• Journal of the Korean Society for Precision Engineering
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• v.24 no.10
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• pp.64-74
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• 2007

Because of the size and environment in the shipbuilding process, the portable type robot is required for the automatic seam tracking. For this reason, the structure of laser sensor should be considered in the initial design step and the coordinate transformation between welding robot and laser sensor, which is joint finder, must be identified exactly and the real time tracking algorithm based on these consideration could be developed. In this research, laser displacement sensor in which its structure is laser beam's vertical projection, is developed to recognize the location of weld joint. In practical applications, however, images of weld joints are often degraded because of the surface specularity or spatter. To overcome the problem, the constrained joint finding algorithm is proposed. In the approach of coordinate conversion rule for the visual feedback control among welding torch, robot body and laser sensor is applied by the same reference point method. In the real time seam tracking algorithms we propose constrained sampling method which uses look ahead distance. The RLS(Recursive Least Square) filter is applied to obtain the smooth tracking path from the sensitive edge data. From the experimental results, we could see the possibility that the developed laser sensor with proposed processing algorithm and real time seam tracking method can be used as a welding under the shipbuilding condition.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2001.05a
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• pp.460-464
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• 2001

Recently, the use of Robot increase little by little for the purpose of developing a welding quality and productivity in the arc welding part. It is more important to contact the seam for arc welding before moving a welding robot. There are two types of method to contact the seam namely contact and noncontact type largely In this paper, image processing sensor(a kind of non-contact sensor) is concerned to track the seam by using laser diode and CCD camera. A structured laser diode's light illuminated on the weld groove and the reflected shape is introduced by CCD camera. The image board captures this image and software analyzes this image. The robot is moved and welded exactly as acquired image X-Y data is changed with robot's X-Y value. Also, most of seam tracking are considered by changing the program simply in case of the different weld prove of plane surface.

• Journal of Broadcast Engineering
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• v.25 no.6
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• pp.882-897
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• 2020

Recently, the use of immersive media contents representing Panorama and 360° video is increasing. Since the viewing angle is limited to generate the content through a general camera, image stitching is mainly used to combine images taken with multiple cameras into one image having a wide field of view. However, if the parallax between the cameras is large, parallax distortion may occur in the stitched image, which disturbs the user's content immersion, thus an image stitching overcoming parallax distortion is required. The existing Seam Optimization based image stitching method to overcome parallax distortion uses energy function or object segment information to reflect the location information of objects, but the initial seam generation location, background information, performance of the object detector, and placement of objects may limit application. Therefore, in this paper, we propose an image stitching method that can overcome the limitations of the existing method by adding a weight value set differently according to the type of object to the energy value using object detection based on deep learning.

• Environmental Engineering Research
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• v.23 no.2
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• pp.210-215
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• 2018

Coal seam gas (CSG) water, to be discharged, has been usually treated in reverse osmosis (RO) plants which require extensive and expensive pre-treatment. However, current low gas prices have been a great driver for relevant industries to seek for alternative cost-effective technologies in the aspect of its beneficial use and fit-for-purpose usable water production. In this paper, a combined system with a two-stage pore control fiber (PCF) filtration and a RO system was designed and tested for CSG water treatment. Also, a coagulation reactor was placed in front of the PCF to further enhance suspended solid removal. More than 99% of SS were removed through the PCF filtration while organic, total nitrogen and total phosphorous were mostly removed by the RO system. Especially along with a decrease in conductivity, the total dissolved solid derived from salts was mainly removed in the RO system. Having $OH^-$ undetected, $HCO_3{^-}$ was found to be a dominant compound and its removal efficiency was 97-98% after the RO treatment. And a Fe(III) type of Polytetsu, which was the first to be tested in this paper, was found to be a better option than a Al(III) type of Poly Aluminium Chloride due to its greater coagulation efficiency and applicability at a broader range of pH than the Al(III) type. In addition, there was no noticeable change in oxidation reduction potential, suggesting that an additional process is required to oxidize non-ionic organic carbons (detected as total organic carbon).

