• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 춘계학술대회 논문집
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• pp.529-530
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• 2009

• 제어로봇시스템학회논문지
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• 제9권10호
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• pp.822-831
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• 2003

A computer-vision based pipe-inspection algorithm is developed. The algorithm uses the modified Hough transformation and a line-scanning approach to identify the edge line and the radius of the pipe image, from which the eccentricity and dimension of the pipe-end is calculated. Line and circle detection was performed using Laplace operator with input image, which are acquired from the front and side cameras. In order to minimize the memory usage and the processing time, a clustering method with the modified Hough transformation is introduced for line detection. The dimension of inner and outer radius of pipe is calculated by the proposed line-scanning method. The method scans several lines along the X and Y axes, calculating the eccentricity of inner and outer circle, by which pipes with wrong end-shape can be classified and removed.

• 제어로봇시스템학회논문지
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• 제11권1호
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• pp.34-40
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• 2005

In this paper, we describe the modeling for the 3D robot laser scanning system consisting of a laser stripe projector, camera, and 5-DOF robot and propose its calibration method. Nonlinear radial distortion in the camera model is considered for improving the calibration accuracy. The 3D range data is calculated using the optical triangulation principle which uses the geometrical relationship between the camera and the laser stripe plane. For optimal estimation of the system model parameters, real-coded genetic algorithm is applied in the calibration process. Experimental results show that the constructed system is able to measure the 3D position within about 1mm error. The proposed scheme could be applied to the kinematically dissimilar robot system without losing the generality and has a potential for recognition for the unknown environment.

• 한국레이저가공학회지
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• 제18권3호
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• pp.6-8
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• 2015

Finishing process includes deburring, polishing and edge radiusing. It improves the surface profile of specimen and eliminates the alien substance on surface. Deburring is the elimination process for debris of edges. Polishing lubricates surfaces by rubbing or chemical treatment. There are two types for electron finishing. The one is using pulse beam. The other is using the convergent and scanning electron beam. Pulse type device appropriates the large area process. But it does not control the beam dosage. Scanning type device has advantages for dosage control and edge deburring. We design the convergence and scan type. It has magnetic lenses for convergence and scan device for scanning beam. Magnetic lenses consist of convergent and objective lens. The lenses are designed by the specification(beam size and working distance). In this paper, we evaluate the convergence performance by pattern process. Also, we analysis the results and important factors for process. The important factors for process are beam size, pressure, stage speed and vacuum. These results will be utilized into systematizing pattern shape and the factors.

• 한국레이저가공학회지
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• 제12권2호
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• pp.26-30
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• 2009

Scanning Electron Microscopy (SEM) includes high voltage generator, electron gun, column, secondary electron detector, scan coil system and image grabber. Column includes electron lenses (condenser lens and objective lens). Condenser lens generates fringe field, makes focal length and control spot size. Focal length represents property of lens. Objective lens control focus. Most of the electrons emitted from the filament, are captured by the anode. The portion of the electron current that leaves the gun through the hole in the anode is called the beam current. Electron beam probe is called the focused beam on the specimen. Because of the lens and aperture, the probe current becomes smaller than the beam current. It generate various signals(backscattered electron, secondary electron) in an interaction with the specimen atoms. In this paper, we describe the result of research to develop the core elements for low-resolution SEM.

• Carbon letters
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• 제5권2호
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• pp.75-80
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• 2004

The studies on activated carbon prepared from walnut shell and groundnut shell were undertaken to ascertain the effect of initial state of precursor and activation process on the development of porosity in the resulting activated carbon. Walnut shell based carbon shows the presence of cellular pores while Groundnut shell based carbon shows fibrillar pore structure. The adsorption parameters, characterization of product and scanning electron microscopic studies carried out showed the presence of mainly Micro, Meso and Macro porosity in carbon prepared from Walnut shell while mainly micro porosity was observed in Groundnut shell based activated carbon. An interrelationship between the adsorption efficiency and porosity in terms of quality control parameters, for before and after activation, was validated through the scanning electron microscopic data.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.37-42
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• 2005

This paper presents an autonomous system for reconstruction of three-dimensional indoor environments using a mobile robot. The system is composed of a mobile robot, a three-dimensional scanning system, and a notebook computer for registration, observation planning and real-time three-dimensional data transferring. Three-dimensional scanning system obtains three-dimensional environmental data and performs filtering of dynamic objects. Then, it registers multiple three-dimensional scans into one coordinate system and performs observation planning which finds the next scanning position by using the layered hexahedral-map and topological-map. Then, the mobile robot moves to the next scanning position, and repeats all procedures until there is no scanning tree in topological-map. In concurrence with data scanning, three-dimensional data can be transferred through wireless-LAN in real-time. This system is experimented successfully by using a mobile robot named KARA.

