• 한국생산제조학회지
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• 제9권2호
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• pp.125-137
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• 2000

In this paper we propose a new approach to the development of the automatic vision system to examine and repair the steam generator tubes at remote distance. In nuclear power plants workers are reluctant of works in steam generator because of the high radiation environment and limited working space. It is strongly recommended that the examination and maintenance works be done by an automatic system for the protection of the operator from the radiation exposure. Digital signal processors are used in implementing real time recognition and examination of steam generator tubes in the proposed vision system. Performance of proposed digital vision system is illustrated by simulation and experiment for similar steam generator moldel.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 심포지엄 논문집 정보 및 제어부문
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• pp.278-280
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• 2005

원자력발전소 내 원자로의 유지보수 작업을 수행하는 수중로봇은 고준위 방사선에 노출되고, 이로 인해 전자 장치의 오동작 및 고장이 유발될 수 있다. 따라서 허용 방사선량을 초과하지 않도록 피폭되는 누적 방사선량을 실시간으로 모니터링하는 장치가 필수적이다. 본 연구에서는 펄스형의 SiC 포토 다이오드와 선량 기억형인 MOSFET를 다중 방사선 센서로 사용하여 넘은 범위의 방사선 준위의 측정이 가능하고 측정 신뢰도가 향상된 고준위 방사선 측정기를 구현하였다. 이 장치는 측정 원리가 상이한 두 센서를 동일한 방사선 측정에 이용함으로써 방사선 측정의 안정성과 정확성이 향상된 것이 특징이다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.256-263
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• 1993

The integration of deburring robots into product quality and productivity impact the industrial. In this paper the intelligent system of robotic deburring is proposed integrated with robot system, image processing system, force sensor system and host PC. The size, position, recognition of burr is determined by the information that the image processing system processed. The feed velocity of cutting tool is controlled by the information that the force sensor system processed. The integration of these information can remove the uncertainty of the information of deburring on the cutting path. The result of these technologies is useful for the development of the factory automation and automatic inspection equipments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.137.5-137
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• 2001

This paper proposes a method that combines diverse evidence relevant to the reliability to evaluate the reliability of complicated systems such as robots. In practice, reliability experts combine diverse evidences relevant to the reliability and infer the answers by using their own way that are mostly informal. The proposed method also combines diverse evidence and performs inferences but informal and quantitative way by using the benefits of Bayesian Belief Nets (BBN). Diverse evidences could be those from dassical analysis techniques, test results, quality assurance about the process of manufacturing, and the quality of the company or development team, etc. Some of these evidences are qualitative and others are quantitative. Both are ...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.97.4-97
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• 2002

1. Introduction Pose estimation of a three dimensional object has been studied in robot vision area, and it is needed in a number of industrial applications such as process monitoring and control, assembly and PCB inspection. In this research, we propose a new pose estimation method based on principal axes analysis. Here, it is assumed that the locations of x-ray source and the image plane are predetermined and the object geometry is known. To this end, we define a dispersion matrix of an object, which is a discrete form of inertia matrix of the object. It can be determined here from a set of x-ray images, at least three images are required. Then, the pose information is obtained fro...

• 한국공작기계학회논문집
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• 제16권1호
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• pp.9-18
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• 2007

There have been continuous efforts for automation of joint tracking system. This automation process is mainly used to do in root pass of gas metal arc welding in the field of heavy industry and shipbuilding etc. For automation, it is important using of vision sensor. Welding robot with vision sensor is used for weld seam tracking on welding fabrication. Recently, it is used to on post-weld inspection for weld quality evaluation. For real time seam tracking, it is very important role in vision process technique. Vision process is included in filtering and thinning, segmentation processing, feature extraction and recognition. In this paper, it has shown performance comparison results of seam tracking for real time root pass on gas metal arc welding. It can be concluded better segment splitting method than iterative averaging technique in the performance results of seam tracking.

• 제어로봇시스템학회논문지
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• 제13권3호
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• pp.224-229
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• 2007

This paper presents a camera calibration method using several images for three dimensional measurement applications such as stereo systems, mobile robots, and visual inspection systems in factories. Conventional calibration methods that use single image suffer from errors related to reference point extraction in image, lens distortion, and numerical analysis of nonlinear optimization. The camera parameter values obtained from images of same camera is not same even though we use same calibration method. The camera parameters that are obtained from several images of different view for a calibration target is usaully not same with large error values and we can not assume a special probabilistic distribution when we estimate the parameter values. In this paper, the median value of camera parameters from several images is used to improve estimation of the camera values in an iterative step with nonlinear optimization. The proposed method is proved by experiments using real images.

• 한국생산제조학회지
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• 제9권6호
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• pp.19-33
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• 2000

In this paper, we propose anew approach to the development of the automatic vision system to examine and repair the steam generator tubes at remote distance. In nuclear power plants, workers are reluctant of works in steam generator because of the high radiation environment and limited working space. It is strongly recommended that the examination and maintenance works be done by an automatic system for the protection of the operator from the radiation exposure. Digital signal processors are used in implementing real time recognition and examination of steam generator tubes in the proposed vision system. Performance of proposed digital vision system is illustrated by simulation and experiment for similar steam generator model.

• Journal of Dental Anesthesia and Pain Medicine
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• 제20권5호
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• pp.325-329
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• 2020

Classic anesthetic techniques for the inferior alveolar nerve, lingual nerve, and long buccal nerve blockade are achieved by estimating the intended location for anesthetic deposition based on palpation, inspection, and subsequent correlation for oral anatomical structures. The present article utilizes computed tomography (CT) data to 3D print a guide for repeatable and accurate deposition of a local anesthetic at the ideal location. This technical report aims to anatomically define the ideal location for local anesthetic deposition. This process has the potential to reduce patient discomfort, risk of nerve damage, and failed mandibular anesthesia, as well as to reduce the total anesthetic dose. Lastly, as robotic-based interventions improve, this provides the initial framework for robot-guided regional anesthesia administration in the oral cavity.

• 산업공학
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• 제6권2호
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• pp.53-65
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• 1993

This paper deals with the development of a software module for production planning and scheduling activities of an existing Flexible Machining and Assembly System (FMAS). The Production Planning Module uses the hierarchical and sequential scheme based on "divide and conquer" philosophy. In this module, routes are determined based on the production order, orders are screened, tools are allocated, and order adjustments are executed according to the allocated tools. The Scheduling Module allocates the resources, determines the task priority and the start and completion times of tasks. Re-scheduling can be done to handle unforeseen situations such as lumpy demands and machine breakdowns. Since all modules are integrated with a central database and they interface independently, it is easy to append new modules or update the existing modules. The result of this study is used for operating the real FMAS consisting of a machining cell with 2 domestic NC machines and a part feeding robot, an assembly cell with a conveyor and 3 robots, an inspection cell, an AGV, an AS/RS, and a central control computer.