• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.803-807
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• 2003

Tele-operation and remote monitoring techniques are essential and important technologies for performing the inspection and repair tasks effectively in nuclear power plants. This paper presents the application of a mobile robot for the remote monitoring and inspection of the Calandria faces, where human access is limited because of the high-level radioactive environments during full power operation. The mobile robot was designed with reconfigurable crawler type of wheels attached on the front and rear side in order to pass through the ditch. The extendable mast, mounted on the mobile robot, can be extended up to 8 m vertically. This robot was also equipped a visible CCD/thermal infrared inspection head module and a stereo camera module for the enhancement of visual inspection.

• Proceedings of the IEEK Conference
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• 2000.06d
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• pp.139-142
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• 2000

$\mu$BGA(Ball Grid Array) is growing in response to a great demand for smaller and lighter packages for the use in laptop, mobile phones and other evolving products. However it is not easy to find its defect by human visual due to in very small dimension. From this point of view, we are interested its development of a vision based automated inspection algorithm. For this, first a 2D view of $\mu$BGA is described under a special blue illumination. Second, a notation-invariant 2D inspection algorithm is developed. Finally a 3D inspection algorithm is proposed for the case of stereo vision system. As a simulation result, it is shown that 3D defect not easy to find by 2D algorithm can be detected by the proposed inspection algorithm.

• KEPCO Journal on Electric Power and Energy
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• v.2 no.2
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• pp.293-298
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• 2016

Recently, interests for maintenance of transmission tower are increasing to extend life of structures and reduce maintenance cost. However, existing classical diagnosis method of corrosion deteriorated degree on the transmission tower steel members, visual inspection, has a problem that error often due to difference of inspector's individual knowledge and experience. In order to solve the problem, this study carried out to develop the corrosion deterioration inspection tool for transmission tower steel members. This tool is composed of camera equipment and computer-aided diagnosis system. We standardized the photographing method by camera equipment to obtain suitable pictures for image processing. Diagnosis system was designed to evaluate automatically degree of corrosion deterioration for member of transmission tower on the basis of the RGB color image processing techniques. It is anticipated that developed the corrosion deterioration inspection tool will be very helpful in decision of optimal maintenance time for transmission tower corrosion.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.3
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• pp.372-377
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• 1998

This paper deals with the detection, feature extraction and classification of surface defects in cold rolled strips. Inspection systems are one of the most important fields in factory automation. Defects such as slipmark and dullmark can be effectively detected with a Gaussian matched filter because their shapes are similar to Gaussian. It is justified that the proposed WF(Wavelet Frame) method could be regarded as multiscale Gaussian matched filter which can be applied to the inspection of cold rolled strip. After a wavelet frame transform, the entropies and moments are computed for each subband which pass through both local low pass filter and nonlinear operator. With these features as input, a MLP(Multi Layer Perceptron) is used as a classifier. The proposed inspection method was applied to the real images with defects, and hence showed good performance. The role of each extracted feature is analyzed by KLT(Karhunen-Loeve Transform).

• The KIPS Transactions:PartB
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• v.11B no.3
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• pp.327-336
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• 2004

For visual inspection system in real industrial environment, it is one of most important tasks to design fast and stable pattern matching algorithm. This paper presents an edge-based point correlation algorithm avoiding full search in visual inspection system. Conventional algorithms based on NGC(normalized gray-level correlation) have to overcome some difficulties for applying to automated inspection system in factory environment. First of all, NGC algorithms need high time complexity and thus high performance hardware to satisfy real-time process. In addition, lighting condition in realistic factory environments if not stable and therefore intensity variation from uncontrolled lights gives many roubles for applying directly NGC as pattern matching algorithm in this paper, we propose an algorithm to solve these problems from using thinned and binarized edge data and skipping full point search with edge-map analysis. A point correlation algorithm with the thinned edges is introduced with image pyramid technique to reduce the time complexity. Matching edges instead of using original gray-level pixel data overcomes NGC problems and pyramid of edges also provides fast and stable processing. All proposed methods are preyed from experiments using real images.

