• International Journal of Korean Welding Society
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• 제4권1호
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• pp.30-37
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• 2004

There have been continuous efforts on automating welding processes. This automation process could be said to fall into two categories, weld seam tracking and weld quality evaluation. Recently, the attempts to achieve these two functions simultaneously are on the increase. For the study presented in this paper, a vision sensor is made, a vision system is constructed and using this, the 3 dimensional geometry of the bead is measured on-line. For the application as in welding, which is the characteristic of nonlinear process, a fuzzy controller is designed. And with this, an adaptive control system is proposed which acquires the bead height and the coordinates of the point on the bead along the horizontal fillet joint, performs seam tracking with those data, and also at the same time, controls the bead geometry to a uniform shape. A communication system, which enables the communication with the industrial robot, is designed to control the bead geometry and to track the weld seam. Experiments are made with varied offset angles from the pre-taught weld path, and they showed the adaptive system works favorable results.

• 한국레이저가공학회:학술대회논문집
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• 한국레이저가공학회 2003년도 춘계학술발표대회 논문개요집
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• pp.35-38
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• 2003

• 한국정밀공학회지
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• 제16권12호
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• pp.133-142
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• 1999

We introduce the algorithms of 2-D and 3-D position estimation using 2-D vision sensors. The sensors used in this research issue red laser slit light to the body. So, it is very convenient to obtain the coordinates of corner point or edge in sensor coordinate. Since the measured points are normally not fixed in the body coordinate, the additional conditions, that corner lines or edges are straight and fixed in the body coordinate, are used to find out the position and orientation of the body. In the case of 2-D motional body, we can find the solution analytically. But in the case of 3-D motional body, linearization technique and least mean squares method are used because of hard nonlinearity.

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

• 제어로봇시스템학회논문지
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• 제21권7호
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• pp.634-640
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• 2015

This paper proposes a novel three-dimensional mapping algorithm in Omni-Directional Vision SLAM based on a fisheye image and laser scanner data. The performance of SLAM has been improved by various estimation methods, sensors with multiple functions, or sensor fusion. Conventional 3D SLAM approaches which mainly employed RGB-D cameras to obtain depth information are not suitable for mobile robot applications because RGB-D camera system with multiple cameras have a greater size and slow processing time for the calculation of the depth information for omni-directional images. In this paper, we used a fisheye camera installed facing downwards and a two-dimensional laser scanner separate from the camera at a constant distance. We calculated fusion points from the plane coordinates of obstacles obtained by the information of the two-dimensional laser scanner and the outline of obstacles obtained by the omni-directional image sensor that can acquire surround view at the same time. The effectiveness of the proposed method is confirmed through comparison between maps obtained using the proposed algorithm and real maps.

• 센서학회지
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• 제32권5호
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• pp.320-327
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• 2023

In this study, an FPGA-based sealer inspection system was developed to inspect the sealer applied to install vehicle glass on a car body. The sealer is a liquid or paste-like material that promotes adhesion such as sealing and waterproofing for mounting and assembling vehicle parts to a car body. The system installed in the existing vehicle design parts line does not detect the sealer in the glass rotation section and takes a long time to process. This study developed a line laser camera sensor and an FPGA vision signal processing module to solve this problem. The line laser camera sensor was developed such that the resolution and speed of the camera for data acquisition could be modified according to the irradiation angle of the laser. Furthermore, it was developed considering the mountability of the entire system to prevent interference with the sealer ejection machine. In addition, a vision signal processing module was developed using the Zynq-7020 FPGA chip to improve the processing speed of the algorithm that converted the profile to the sealer shape image acquired from a 2D camera and calculated the width and height of the sealer using the converted profile. The performance of the developed sealer application inspection system was verified by establishing an experimental environment identical to that of an actual automobile production line. The experimental results confirmed the performance of the sealer application inspection at a level that satisfied the requirements of automotive field standards.

• 한국정밀공학회지
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• 제14권5호
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• pp.34-41
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• 1997

The dimension measurement problem of products has been a major concern in the quality control in the industrial fields. A non-contacting measurement system using the vision sensor is proposed in this paper. The system consists of a CCD camera for the image capture, a frame grabber for the acquired image processing, a laser unit for the illumination, scanning unit for the measurement, and a personal computer for the geometry computation. The slit beam which is generated by passing the laser beam through a cylin- drical lens is fired to the axial-symmetric object on the rotating plate. The image of objects reflected by the laser slit beam, acquired by the CCD camera, becomes much brighter than the other parts of objects. After the histogram of brightness for the captured image is calculated, low intensity pixels are filtered out by threshold method. The performance of proposed measurement system is obtained for several different axial symmetric objects. The proposed system is verified as a good tool for measuring axial-symmetric parts in a limited condition with a minor investment cost.

• Journal of Welding and Joining
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• 제17권3호
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• pp.71-78
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• 1999

The welded metal bellows is commonly manufactured by welding pairs of washer-shaped discs of thin sheet metal stamped from strip stock in thickness from 0.025 to 0.254 mm. The discs, or diaphragms, are formed with mating circumferential corrugations. In this study, the diaphragms were welded by using a CW Nd: YAG laser to form metal bellows. The bellows was fixed on a jig and compressed axially, while Cu-rings were installed between belows edges for intimate contact of edges. The difference between the inner diameter of bellows and jig shaft causes an eccentricity, while the tolerance between motor shaft and jig shaft causes a wobble type motion. A vision sensor which is based on the optical triangulation was used for seam tracking. An image processing algorithm which can distinguish the image by bellows edge from that by Cu-ring was developed. The geometric relationship which describes the eccentricity and wobble type motion was modeled. The seam tracking using the image processing algorithm and the geometric modeling was performed successfully.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2005년도 창립60주년 기념 추계 학술대회
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• pp.198.2-198.2
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• 2005

• 한국레이저가공학회:학술대회논문집
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• 한국레이저가공학회 2000년도 춘계학술발표대회 논문개요집
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• pp.39-42
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• 2000