor fusion. Experimental results show that the fused data increase the reliability for the object recognition.

• Fibers and Polymers
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• v.6 no.1
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• pp.66-71
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• 2005

The surface evenness and texture are closely related with the irregularity of yam thickness. Besides, yam thickness variation has an important role to influence the yam performance and the textile process efficiency. Thus, the information not only on the yam thickness, but also on the short- term irregular characteristics that have not been known before is required for enhancing the qualities of textile products. This paper reports the results of a study about the yam thickness and its variation for various types of yam on the basis of a new measurement system applying a laser slit beam as a light source. The new method delivers effective information on the irregularity. The analysis of the measured signal confirms that the visual shade created by the yam doubling and twisting can be measured and the yam thickness characteristics can be represented by corre­lograms. Depending on yam types, correlograms have different shapes and can be approximated to an exponentially decaying function with or without fluctuating magnitude. In addition, the effective information on the yam irregularity can be influ­enced by the sampling length interval of the measuring device used for tests.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.287-292
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• 2002

This paper presents a reverse engineering method for compound surfaces using vision system. A CNC machining center is used as a measuring station, which is equipped with slit beam generator and vision probe. Since obtained data using slit beam or laser scanner may have much data loss along the edge of compound surfaces, an algorithm is presented in this study to recover missing geometric data at such region. First, b-spline interpolation is applied to extract edge information of the surface, and as a next step, b-spline approximation is applied to recover the missing geometric data. Finally, b-spline skinning method is applied to regenerate the surface information. Appropriate simulation and experimental works are preformed to very the effectiveness of the proposed methods.

• Current Optics and Photonics
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• v.2 no.2
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• pp.147-152
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• 2018

We propose a novel bi-focal metallic Fresnel zone plate (MFZP) with shallow depth-of-field (DOF) characteristics. We design the specific annular slit patterns, exploiting the phase-selection-rule method along with the particle swarm optimization algorithm, which we have recently proposed. We numerically investigate the novel characteristics of the bi-focal MFZP in comparison with those of another bi-focal MFZP having equivalent functionality but designed by the conventional multi-zone method. We verify that whilst both bi-focal MFZPs can produce dual focal spots at $15{\mu}m$ and $25{\mu}m$ away from the MFZP plane, the former exhibits characteristics superior to those of the latter from the viewpoint of axial resolution, including the axial side lobe suppression and axial DOF shallowness. We expect the proposed bi-focal MFZP can readily be fabricated with electron-beam evaporation and focused-ion-beam processes and further be exploited for various applications, such as laser micro-machining, optical trapping, biochemical sensing, confocal sensing, etc.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.93-96
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• 1996

Structured laser light is a widely used method for obtaining 3D range information in Machine Vision. However, The structured laser light method is based on assumption that the surface of objects is Lambertian. When the observed surfaces are highly specularly reflective, the laser light can be detected in various parts on the image due to a specular reflection and secondary reflection. This makes wrong range data and the image sensor unusable for the specular objects. To discriminate wrong range data from obtained image data, we have proposed a new algorithm by using the cross section of image block. To show the performance of the proposed method, a series of experiments was, carried out on: the simple geometric shaped objects. The proposed method shows a dramatic improvement of 3D range data better than the typical structured laser light method.

• Journal of the Korean Society for Nondestructive Testing
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• v.32 no.1
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• pp.20-26
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• 2012

The objective of this study is to assess plastic deformation in aluminium alloy by acoustic nonlinearity of laser-generated surface waves. A line-arrayed laser beam made by high-power pulsed laser and mask slits is utilized to generate the narrowband surface wave and the frequency characteristics of laser-generated surface waves are controlled by varying the slit opening width and slit interval of mask slits. Various degrees of tensile deformation were induced by interrupting the tensile tests so as to obtain aluminum specimens with different degrees of plastic deformation. The experimental results show that the acoustic nonlinear parameter of a laser-generated surface wave increased with the level of tensile deformation and it has a good correlation with the results of micro-Vickers hardness test and electron backscatter diffraction (EBSD) test. Consequently, acoustic nonlinearity of laser-generated surface wave could be potential to characterize plastic deformation of aluminum alloy.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1573-1576
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• 2003