• Journal of the Korean Society for Heat Treatment
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• v.23 no.4
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• pp.183-190
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• 2010

There are many methods to reduce the weight and the cost of the automobile body, among them, Tailor Welded Blank (TWB) is new welding method applied to body structure. It is necessary to evaluate mechanical properties of TWB structures or sheets for the application to automobile body parts. In this study, the stiffness of T-type and L-type joint structures, composite of TWB panel, which simplified two portions of side structure in automobile body were investigated. Additionally, the fatigue properties of TWB panels were obtained. Two types of welding technologies, laser and mash seam welding, were used to join mild panels with different thickness. This results are compared with conventional structures. The results are as follows: 1) The stiffness of joint structures, composite of TWB panel, is approximately 17% higher than that of conventional ones. 2) The location of welding line in TWB had a effect on the in plane bending stiffness, but not on the out of plane bending stiffness. 3) In terms of welding technology type, the mash seam welding show higher stiffness than the laser welding for in plane bending stiffness. But minimal differences in both types are revealed for out of plane bending stiffness. 4) The fatigue strength, composite of TWB panel, is lower than that of base steel. It is thought that defects in the welding zone had the action of notch in the fatigue test.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.923-928
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• 2003

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or comer. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and the results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• Steel and Composite Structures
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• v.21 no.5
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• pp.981-997
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• 2016

To avoid the cracks of cast-in-place concrete in shear pockets and seams in the traditional composite beam with precast decks, this paper proposed a new type of prefabricated steel truss-concrete composite beam (ab. PSTC beam) with pre-embedded shear studs (ab. PSS connector). To study the initial cracking load of concrete deck, the development and distribution laws of the cracks, 3 PSTC beams were tested under hogging moment. And the crack behavior of the deck was compared with traditional precast composite beam, which was assembled by shear pockets and cast-in-place joints. Results show that: (i) the initial crack appears on the deck, thus avoid the appearance of the cracks in the traditional shear pockets; (ii) the crack of the seam appears later than that of the deck, which verifies the reliability of epoxy cement mortar seam, thus solves the complex structure and easily crack behavior of the traditional cast-in-place joints; (iii) the development and the distribution laws of the cracks in PSTC beam are different from the conventional composite beam. Therefore, in the deduction of crack calculation theory, all the above factors should be considered.

• Journal of the Korean Society of Marine Environment & Safety
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• v.13 no.4
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• pp.113-117
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• 2007

The study was performed on the development of system in which the bead width can be controlled. In order to control the bead width, we designed the automatic seam tracking device by attaching the probe type strain gauge sensor, motor driving slide and encoder to check the moving distance, and interface card connected MCU(80Cl96KC) upside the speed controllable carriage. Seam tracking experiments were done by changing the bead width. We compared and analyzed the sampling data which were obtained by output voltage of strain gauge sensor and rotary encoder pulse every 50ms.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.4
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• pp.447-457
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• 2019

The intelligent sensory system is required to ensure the accurate welding performance. This paper describes the development of an intelligent vision sensor for the robotic laser welding. The sensor system includes a PC based vision camera and a stripe-type laser diode. A set of robust image processing algorithms are implemented. The laser-stripe sensor can measure the profile of the welding object and obtain the seam line. Moreover, the working distance of the sensor can be changed and other configuration is adjusted accordingly. The robot, the seam tracking system, and CW Nd:YAG laser are used for the laser welding robot system. The simple and efficient control scheme of the whole system is also presented. The profile measurement and the seam tracking experiments were carried out to validate the operation of the system.

• Journal of the Korea Fashion and Costume Design Association
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• v.18 no.1
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• pp.51-60
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• 2016

This study aims to contribute to development of women's incontinence panties with anti-aging effect meeting customers' requirements by examining types, sorts, sizes and specifications of women's incontinence panties currently sold in the market. The results of analysis of a total of 22 commercial products are as follows. 1. Among the samples, 21 incontinence panties were slip on type like regular underwear; only 1 was pad insertion type. With respect to the length of side seam, 17 (77.3%) incontinence panties were above 14 cm which is classified as maxi; the rest of them (5, 22.7%) were 7~11 cm which is classified as middy. 2. With respect to size, the percentage of Size 3 was 40.9% showing the largest, followed by Size 4 (31.8%), Size 2 (18.2%), Size 5 (9.1%). To produce the incontinence panties considering various ages and body shapes, it is recommended to select above Size 4 as a minimum. 3. With respect to materials of the incontinence panties, natural fibers such as cotton or rayon were mostly used and a polyurethane, nylon or polyester was mixed to enhance the wearing sensation and stretchability of the panties. Finally, for structure of the crotch area, single knit was the largest (9, 40.9%), terry weave 7 (31.8%), sofe pile weave 4 (18.2%), and waffle weave or diamond weave 2.