• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2007년도 Proceedings of ISRS 2007
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• pp.234-237
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• 2007

Road networks are important geospatial databases for various GIS (Geographic Information System) applications. Road digital maps may contain geometric spatial errors due to human and scanning errors, but manually updating roads information is time consuming. In this paper, we developed a new road features updating methodology using from multispectral high-resolution satellite image and pre-existing vector map. The approach is based on initial seed point generation using line segment matching and a modified double snake algorithm. Firstly, we conducted line segment matching between the road vector data and the edges of image obtained by Canny operator. Then, the translated road data was used to initialize the seed points of the double snake model in order to refine the updating of road features. The double snake algorithm is composed of two open snake models which are evolving jointly to keep a parallel between them. In the proposed algorithm, a new energy term was added which behaved as a constraint. It forced the snake nodes not to be out of potential road pixels in multispectral image. The experiment was accomplished using a QuickBird pan-sharpened multispectral image and 1:5,000 digital road maps of Daejeon. We showed the feasibility of the approach by presenting results in this urban area.

• 한국생산제조학회지
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• 제25권6호
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• pp.492-497
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• 2016

Teaching an industrial robot is still a dangerous and time-consuming process. It is expected that a robot can track a trajectory that is repeatedly taught by a human operator. Teaching a robot in joint space is easier than that in Cartesian space or a work space because the robot will never lose its stability when it is taught and operated in a joint space. However, it is very easy for a robot to lose its stability when it is taught in a work space. This is because of the singular points problem in kinematics for manipulators. Thus, experts should teach a given task to a robot in a careful manner. A new algorithm that avoids the problem of singular points is proposed. Using this proposed method, a user can freely teach a robot without the chance of instability in an entire work space.

• 한국산학기술학회논문지
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• 제11권5호
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• pp.1558-1563
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• 2010

본 논문에서는 생산 현장에서 작업자가 육안으로 하고 있는 자동차 부품의 전수(全數) 검사 방법을 대체하기 위한 머신 비전 시스템의 개발을 위한 검사알고리즘에 관한 연구이다. 생산 효율과 품질 향상을 위한 노력의 일환으로 플라스틱 압출 성형에서 생기는 여러 가지 불량품 유형을 PC를 기반한 머신 비전 시스템(Machine Vision System)을 구축하기에 앞서 생산된 부품을 실시간 검사하고 제품의 불량 유무를 판별하는 알고리즘을 개발하는 것이 본 연구의 목적이다. 검사방법에 사용된 소프트웨어는 NI-LabVIEW를 사용하였으며, LabVIEW Vision 이미지 함수를 사용하여 검사 프로그램을 개발하였다. 개발된 검사 알고리즘은 생산 부품의 실시간 검사에 적용 될 수 있으며, 검사 영역과 설정 값을 비전 시스템 운용자가 설정할 수 있도록 프로그램이 만들어져 검증되었다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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• pp.2325-2327
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• 2002

포항 가속기연구소(PAL)에서는 포항방사광가속기(PLS)가 가동을 시작한 1994년 이후 현재까지 사용되어 온 기존의 제어 시스템을 새로운 환경인 EPICS(Experimental Physics and Industrial Control System) 시스템으로 개발하고 있다. EPICS 시스템의 구성은 IOC(Input/Ouput Controller) 와 OPI(Operator Interface)의 2-Layer로 구성되며 이는 MIU(Machine Interfaces Unit), SCC(Subsystem Computer Control System) 그리고 HMI(Human Machine Interface)로 이어지는 기존의 3-Layer 단계 중 SCC단계를 줄여 2-Layer로 구성된다. 이들 두 계층간의 통신은 Client(OPI)/Server(IOC) 구조의 Channel Access를 통해서 이루어진다. 개발중인 EPICS 시스템은 Open Architecture 구조로 IOC와 OPI 각 부분에서 개발시에 사용된 운영체제나 Hardware 를 사용하지 않고 다른 운영체제나 Hardware를 사용하더라도 하나의 공통부분 즉, Channel Access만 있으면 이를 통해 서로 다른 Subsystem IOC의 데이터를 Access할 수 있다. 전체 EPICS 제어시스템 중 저장링 운전의 핵심이 되는 BPM(Beam Position Monitoring) 및 MPS(Magnet Power Supply) 시스템은 IOC부분에 MVME5100(Target Machine) 보드와 vxWorks(Operating System)를 이용하고 OPI부분에는 SUN Workstation(Host Machine)와 Solaris(Operating System)을 사용하여 개발하고 있다. 본 논문에서는 IOC 및 OPI의 설치 절차와 설치 방법에 대해 기술하였다.

• 제어로봇시스템학회논문지
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• 제22권11호
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• pp.904-911
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• 2016

This paper presents a novel driving system by the humanoid robot to drive a vehicle in disaster response situations. To enhance robot's capability for substituting human activities in responding to natural and man-made disaster, the one of prerequisite skills for the rescue robot is the mounted mobility to maneuver a vehicle safely in disaster site. Therefore, our driving system for the humanoid is developed in order to steer a vehicle through unknown obstacles even under poor communication conditions such as time-delay and black-out. Especially, the proposed system includes a tele-manipulation interface and stable navigation strategies. First, we propose a new type of path estimation method to overcome limited communication. Second, we establish navigation strategies when the operator cannot recognize obstacles based on Dynamic Window Approach. The effectiveness of the proposed developments is verified through simulation and experiments, which demonstrate suitable system for driving a vehicle in disaster response.

