• 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.

• International Journal of Naval Architecture and Ocean Engineering
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• 제7권5호
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• pp.817-832
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• 2015

This paper presents a state feedback based backstepping control algorithm to address the trajectory tracking problem of an underactuated Unmanned Surface Vessel (USV) in the horizontal plane. A nonlinear three Degree of Freedom (DOF) underactuated dynamic model for USV is considered, and trajectory tracking controller that can track both curve trajectory and straight line trajectory with high accuracy is designed as the well known Persistent Exciting (PE) conditions of yaw velocity is completely relaxed in our study. The proposed controller has further been enriched by incorporating an integral action additionally for enhancing the steady state performance and control precision of the USV trajectory tracking control system. Global stability of the overall system is proved by Lyapunov theory and Barbalat's Lemma, and then simulation experiments are carried out to demonstrate the effectiveness of the controller designed.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2000년도 하계학술대회 논문집
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• pp.119-122
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• 2000

Recently polymer insulators are being used for outdoor high voltage applications. Polymer insulators for transmission line have significant advantages over porcelain and glass insulators, especially for ultra-high voltage transmission lines. Their advantages are light weight, vandalism resistance and hydrophobicity. Polymer insulators are a relatively new technology, but their expected life is still unknown. Therefore these estimating technique are very important. Their life time is related to weathering and operating condition. Multi-aging test is requested because aging factor is occurred by multi-aging than unique aging. The aging test about polymer insulators have mainly carried out by IEC 61109. This paper presents multi-stress chamber experiments and tracking wheel test to examine the tracking and erosion performance of polymer insulator for transmission. Multi-stress testing is able to demonstrate deficiencies of polymer insulator materials and designs, including the nature of interfaces in insulation design. We have investigated IEC 61109 Annex C (5000h aging test) and CEA tracking wheel test as test methods of artificial accelerated aging. The aging degree of polymer insulator is estimated by leakage current, measurement of hydrophobicity degree, damage conditions of insulator surface, withstand voltage test etc.

• International Journal of Korean Welding Society
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• 제2권2호
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• pp.51-56
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• 2002

The weld seam tracking system for arc welding process uses various kinds of sensors such as arc sensor, vision sensor, laser displacement sensor and so on. Among the variety of sensors available, electro-magnetic sensor is one of the most useful methods especially in sheet metal butt-joint arc welding, primarily because it is hardly affected by the intense arc light and fume generated during the welding process, and also by the surface condition of weldments. In this study, a dual-electromagnetic sensor, which utilizes the induced current variation in the sensing coil due to the eddy current variation of the metal near the sensor, was developed for arc welding of sheet metal I-butt joints. The dual-electromagnetic sensor thus detects the offset displacement of weld line from the center of sensor head even though there's no clearance in the joint. A set of design variables of the sensor was determined far the maximum sensing capability through the repeated experiments. Seam tracking is performed by correcting the position of sensor to the amount of offset displacement every sampling period. From the experimental results, the developed sensor showed the excellent capability of weld seam detection when the sensor to workpiece distance is near less than 5 ㎜, and it was revealed that the system has excellent seam tracking ability for the I-butt joint of sheet metal.

• 한국군사과학기술학회지
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• 제26권5호
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• pp.400-408
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• 2023

The tracking accuracy of buoy-based LBL(Long Base Line) systems can be significantly influenced by sea environmental conditions. Particularly, the position of buoys that may have drifted due to sea currents. Therefore it is necessary to predict and optimize the drifted-buoy positions in the deploying step. This research introduces a free-drift simulation model using ocean data from the European CMEMS. The simulation model's predictions are validated by comparing them to actual sea buoy drift tracks, showing a substantial match in averaged drift speed and direction. Using this drift model, we optimize the initial buoy layout and compare the tracking performance between the center hexagonal layout and close track layout. Our results verify that the optimized layout achieves lower tracking errors compared to the other two layout.

• Nuclear Engineering and Technology
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• 제30권6호
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• pp.485-495
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• 1998

Migration characteristics of tracers in a rock fracture in a case of line-source and line-collection was studied. The fracture plane was discretized into a square mesh to which variable apertures were assigned. The spatially varying apertures of a fracture were generated using a geostatistical method, based on a given aperture probability density distribution and a specified spatial correlation length. The flow potential and pressure at each node were computed. Calculations showed that fluid flow occurs predominantly through a few preferred paths. Hence, the large range of apertures in the fracture gives rise to flow channeling. The solute transport was calculated using a particle tracking method. The migration plumes of tracer between injection line and withdrawal line are displayed in contour plots. The elution curves are shown to be controlled by the aperture density distribution and to be insensitive to statistical realization and spatial correlation length.

