• 한국산업융합학회 논문집
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• 제18권2호
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• pp.90-98
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• 2015

This research propose with image-based visual a new approach to design a feedback control of mobile robot. because mobile robot must be recharged periodically, it is necessary to detect and move to docking station. Generally, laser scanner is used for detect of position of docking station. CCD Camera is also used for this purpose. In case of using camera, the position-based visual servoing method is widely used. But position-based visual servoing method requires the accurate calibration and it is hard and complex work. Another method using cameras is inmage-based visual feedback. Recently, image based visual feedback is widely used for robotic application. But it has a problem that cannot have linear trajectory in the 3-dimensional space. Because of this weak point, image-based visual servoing has a limit for real application. in case of 2-dimensional movement on the plane, it has also similar problem. In order to solve this problem, we point out the main reason of the problem of the resolved rate control method that has been generally used in the image-based visual servoing and we propose an image-based visual feedback method that can reduce the curved trajectory of mobile robot in th cartesian space.

• 한국레이저가공학회지
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• 제13권4호
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• pp.14-20
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• 2010

Robot path generation and laser welding technology for manufacturing automotive body are studied. Laser welding and industrial robot systems are used with the robot based laser welding system. The laser system used in this study is 1.6kW Fiber laser, while the robot system is 6 axes Industrial robot (payload: 130kg). The robot based laser welding system is equipped with laser scanner system for remote laser welding. The laser source, robot and laser scanner system are used to increase the processing speed and to improve the process efficiency. The welding joints of steel plate are butt and lapped joints. The quality test of the laser welding are through the observation the shape of bead on plate and cross-section of welding part. The 3 dimensional laser welding for non-linear pipe welding line is performed. This paper introduces the robot based laser welding system to resolve the limited welding speed and accuracy of the conventional spot welding system.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1438-1441
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• 2005

To establish of standard technique of nano-length measurement in 2D plane, new AFM system has been designed. In this system, measurement uncertainty is dominantly affected by the Abbe error of XY scanning stage. No linear stage is perfectly straight; in other words, every scanning stage is subject to tilting, pitch and yaw motion. In this paper, an AFM system with minimum offset of XY sensing is designed. And XY scanning stage is designed to minimize rotation angle because Abbe errors occur through the multiply of offset and rotation angle. To minimize the rotation angle optimal design has performed by maximizing the stiffness ratio of motion direction to the parasitic motion direction of each stage. This paper describes the design scheme of full AFM system, especially about XY stage. Full range of fabricated XY scanner is $100um\times{100um}$. And tilting, pitch and yaw motion are measured by autocollimator to evaluate the performance of XY stage. Using this AFM system, 3um pitch specimen was measured. As a result, the uncertainty of total system has been evaluated.

• Advances in biomechanics and applications
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• 제1권1호
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• pp.15-22
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• 2014

Computed tomography (CT) is being utilized in orthopaedics and related research to estimate bone strength. These applications benefit from calibration of Hounsfield units to mineral density typical of long bone, up to $1750mg/cm^3$. This study describes a method for establishing repeatable calibration of Hounsfield units to density, and determines the effects of imaging medium on calibration accuracy. Four hydroxyapatite standards were imaged in air on 7 occasions over 19 weeks using a helical multi-slice CT scanner. Each standard was scanned 5 times in different media: porcine soft tissue, water, and air. Calibrated densities were highly repeatable (CV<3.5%). No difference in density was observed between water and soft tissue conditions (p>0.08). This work provides a model for determining repeatable scanner-specific density calibration, demonstrates that the linear relationship between Hounsfield units and density extends to values typical of cortical bone, and supports the practice of imaging calibration standards in an environment similar to that of the target bone.

• 대한공간정보학회지
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• 제15권4호
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• pp.81-88
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• 2007

선형 CCD 센서에 의해 획득되는 위성영상의 기하는 프레임 카메라 영상의 기하와는 차이점을 가지고 있다. 이는 각 스캔 선마다 영상의 외부표정요소가 다르기 때문에 발생한다. 따라서 기존의 프레임 영상에 사용되었던 에피폴라 기하와는 다른 기하가 필요하게 된다. 이와 같은 관점에서, 본 연구에서는 대표적인 선형 CCD 센서를 사용하여 촬영된 IKONOS 위성영상을 이용하여 에피폴라 영상을 제작하기 위한 영상 재배열 방법에 대한 연구를 수행하였으며, 영상의 투영조건을 중심투영이 아닌 평행투영으로 간주하여 구성된 2D 부등각 센서모델을 적용하였다. 이센서 모델에 의해 구성된 에피폴라 선식으로부터 유도된 정규 매개변수와 부등각 변환을 적용하여 에피폴라 재배열영상을 제작하였다. 결과로써, 2D 부등각 센서모델의 정확도가 검증되었으며, 제작된 에피폴라 영상을 사용하여 추출된 3차원 위치정확도는 IKONOS의 RFM 위치정확도와 유사하게 도출되었다.

