• Journal of Welding and Joining
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• v.19 no.6
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• pp.600-607
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• 2001

A CCD camera with a laser stripe was applied to realize the automatic weld seam tracking in GMAW. It takes relatively long time to process image on-line control using the basic Hough transformation, but it has a tendency of robustness over the noises such as spatter and arc light. For this reason. it was complemented with adaptive Hough transformation to have an on-line processing ability for scanning specific weld points. The adaptive Hough transformation was used to extract laser stripes and to obtain specific weld points. The 3-dimensional information obtained from the vision system made it possible to generate the weld torch path and to obtain the information such as width and depth of weld line. We controled the wire feeding rate using informations of weld line.

• Journal of the Korean Institute of Telematics and Electronics A
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• v.32A no.12
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• pp.91-100
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• 1995

This paper represents the lateral first-order mode characteristics for the semiconductor laser diodes using a two-dimensional numerical simulator. In order to analyze the lateral first-order mode characteristics, Helmholtz wave equation is solved twice for the lateral fundamental and the first-order mode considering the mode gain, total losses, and the recombination rate due to the stimulated emission radiation for the each mode independantly. Through this procedure, we find that the lateral first-order mode was easily guided as increasing the stripe width for the index-guiding structures, and that the lateral first-order mode seems to be dominated in the distribution of total light intensity when its output power reaches nearly half of that of the lateral fundamental mode. This results may be used to design the device structure which guides only the lateral fundamental mode.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.558-561
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• 2002

A CCD camera with a laser strip was applied to realize the automation of welding Process in GMAW. It takes relatively long time to process image on-line control using the basic Hough transformation, but it has a tendency of robustness over the noise such spatter and arc light. The adaptive Hough transformation was used to extract the laser stripe and to obtain specific weld points In this study, a neural network based on the generalized delta rule algorithm was adapted for the process control of GMA, such as welding speed, arc voltage and wire feeding speed.

• Proceedings of the Materials Research Society of Korea Conference
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• 2003.11a
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• pp.20-20
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• 2003

We developed 30 ㎽-AlInGaN based violet laser diodes. The fabrication procedures of the laser diodes are described as follows. Firstly, GaN layers having very low defect density were grown on sapphire substrates by lateral epitaxial overgrowth method. The typical dislocation density was about 1-3$\times$10$^{6}$ /$\textrm{cm}^2$ at the wing region. Secondly, AlInGaN laser structures were grown on LEO-GaN/sapphire substrates by MOCVD. UV activation method, instead of conventional annealing, was conducted to achieve good p-type conduction. Thirdly, ridge stripe laser structures were fabricated. The cavity mirrors were formed by cleaving method. Three pairs of SiO$_2$ and TiO$_2$ layers were deposited on the rear facet for mirror coating. Lastly, laser diode chips were mounted on AlN submount wafers by epi-down bonding method. The lifetime of the laser diodes was over 10,000 hrs at room temperature under automatic power controlled condition. We expect the performance of the LDs to be improved by the optimization of the growth and fabrication process. The detailed characteristics and important issues of the laser diodes will be discussed at the conference.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2006.06a
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• pp.477-478
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• 2006

Characteristics of InAs/GaAs quantum dot (QD) ridge laser diodes (LDs) are investigated for high-power $1.3\;{\mu}m$ applications. For QD ridge LDs with a $5-{\mu}m$-wide stripe and a 1-mm-long cavity, the emission wavelength of 1284.1 nm, the single-uncoated-facet CW output power as high as 90 mW, the external efficiency of 0.31 W/A and the threshold current density of $800\;mA/cm^2$ are obtained. The linewidth enhancement factor ($\alpha$-factor) is successfully measured to be between 0.4 and 0.6, which are about four times as small values with respect to conventional quantum well structure. It is possible that this result significantly reduce the filamentation of far-field profiles resulting in better beam quality for high power operation.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.9
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• pp.776-787
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• 2002

Automation of welding process in shipyards is ultimately necessary, since the welding site is spatially enclosed by floors and girders, and therefore welding operators are exposed to hostile working conditions. To solve this problem, a welding mobile robot that can navigate autonomously within the enclosure has been developed. To achieve the welding task in the closed space, the robotic welding system needs a sensor system for the working environment recognition and the weld seam tracking, and a specially designed environment recognition strategy. In this paper, a three-dimensional laser vision system is developed based on the optical triangulation technology in order to provide robots with 3D work environmental map. Using this sensor system, a spatial filter based on neural network technology is designed for extracting the center of laser stripe, and evaluated in various situations. An environment modeling algorithm structure is proposed and tested, which is composed of the laser scanning module for 3D voxel modeling and the plane reconstruction module for mobile robot localization. Finally, an environmental recognition strategy for welding mobile robot is developed in order to recognize the work environments efficiently. The design of the sensor system, the algorithm for sensing the partially structured environment with plane segments, and the recognition strategy and tactics for sensing the work environment are described and discussed with a series of experiments in detail.

• Applied Science and Convergence Technology
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• v.26 no.4
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• pp.79-85
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• 2017

The crack-free AlGaN template has been successfully grown by using selective area growth with triangular GaN facet. The triangular GaN stripe structure was obtained by vertical growth rate enhanced mode with low growth temperature of $950^{\circ}C$ and high growth pressure of 500 torr. The lateral growth rate enhanced mode of AlGaN for crack-free and flat surface was also investigated. Low pressure of 30 torr and high V/III ratio of 4400 were favorable for lateral growth of AlGaN. It was confirmed that the $4{\mu}m$ -thick $Al_{0.2}Ga_{0.8}N$ was crack-free over entire 2-inch wafer. The dislocation density of $Al_{0.2}Ga_{0.8}N$ was as low as ${\sim}7.6{\times}10^8/cm^2$ measured by cathodoluminescence. Based on the high quality AlGaN with low dislocation density, the ultraviolet laser diode epitaxy with cladding, waveguide and GaN/AlGaN multiple quantum well (MQW) was grown by metalorganic chemical vapor deposition. The stimulated emission at 349 nm with full width at half maximum of 1.8 nm from the MQW was observed through optical pumping experiment with 193 nm KrF laser. We also have fabricated the deep ridge type ultraviolet laser diode (UV-LD) with $5{\mu}m-wide$ and $700{\mu}m-long$ cavity for electrical properties. The turn on voltage was below 5 V and the resistance was ${\sim}55{\Omega}$ at applied voltage of 10 V. The amplified spontaneous emission spectrum of UV-LD was also observed from pulsed current injection.

• 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.

• 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 $\pm15^{\circ}$.

• International Journal of Korean Welding Society
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• v.1 no.2
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• pp.23-29
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• 2001

In this study, a preview-sensing visual sensor system is constructed far weld seam tracking in GMA welding. The visual sensor system 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. Among the image processing methods, Hough transform method is compared with the central difference method from a viewpoint of the capability for extracting the accurate feature position. As a result, it was revealed that Hough transform method can more accurately extract the feature positions and it can be applied to real time weld seam tracking. Image processing which includes Hough transform method is carried out to extract straight lines that express laser stripe. After extracting the lines, weld joint position and edge points are determined by intersecting the lines. Even though the image includes a spatter trace on it, 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 $\pm$ $15^{\circ}$.