• 대한기계학회논문집B
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• 제37권3호
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• pp.259-266
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• 2013

광학 현미경을 통해 일정한 시간 간격으로 얻은 세포 이미지로부터 세포 변화를 자동적으로 추적 및 분석하는 것이 세포 트래킹이라고 한다. 세포 변화 과정에서 이웃에 있는 세포들이 겹쳐져 있는 상태를 클러스터라고 하며 세포트래킹에서 클러스터를 다시 세포로 분리하는 작업은 매우 중요하다. 본 논문에서는 타원 근사법을 기반으로 클러스터를 분리하기 위한 알고리즘을 제안한다. 클러스터의 외곽선을 추출한 후 외곽선의 오목정점을 이용하여 클러스터를 라인 세그먼트들로 분리한 다음 휴리스틱을 이용하여 라인 세그먼트들을 결합해 가며 근사 타원을 생성한다. 실험 결과 두 개의 세포가 겹쳐진 클러스터의 경우 평균적으로 91%, 세 개의 세포가 겹쳐진 경우 평균적으로 84% 그리고 겹쳐진 세포의 개수가 네 개 이상인 경우 약 73%의 정확도로 클러스터를 분리해 주었다.

• 한국정보통신학회논문지
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• 제17권11호
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• pp.2541-2546
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• 2013

본 논문에서는 가시선 데이터링크용 추적안테나 시스템에 적용하기 위한 방위각 보정 알고리즘에 대해 연구한다. 이동하는 물체와 가시선 통신링크를 유지하기 위해서는 추적안테나 시스템이 필수적이다. 방위각과 고각계산을 위해서는 이동체와 안테나시스템의 GPS값을 이용하는데, 이때 두 좌표계의 동일성을 유지하기 위해서 초기에 지자기센서나 beacon등을 이용하여 보정을 하게 된다. 하지만 지형적으로 지자기교란이 생기기 쉬운 장소에서는 정확한 보정이 어렵다. 따라서 본 논문에서는 초기에 RF신호의 수신세기추적을 통해서 신호의 발생 위치를 검출하고 검출된 위치까지의 방위각 보정 값을 계산하여 통신링크개설 후 수신된 GPS값에 보정 값을 적용함으로서 주변의 영향을 최소화하면서 쉽고 빠르게 보정할 수 있다.

• 한국정보통신학회논문지
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• 제14권11호
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• pp.2429-2434
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• 2010

본 논문에서는 퍼지 방법을 적용하여 손금을 추출하고 분석하는 방법을 제안한다. 본 논문에서는 영상으로부터 손금을 추출하기 위해서 획득된 영상을 YCbCr 컬러 공간으로 변환한다. YCbCr 컬러 공간에서 Y:65~255, Cb:25~255, Cr:130~255에 해당되는 피부색 정보를 추출하고 이 피부색 정보를 임계치로 설정하여 손 영역을 추출한다. 추출된 손 영역에서 내부 픽셀의 3:1 이상, 전체 영상의 2:1 이상인 손의 형태학적 정보와 8 방향 윤곽선 추적기법을 이용하여 잡음을 제거한다. 잡음이 제거된 영상에서 손금을 추출하기 위해서 스트레칭 기법과 소벨 마스크를 이용하여 에지를 추출한다. 추출된 에지 영상에서도 미세한 잡음이 존재하므로 퍼지 이진화 기법을 적용하여 이진화 한다. 이진화된 영상에서 손금의 형태학적 정보를 이용하여 손의 윤곽선을 제외한 손금 영역을 추출한다. 추출된 손금 영역은 동치 테이블을 이용하는 연결 영역 검색 기법과 퍼지 추론 기법을 적용하여 개별 손금의 중요선을 추출하고 분석한다. 다양한 손금 영상을 대상으로 실험한 결과 제안된 방법 이 기존의 손금 추출 방법보다 손금을 분석하는데 효율적인 것을 확인하였다.

• Nuclear Engineering and Technology
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• 제53권10호
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• pp.3344-3351
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• 2021

The Rare Isotope Science Project was launched in 2011 in Korea toward constructing the Rare isotope Accelerator complex for ON line experiments (RAON). RAON will house several experimental systems, including the Muon Spin Rotation/Relaxation/Resonance (μSR) facility in High Energy Experimental Building B. This facility will use 600-MeV protons with a maximum current of 660 pμA and beam power of 400 kW. The key μSR features will facilitate projects related to condensed-matter and nuclear physics. Typical experiments require a few million surface muons fully spin-polarized opposite to their momentum for application to small samples. Here, we describe the design of a muon transport beam line for delivering the requisite muon numbers and the electromagnetic-component specifications in the μSR facility. We determine the beam-line configuration via beam-optics calculations and the transmission efficiency via single-particle tracking simulations. The electromagnet properties, including fringe field effects, are applied for each component in the calculations. The designed surface-muon beamline is 17.3 m long, consisting of 2 solenoids, 2 dipoles affording 70° deflection, 9 quadrupoles, and a Wien filter to eliminate contaminant positrons. The average incident-muon flux and spin rotation angle are estimated as 5.2 × 10⁶ μ⁺/s and 45°, respectively.