• International Journal of Control, Automation, and Systems
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• 제6권5호
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• pp.740-745
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• 2008

This paper presents a new non-contact 3D robotic inspection system to measure the precise positions of screw and punch holes on a car body frame. The newly developed sensor consists of a CCD camera, two laser line generators and LED light. This lightweight sensor can be mounted on an industrial robot hand. An inspection algorithm and system that work with this sensor is presented. In performance evaluation tests, the measurement accuracy of this inspection system was about 200 ${\mu}m$, which is a sufficient accuracy in the automotive industry.

• 한국IT서비스학회지
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• 제8권2호
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• pp.147-156
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• 2009

As the result of the rapid development of IT technology, an on-line diagnostic system using the field bus communication network coupled with a smart sensor module will be widely used at the nuclear power plant in the near future. The smart sensor system is very useful for the prompt understanding of abnormal state of the key equipments installed in the nuclear power plant. In this paper, it is assumed that a smart sensor system based on the fieldbus communication network for the surveillance and diagnostics of safety-critical equipments will be installed in the harsh-environment of the nuclear power plant. It means that the key components of fieldbus communication system including microprocessor, FPGA, and ASIC devices, are to be installed in the RPV (reactor pressure vessel) and the RCS (reactor coolant system) area, which is the area of a high dose-rate gamma irradiation fields. Gamma radiation constraints for the DBA (design basis accident) qualification of the RTD sensor installed in the harsh environment of nuclear power plant, are typically on the order of 4 kGy/h. In order to use a field bus communication network as an ad-hoc diagnostics sensor network in the vicinity of the RCS pump area of the nuclear power plant, the robust survivability of IT-based micro-electronic components in such intense gamma-radiation fields therefore should be verified. An intelligent CCD camera system, which are composed of advanced micro-electronics devices based on IT technology, have been gamma irradiated at the dose rate of about 4.2kGy/h during an hour UP to a total dose of 4kGy. The degradation performance of the gamma irradiated CCD camera system is explained.

• 한국레이저가공학회지
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• 제12권1호
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• pp.19-24
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• 2009

Because of its fast and precise welding performance, laser welding is becoming a new excellent welding method. However, the precise focusing and robust seam tracking are required to apply laser welding to the practical fields. In order to laser weld a type of T joint like a circular pipe on a square pipe, which could be met in the three dimensional structure such as an aluminum space frame, a visual sensor system was developed for automation of focusing and seam tracking. The developed sensor system consists of a digital CCD camera, a structured laser, and a vision processor. It is moved and positioned by a 2-axis motorized stage, which is attached to a 6 axis robot manipulator with a laser welding head. After stripe-type structured laser illuminates a target surface, images are captured through the digital CCD camera. From the image, seam error and defocusing error are calculated using image processing algorithms which includes efficient techniques handling continuously changed image patterns. These errors are corrected by the stage off-line during welding or teaching. Laser welding of a circular pipe on a square pipe was successful with the vision tracking system by reducing the path positioning and de focusing errors due to the robot teaching or a geometrical variation of specimens and jig holding.

• 대한원격탐사학회지
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• 제21권3호
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• pp.229-242
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• 2005

Photogrammetry is a current method of GIS data acquisition. However, as a matter of fact, a large manpower and expenditure for making detailed 3D spatial information is required especially in urban areas where various buildings exist. There are no photogrammetric systems which can automate a process of spatial information acquisition completely. On the other hand, LiDAR has high potential of automating 3D spatial data acquisition because it can directly measure 3D coordinates of objects, but it is rather difficult to recognize the object with only LiDAR data, for its low resolution at this moment. With this background, we believe that it is very advantageous to integrate LiDAR data and stereo CCD images for more efficient and automated acquisition of the 3D spatial data with higher resolution. In this research, the automatic urban object recognition methodology was proposed by integrating ultra highresolution stereo images and LiDAR data. Moreover, a method to enable more reliable and detailed stereo matching method for CCD images was examined by using LiDAR data as an initial 3D data to determine the search range and to detect possibility of occlusions. Finally, intellectual DSMs, which were identified urban features with high resolution, were generated with high speed processing.

• 대한전자공학회논문지SP
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• 제47권1호
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• pp.91-96
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• 2010

본 논문에서는 핵연료봉의 변형에 대한 고정도 검사방법을 제안한다. 핵 연료봉과 이를 관측하는 영상 센서의 광축을 수직으로 구성한다. 영상 센서의 광축을 기준으로 45도 또는 그보다 높은 각도로 레이저 라인빔을 연료봉 표면에 조사하면 연료봉의 수평 방향 변위가 영상 센서에서는 수직 방향 변위로 관측된다. 핵 연료봉 표면에 일정 각도로 입사된 레이저 라인빔이 영상 센서면에서는 일정 두께를 갖는 포물선 형태로 관측되게 된다. 센서 화면에 나타나는 일정 두께의 포물선을 영상처리하여 타원으로 모델링하고 타원의 장축과 단축의 기울기를 구한다. 포물선의 변곡점과 모델링한 타원의 장축과 단축이 교차하는 지점을 특징점으로 추출한다. 이와 같은 영상처리 알고리즘을 이용하여 핵 연료봉의 수평방향 변위에 따른 특징점 좌표의 수직방향 편차를 계산한다. 크러드가 형성된 핵연료봉 시편에 대해 고해상도 영상센서를 사용하여 실험한 결과 중성자 조사후 핵연료봉의 변형 검사기준인 $150{\mu}m$ 보다 3배 이상 개선된 $50{\mu}m$ 이하의 검사 정밀도를 달성하였다.