• 한국진공학회:학술대회논문집
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• 한국진공학회 2016년도 제50회 동계 정기학술대회 초록집
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• pp.145.1-145.1
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• 2016

Binding and unbinding between molecular oxygen and metallo-porphyrin is a key process for oxygen delivery in respiration. It can be also used to control spin state of magnetic metallo-porphyrin molecules. Controlling and sensing spin states of magnetic molecules in such reactions at the single molecule level is essential for spintronic molecular device applications. Here, we demonstrate that spin states of metallo-porphyrin on surfaces can be controlled over by binding and unbinding of oxygen molecule, and be sensed using scanning tunneling microscopy and spectroscopy. Kondo localized state of metallo-porphyrin showed significant modification by the binding of oxygen molecule, implying that the spin state was changed. Our density functional theory calculation results explain the observations with the hybridization of unpaired spins in d and ${\pi}^*$ orbitals of metallo-porphyrin and oxygen, respectively. Our study opens up ways to control molecular spin state and Kondo effect by means of molecular binding and unbinding reactions on surfaces.

• 한국광학회지
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• 제10권4호
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• pp.267-272
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• 1999

근접장광학계 (Near-Field Scanning Optical Microscope :NSOM)의 표본과 팁의 거리 유지를 위해 소리굽쇠모양의 수정발진자 (tuning forktype quartz crystal unit)의 한쪽 다리에 광섬유를 고정시키고 광섬유 팁을 수정발진자와 같이 진동하게 만들어 사용하였다. 수정 진동자는 광섬유 팁이 시료에 얼마나 가까이 갔느냐에 따라 진폭이 바뀌게 되고 이 변화를 일반적인 방법인 레이저 빛에 의하여 읽어내는 것이 아니라 바로 수정 발진자의 임피던스 변화에 따른 전압 변화를 측정하여 알아냈다. 팁이 표면에 접근함에 따라 수정발진자 진동폭의 변화와 팁을 통해 들어오는 빛의 세기 변화 등을 측정하여 계의 감도를 조사하였다.

• 한국콘텐츠학회논문지
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• 제18권12호
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• pp.639-645
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• 2018

본 연구의 목적은 3차원 중첩 기술 차이에 따른 디지털 치과용 지대치 인상체 및 경석고 모형의 스캐닝 정밀도를 비교 평가하는 것이다. 상악 제1 소구치 지대치 인상체와 경석고 모형를 제작했다. 청색광 스캐너로 스캔하여 stereolithography (STL)을 얻었다. 지대치 인상체와 경석고 모형에 대하여 스캐너 테이블에서 이동하지 않은 채로 10번의 추가 스캔을 수행하였다. no control과 best-fit-alignment 기술을 사용하여 지대치 인상체와 경석고 모형 스캐닝 데이터를 중첩시킴으로써 10개의 color-difference maps과 root mean square (RMS) 데이터를 얻었다. 서로 간의 그룹 사이에 RMS data를 가지고 독립 t 검정을 수행하였다(${\alpha}=0.05$). 지대치 인상체 스캐닝에 있어서 no control과 best-fit-alignment의 RMS${\pm}$StandardDeviation (SD) 값은 $6.86{\pm}0.94$, $5.04{\pm}0.24$로 나타났고, 경석고 모형 스캐닝에 있어서는 $4.98{\pm}1.16$, $3.39{\pm}0.07$로 나타났으며, 모든 그룹 간에 유의한 차이를 보였다(P<0.001). 본 연구 결과를 통해 best-fit-alignment뿐만 아니라 no control은 디지털 치과캐드캠 연구 분야 및 임상 분야에 활용될 수 있다고 생각한다.