• Computers and Concrete
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• 제5권2호
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• pp.101-116
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• 2008

The microscopic determination of air void characteristics in hardened concrete, defined in EN 480-11 as the linear-traverse method, is an extremely time-consuming and tedious task. Over past decades, several researchers have proposed relatively expensive mechanical automated systems which could replace the human operator in this procedure. Recently, the appearance of new high-resolution flatbed scanners has made it possible for the procedure to be automated in a fully-computerized and thus cost-effective way. The results of our work indicate the high sensitivity of such image analysis automated systems firstly to the quality of sample surface preparation, secondly to the selection of the air void threshold value, and finally to the selection of the probe system. However, it can be concluded that in case of careful validation and the use of the approach which is proposed in the paper, such automated systems can give very good estimate of the air void system parameters, defined in EN 480-11. The amount of time saved by using such a procedure is immense, and there is also the possibility of using alternative stereological methods to assess other, perhaps also important, characteristics of air void system in hardened concrete.

• 제어로봇시스템학회논문지
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• 제15권5호
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• pp.538-542
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• 2009

Industrial manipulators have been mostly used in large companies such as automakers and electronics companies. In recent years, however, demands for industrial manipulators from small and medium-sized enterprises are on the increase because of shortage of manpower and high wages. Since these companies cannot hire robot engineers for operation and programming of a robot, intuitive teaching and playback techniques of a robot manipulator should replace the robot programming which requires substantial knowledge of a robot. This paper proposes an intuitive teaching and playback algorithm used in assembly tasks. An operator can directly teach the robot by grasping the end-effector and moving it to the desired point in the teaching phase. The 6 axis force/torque sensor attached to the manipulator end-effector is used to sense the human intention in teaching the robot. After this teaching phase, a robot can track the target position or trajectory accurately in the playback phase. When the robot contacts the environment during the teaching and playback phases, impedance control is conducted to make the contact task stable. Peg-in-hole experiments are selected to validate the proposed algorithm since this task can describe the important features of various assembly tasks which require both accurate position and force control. It is shown that the proposed teaching and playback algorithm provides high positioning accuracy and stable contact tasks.

• Nuclear Engineering and Technology
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• 제17권4호
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• pp.302-316
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• 1985

TMI와 월성 사고 이후 PORV를 통한 Small LOCA는 원자력 발전소 리스크의 중요한 요소로 부각되었다. 본 논문에서는 이 계통을 통한 Pressurizer Surveillance System의 설제와 그에 따른 영향을 확률론적 리스크 평가(PBA) 방법으로 해석하였다. 마이크로 컴퓨터는 계통의 고장(Malfunction)을 공정 확인 방법(Process Checking Method)으로 진단하고 그 진단에 따른 후속 동작(Backup Action)을 자동으로 수행한다. 이러한 개선에 따라 운전원의 빠르고 정확한 판단이 어려웠던 “Spurious Opening”, “Fail to Reclose” 및 “Small Break LOCA” 등의 진상(Symptom) 이 정확히 진단되고, 후속 동작의 자동화로 인하여 인간 실수 확률이 기계적 실수 확률로 감소하게 되었다. 결국. 이러한 개선은 계통의 신뢰도 증가로 Small LOCA 확률의 감소를 가져다 준다.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1998년도 추계학술대회 학술발표 논문집
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• pp.532-538
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• 1998

In this paper, a new adaptive fuzzy inference method using neural network based fuzzy reasoning is proposed to make a fuzzy logic control system more adaptive and more effective. In most cases, the design of a fuzzy inference system rely on the method in which an expert or a skilled human operator would operate in that special domain. However, if he has not expert knowledge for any nonlinear environment, it is difficult to control in order to optimize. Thus, using the proposed adaptive structure for the fuzzy reasoning system can controled more adaptive and more effective in nonlinear environment for changing input membership functions and output membership functions. The proposed fuzzy inference algorithm is called adaptive neuro-fuzzy control(ANFC). ANFC can adapt a proper membership function for nonlinear plant, based upon a minimum number of rules and an initial approximate membership function. Nonlinear function approximation and rotary inverted pendulum control system ar employed to demonstrate the viability of the proposed ANFC.

• 산업공학
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• 제14권1호
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• pp.95-105
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• 2001

Previous work measurement methods need much time and effort of time study analysts because they have to measure required time through direct observations. In this study, we propose a method which efficiently measures standard times without involvement of human analysts using digital image processing techniques. This method consists of two main steps: motion representation step and cycle segmentation step. In motion representation step, we first detect the motion of any object distinct from its background by differencing two consecutive images separated by a constant time interval. The images thus obtained then pass through an edge detector filter. Finally, the mean values of coordinates of significant pixels of the edge image are obtained. Through these processes, the motions of the observed worker are represented by two time series data of worker location in horizontal and vertical axes. In the second step, called the cycle segmentation step, we extract the frames which have maximum or minimum coordinates in one cycle and store them in a stack, and calculate each cycle time using these frames. In this step we also consider methods on how to detect work delays due to unexpected events such as operator's escapement from the work area, or interruptions. To condude, the experimental results show that the proposed method is very cost-effective and useful for measuring time standards for various work environment.