• Imaging Science in Dentistry
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• 제32권1호
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• pp.27-33
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• 2002

Purpose: To evaluate the influence of threshold value of computed tomography on the accuracy of rapid prototyping (RP) medical model Material and Methods : CT datas of a human dry skull were transferred from CT scanner via compact disk to a personal computer (PC). 3-dimensional image reconstruction on PC by V-works/sup TM/ 3.0 (CyberMed. Inc.) software and RP models fabrication were followed. 2-RP models were produced by threshold value of 500 and 800 selected in surface rendering process. Linear measurements between arbitrary 12 anatomical landmarks on dry skull, 3-D image model, and 2-RP models were done and compared. Thus, the accuracy of 500 RP and 800RP models was respectively evaluated. Results: There was mean difference (% difference) in absolute value of 2.27 mm (2.73%) between linear measurements of dry skull and 500 RP model. There was mean difference (% difference) in absolute value of 1.94 mm (2.52%) between linear measurements of dry skull and 800 RP model. Conclusion: Slight difference of threshold value in rendering process of 3-D modelling made a influence on the accuracy of RP medical model.

• 한국인쇄학회지
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• 제25권1호
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• pp.65-80
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• 2007

The input and output device requires precise color representation and CMS (Color Management System) because of the increasing number of ways to apply the digital image into electronic publishing. However, there are slight differences in the device dependent color signal among the input and output devices. Also, because of the non-linear conversion of the input signal value to the output signal value, there are color differences between the original copy and the output copy. It seems necessary for device-dependent color information values to change into device-independent color information values. When creating an original copy through electronic publishing, there should be color management with the input and output devices. From the devices' three phases of calibration, characterization and color conversion, the device-dependent color should undergo a color transformation into a device-independent color. In this paper, an experiment was done where the input device used the linear multiple regression and the sRGB color space to perform a color transformation. The output device used the GOG, GOGO and sRGB for the color transformation. After undergoing a color transformation in the input and output devices, the best results were created when the original target underwent a color transformation by the scanner and digital camera input device by the linear multiple regression, and the LCD output device underwent a color transformation by the GOG model.

• 한국인쇄학회지
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• 제26권1호
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• pp.51-64
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• 2008

In this paper, an experiment was done where the input(scanner, digital still camera) and monitor(CRT, LCD) device used the linear multiple regression and the GOG (Gain-Offset-Gamma) characterization model to perform a color transformation. Also to color conversion method of the digital printer it used the LUT(Look Up Table), 3dimension linear interpolation and a tetrahedron interpolation method. The results are as follows. From color reappearance of digital printing case of monitor, the XYZ which it converts in linear multiple regression of input device it multiplied the inverse matrix, and then it applies the inverse GOG model and after color converting the patch of the result most which showed color difference below 5 at monitor RGB value. Also, The XYZ which is transmitted from the case input device which is a printer it makes at LAB value to convert an extreme, when the LAB value which is converted calculating the CMY with the LUT and tetrahedral interpolations the color conversion which considers the black quantity was more accurate.

• 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.

• Imaging Science in Dentistry
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• 제40권2호
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• pp.63-68
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• 2010

Purpose : To compare the CT numbers on 3 cone-beam CT (CBCT) images with those on multi-detector CT (MDCT) image using CT phantom and to develop linear regressive equations using CT numbers to material density for all the CT scanner each. Materials and Methods : Mini CT phantom comprised of five 1 inch thick cylindrical models with 1.125 inches diameter of materials with different densities (polyethylene, polystyrene, plastic water, nylon and acrylic) was used. It was scanned in 3 CBCTs (i-CAT, Alphard VEGA, Implagraphy SC) and 1 MDCT (Somatom Emotion). The images were saved as DICOM format and CT numbers were measured using OnDemand 3D. CT numbers obtained from CBCTs and MDCT images were compared and linear regression analysis was performed for the density, $\rho$ ($g/cm^3$), as the dependent variable in terms of the CT numbers obtained from CBCTs and MDCT images. Results : CT numbers on i-CAT and Implagraphy CBCT images were smaller than those on Somatom Emotion MDCT image (p<0.05). Linear relationship on a range of materials used for this study were $\rho$=0.001H+1.07 with $R^2$ value of 0.999 for Somatom Emotion, $\rho$=0.002H+1.09 with $R^2$ value of 0.991 for Alphard VEGA, $\rho$=0.001H+1.43 with $R^2$ value of 0.980 for i-CAT and $\rho$=0.001H+1.30 with $R^2$ value of 0.975 for Implagraphy. Conclusion: CT numbers on i-CAT and Implagraphy CBCT images were not same as those on Somatom Emotion MDCT image. The linear regressive equations to determine the density from the CT numbers with very high correlation coefficient were obtained on three CBCT and MDCT scan.