• Journal of Welding and Joining
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• 제16권6호
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• pp.68-76
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• 1998

A CCD camera with a laser stripe was applied to realized the automatic weld seam tracking. The 3-dimensional information obtained from the vision system made it possible to generate the weld torch path. The adaptive Hough transformation was used to extract laser stripes an to obtain specific weld points. It takes relatively long time to process image on-line control using the basic control using the basic Hough transformation, but it has a tendency of robustness over the noises such as spatter. For this reason, it was complemented with adaptive Hough transformation to have an on-line processing ability for scanning specific weld points. The dead zone, where the sensing of weld line is impossible, was eliminated by rotating the camera with its rotating axis centered at the weld torch. When weld lines were detected, the camera angle was controlled in order to get the minimum image data for sensing of weld lines. Consequently, the image processing time was reduced.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.600-603
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• 2004

UAV (Unmanned Aerial Vehicle) is an aerial vehicle that can accomplish the mission without pilot. UAV was developed for a military purpose such as a reconnaissance in an early stage. Nowadays usage of UAV expands into a various field of civil industry such as a drawing a map, broadcasting, observation of environment. These UAV, need vision system to offer accurate information to person who manages on ground and to control the UAV itself. Especially LOS(Line-of-Sight) system wants to precisely control direction of system which wants to tracking object using vision sensor like an CCD camera, so it is very important in vision system. In this paper, we propose a method to recognize object from image which is acquired from camera mounted on gimbals and offer information of displacement between center of monitor and center of object.

• Journal of Welding and Joining
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• 제16권5호
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• pp.119-133
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• 1998

To implement full automation in pipe welding, it si most important to develop special sensors and their related systems which act like human operator when detecting irregular groove conditions. In this study, an automatic pipe Gas Metal Arc Welding (GMAW) system was proposed to full control pipe welding procedure with intelligent sensor systems. A five-axes manipulator was proposed for welding torch to automatically access to exact welding position when pipe size and welding angle were given. Pool status and torch position were measured by using a weld-pool image monitoring and processing technique in root-pass welding for weld seam tracking and weld pool control. To overcome the intensive arc light, pool image was captured at the instance of short circuit of welding power loop. Captured image was processed to determine weld pool shape. For weld seam tracking, the relative distance of a torch position from the pool center was calculated in the extracted pool shape to move torch just onto the groove center. To control penetration of root pas, gap was calculated in the extracted pool image, and then weld conditions were controlled for obtaining appropriate penetration. welding speed was determined with a fuzzy logic, and welding current and voltage were determined from a data base to correspond to the gap. For automatic fill-pass welding, the function of human operator of real time weld seam control can be substituted by a sensor system. In this study, an arc sensor system was proposed based on a fuzzy control logic. Using the proposed automatic system, root-pass welding of pipe which had gap variation was assured to be appropriately controlled in welding conditions and in torch position by showing sound welding result and good seam tracking capability. Fill-pass welding by the proposed system also showed very successful result by tracking along the offset welding line without any control of human operator.

• 제어로봇시스템학회논문지
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• 제6권6호
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• pp.471-477
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• 2000

The position control accuracy of a robot arm is significantly deteriorated when a long arm robot is operated at a high speed. In this case, the robot arm must be modeled as a flexible structure, not a rigid one, and its control system should be designed with its elastic modes taken into account. In this paper, the tip position control scheme of a one-link flexible manipulator using 2-DOF controller with sliding mode is presented. The robot consists of a flexible arm manufactured with a thin aluminium plate, an AC servo motor with a harmonic drive for speed reduction, an optical encoder and a CCD camera as a vision sensor for on-line measuring the tip deflection of the flexible m. Simulation and experimental results of the flexible manipulator with a proposed controller are provided to show the effectiveness of the controller.

• 대한전자공학회논문지SD
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• 제43권11호
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• pp.26-36
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• 2006

본 논문에서는 화소간의 상관관계를 이용한 CCD/CMOS 이미지 센서용 효율적인 색 보간 기법을 제안한다. 최근 각광받고 있는 CCD/CMOS 이미지 센서는 컬러 필터 배열(Color Filter Array)을 사용하기 때문에, 각 화소는 컬러 영상을 만들기 위한 3가지 색 채널 중 한 가지 채널만 갖고 있게 된다. 따라서 컬러 영상을 만들기 위해서는 색 보간 구조가 필요하다. 최근 제안되는 색 보간 기법은 보간된 영상의 품질 향상에만 주력하고 있는데 반해, 본 논문에서는 낮은 복잡도를 갖으면서 잘못된 색을 최소화하기 위한 방법을 제안한다. 제안된 색 보간 기법에서는 인접한 화소간의 상관관계를 이용하여, 현재 화소의 방향성을 결정할 때 이웃 화소의 방향성 정보를 이용하였다. 기존의 방향성을 고려한 색 보간 기법에 제안된 기법을 적용한 결과, 알고리즘의 종류에 따라 PSNR이 $0.09{\sim}0.47dB$ 향상되었고, 대부분의 잘못된 색(False color)을 최소화함으로써 색 보간된 컬러영상의 품질이 향상되었다. 제안된 색 보간 기법은 Verilog HDL 및 FPGA를 이용하여 실시간으로 구현 검증되었다. 0.25um CMOS 표준 셀 라이브러리를 이용하여 합성하였을 때, 총 게이트 수는 12K개였으며 5개의 라인 메모리가 사용되었다.