• Journal of the Semiconductor & Display Technology
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• v.17 no.1
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• pp.27-34
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• 2018

Industrially, die-casting products are formed through casting, and so the methods to inspect the defects inside them are very restrictive. External inspection methods including visual inspection, sampling judgment, etc. enables researchers to inspect possible external defects, but x-ray inspection equipment has been generally used to inspect internal ones. Recently, they have been also applying three-dimensional internal inspections using CT equipment. However, they have their own limitations in applying to the use of industrial inspection due to limited detection size and long calculation time. To overcome the above problems, this paper has suggested a method to inspect internal defects by comparing the CAD data of the product to be inspected with the 3D data of the CT image. In this paper, we proposed a method for fast and accurate inspection in three dimensions by applying x-ray inspection to find internal defects in industrial parts such as aluminum die casting products. To show the effectiveness of the proposed method, a series of experiments have been carried out.

• Journal of Korean Society of Disaster and Security
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• v.15 no.4
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• pp.11-20
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• 2022

The general non-destructive inspection method for anchor bolts in Korea applies visual inspection and hammering inspection, but it is difficult to check corrosion or fatigue cracks of anchor bolts in the part included in the foundation or in the part where the nut and base plate are installed. In reality, objective investigation is difficult because inspection is affected by the surrounding environment and individual differences, so it is necessary to develop non-destructive inspection technology that can quantitatively estimate these defects. Inspection of the anchor bolts of domestic road facilities is carried out by visual inspection, and since the importance of anchor bolts such as bridge bearings and fall prevention facilities is high, the life span of bridges is extended through preventive maintenance by developing non-destructive testing technology along with existing inspection methods. Through the development of this technology, non-destructive testing of anchor bolts is performed and as a technology capable of preemptive/active maintenance of anchor bolts for road facilities, practical use is urgently needed. In this paper, the possibility of detecting defects in anchor bolts such as corrosion and cracks and reliability were experimentally verified by applying the ultrasonic test among non-destructive inspection techniques. When the technology development is completed, it is expected that it will be possible to realize preemptive/active maintenance of anchor bolts by securing source technology for improving inspection reliability.

• Journal of the Korean Society of Industry Convergence
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• v.17 no.1
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• pp.27-34
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• 2014

This paper proposes a new approach to the designed of visual feedback control system based on visual servoing method. The main focus of this paper is presented how it is effective to use many features for improving the accuracy of the visual feedback control of industrial articulated robot for assembling and inspection of parts. Some rank conditions, which relate the image Jacobian, and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. The effectiveness of redundant features is verified by the real time experiments on a SCARA type robot(FARA) made in samsung electronics company.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.12 no.1
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• pp.35-42
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• 2013

This paper proposes a new approach to the designed of visual feedback control system based on visual servoing method. The main focus of this paper is presented how it is effective to use many features for improving the accuracy of the visual feedback control of industrial articulated robot for assembling and inspection of parts. Some rank conditions, which relate the image Jacobian, and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. The effectiveness of redundant features is verified by the real time experiments on a SCARA type robot(FARA) made in samsung electronics company.

• Journal of the Institute of Convergence Signal Processing
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• v.21 no.1
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• pp.38-48
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• 2020

In order to inspect the existing or newly constructed ship's hull, a professional diver directly inspects the ship's bottom of the water. However, since it is a work done by people, there are many dangers such as human casualties and crashes. To solve this problem, it is necessary to develop underwater drones for ship inspection for visual inspection. The technology applied to underwater drones, the use and manufacturing process of each component, and the method of manufacture such as firmware development were described, and the difference was compared by measuring the drone's own driving ability and driving ability using crawler under water, and the location tracking device test confirmed the error from the actual location. It is estimated that the use of underwater drones produced through this research will prevent human casualties and achieve economic effects and stability.