The quality of bundles is closely related with the apparent thickness. Especially the variation of apparent thickness of bundle determines the qualify of the plane structure made or the bundle such as surface evenness, pore size, and the shape of air-gap, etc.,. This study is dealing with the development of a new measuring system of the thickness of bundle or cross-section by determining the size of the shadow of the object covered by a laser slit beam. Also the measured signal is characterized in terms of the correlogram, the irregularity in wavelength. The correlogram for the irregularity of several sample types could be represented by a sinusoidal function with exponentially decaying amplitude. Moreover, influence of the measuring speed on the signal and the characteristic differences according to the different types of bundle are investigated.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.5
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• pp.568-576
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• 1999

Using a laser sheet beam projector combined with a CCD-Camera, an efficient technique to recognize complex surface of curvature and lane has been demonstrated for the purpose of mobile robot navigation. In general, obstacles of indoor environments in the field of SLIT-RAY plane are captured as segments of an elliptical arc and a line in the camera image. The robot has been capable of moving along around the obstacle in front of it, by recognizing the original shape of each segment with the differential coefficient by means of least squares method. In this technique, the imaged pixels of each segment, particularly elliptical arc, have been converted into a corresponding circular arc in the real-world coordinates so as to make more feasible the image processing for the position and radius measurement than conventional way based on direct elliptical are analyses. Advantages over direct elliptical cases include 1) higher measurement accuracy and shorter processing time because the circular arc process can reduce the shape-specifying parameters, 2) no complicated factor such as the tilt of elliptical arc axis in the image plane, which produces the capability to find column position and radiua regardless of the camera location . These are essentially required for a mobile robot application. This technique yields an accuracy less than 2cm for a 28.5cm radius column located in the range of 70-250cm distance from the robot. The accuracy obtained in this study is sufficient enough to navigate a cleaning robot which operates in indoor environments.

• Current Applied Physics
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• v.18 no.11
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• pp.1381-1387
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• 2018

One dimensional (1D) grating has been fabricated (using focused ion beam) on 50 nm gold (Au) film deposited on higher refractive index Gallium phosphate (GaP) substrate. The sub-wavelength periodic metal nano structuring enable to couple photon to couple with the surface plasmons (SPs) excited by them. These grating devices provide the efficient control on the SPs which propagate on the interface of noble metal and dielectric whose frequency is dependent on the bulk electron plasma frequency of the metal. For a fixed periodicity (${\Lambda}=700 nm$) and slit width (w = 100 nm) in the grating device, the efficiency of SPP excitation is about 40% compared to the transmission in the near-field. Efficient coupling of SPs with photon in dielectric provide field localisation on sub-wavelength scale which is needed in Heat Assisted Magnetic recording (HAMR) systems. The GaP is also used to emulate Vertical Cavity Surface emitting laser (VCSEL) in order to provide cheaper alternative of light source being used in HAMR technology. In order to understand the underlying physics, far-and near-field results has been compared with the modelling results which are obtained using COMSOL RF module. Apart from this, grating devices of smaller periodicity (${\Lambda}=280nm$) and slit width (w = 22 nm) has been fabricated on GaP substrate which is photoluminescence material to observe amplified spontaneous emission of the SPs at wavelength of 805 nm when the grating device was excited with 532 nm laser light. This observation is unique and can have direct application in light emitting diodes (LEDs).

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1995.04a
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• pp.306-315
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• 1995

This paper presents a bin picking method using a slit beam laser in which a robot recognizes all of the unoccluded objects from the top of jumbled objects, and picks them up one by one. Once those unoccluded objects are removed, newly developed unoccluded objects underneath are recognized and the same process is continued until the bin gets empty. To recognize unoccluded objects, a new algorithm to link edges on slices which are generated by the orthogonally mounted laser on the xy table is proposed. The edges on slices are partitioned and classified using convex and concave function with a distance parameter. The edge types on the neighborhood slices are compared, then the hamming distances among identical kinds of edges are extracted as the features of fuzzy membership function. The sugeno fuzzy integration about features is used to determine linked edges. Finally, the pick-up sequence based on MaxMin theory is determined to cause minimal disturbance to the pile. This proposed method may provide a solution to the automation of part handling in manufacturing environments such as in punch press operation or part assembly.