• 소성∙가공
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• 제23권1호
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• pp.35-40
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• 2014

The deformation characteristics of a double round copper pipe and a single round copper pipe under biaxial compression were studied using a horizontal compression die. The change in punch load and in deformation behavior was measured during the experiments using various compressive deformation rates in the range of 10mm/min. ~ 450mm/min. The maximum punch load for both the double round copper pipe and the single round copper pipe decreased with increasing compressive deformation rate. The maximum punch load for the single round copper pipe was twice that of the double round copper pipe. After a 4.0mm stroke, the deformed shape of the single round copper pipe remained rectangular. However the outer tube of double round copper pipe remained rectangular while the inner tube was clover shaped. The stress and strain distributions in the double round copper pipe and the single round copper pipe show clear differences. The results of numerical simulations using Deform-2D are in good agreement with experimental results.

• 한국레이저가공학회지
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• 제12권1호
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• pp.19-24
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• 2009

Because of its fast and precise welding performance, laser welding is becoming a new excellent welding method. However, the precise focusing and robust seam tracking are required to apply laser welding to the practical fields. In order to laser weld a type of T joint like a circular pipe on a square pipe, which could be met in the three dimensional structure such as an aluminum space frame, a visual sensor system was developed for automation of focusing and seam tracking. The developed sensor system consists of a digital CCD camera, a structured laser, and a vision processor. It is moved and positioned by a 2-axis motorized stage, which is attached to a 6 axis robot manipulator with a laser welding head. After stripe-type structured laser illuminates a target surface, images are captured through the digital CCD camera. From the image, seam error and defocusing error are calculated using image processing algorithms which includes efficient techniques handling continuously changed image patterns. These errors are corrected by the stage off-line during welding or teaching. Laser welding of a circular pipe on a square pipe was successful with the vision tracking system by reducing the path positioning and de focusing errors due to the robot teaching or a geometrical variation of specimens and jig holding.

• 소성∙가공
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• 제28권4호
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• pp.175-182
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• 2019

In this study, compression process is performed on the seamless E235 pipe using the newly developed compression technology for seamless pipe. Experimental analysis on the heterogeneity of microstructures and mechanical properties of the deformed seamless pipe is conducted. As a result, the correlation between microstructures and mechanical properties are determined. The spatial distribution of effective stress and effective strain developed in the seamless pipe deformed through compression is analyzed using the finite element method (FEM) based on different inner pressure conditions. From the results of the FEM, the impact of the inner pressure on effective stress and effective strain of the seamless pipe deformed through compression can be understood theoretically.

• 전자공학회논문지B
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• 제33B권1호
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• pp.38-48
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• 1996

본 논문에서는 컴퓨터 비젼응용을 위한 태스크레벨 파이프라인 멀티컴퓨터인 "RV860-PIPE(Realtime Vision i860 system using PIPEline)"를 구현하고 성능평가 하였다. RV860-PIPE는 MIMD형태의 아키텍쳐를 가지며, 시각처리에 적합한 ring 형태의 상호연결망(interconnection network)을 갖는 매시지 패싱타입의 컴퓨터로 구현되었다. RV860-PIPE의 단위 노드 컴퓨터는 일반적인 시각알고리즘의 수행을 위하여 법용성과 강력한 처리능력을 갖도록 64-bit 프로세서를 사용하여 설계하였다. 또한 단위 노드간 양방향 통신 및 영상 입출력기와의 통신 부담을 덜기 위한 전용화된 고속 통신 채널을 설계하였다. 구현된 시스템은 edge 검출, 실시간 이동물체 추적, 실시간 얼굴인식과 같은 시각 처리 응용프로그램들을 성능평가함으로써 컴퓨터 비젼응용에 실용적으로 적용가능함을 보였다.

• 대한전기학회논문지:시스템및제어부문D
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• 제51권6호
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• pp.258-266
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• 2002

This paper proposes the methodology of the image processing algorithm that estimates the pose of the inner-pipe crawling robot. The inner-pipe crawling robot is usually equipped with a lighting device and a camera on its head for monitoring and inspection purpose of defects on the pipe wall and/or the maintenance operation. The proposed methodology is using these devices without introducing the extra sensors and is based on the fact that the position and the intensity of the reflected light from the inner wall of the pipe vary with the robot posture and the camera. The proposed algorithm is divided into two parts, estimating the translation and rotation angle of the camera, followed by the actual pose estimation of the robot . Based on the fact that the vanishing point of the reflected light moves into the opposite direction from the camera rotation, the camera rotation angle can be estimated. And, based on the fact that the most bright parts of the reflected light moves into the same direction with the camera translation, the camera position most bright parts of the reflected light moves into the same direction with the camera translation, the camera position can be obtained. To investigate the performance of the algorithm, the algorithm is applied to a sewage maintenance robot.

• 한국건설순환자원학회논문집
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• 제5권2호
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• pp.177-184
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• 2017

최근 한국에서는 많은 지반 침하 사고가 발생하고 있는데, 이는 상하수의 누수 및 손상된 하수관에 기인한 것이다. 본 연구는 지반 침하에 대한 GPR 탐지 데이터의 실증적 자료를 구축하는 것을 목표로 한다. 이러한 목적으로 테스트 베드가 제작되었으며, 제작 변수는 주철관 및 EPS의 매입 깊이 및 수평 거리이다. 탐사결과, 1.5m의 깊이로 매립된 EPS는 검출하기 어려웠으며, 0.5m 거리 내에서 주철관에 밀접하게 매설 된 EPS는 매우 강한 주철관 신호로 탐지가 불가능했다. 또한 본 연구에서는 GPR 탐사 이미지 결과를 처리하기 위해 GPR 이미지 처리 프로그램 (GPRiPP)을 개발했다. 그 주요 기능은 위글파 신호를 증폭시키는 게인 기능이며, 기존 프로그램과 GPRiPP의 이미지 처리 기능은 매우 유사함을 확인하였다.

• 제어로봇시스템학회논문지
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• 제9권10호
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• pp.822-831
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• 2003

A computer-vision based pipe-inspection algorithm is developed. The algorithm uses the modified Hough transformation and a line-scanning approach to identify the edge line and the radius of the pipe image, from which the eccentricity and dimension of the pipe-end is calculated. Line and circle detection was performed using Laplace operator with input image, which are acquired from the front and side cameras. In order to minimize the memory usage and the processing time, a clustering method with the modified Hough transformation is introduced for line detection. The dimension of inner and outer radius of pipe is calculated by the proposed line-scanning method. The method scans several lines along the X and Y axes, calculating the eccentricity of inner and outer circle, by which pipes with wrong end-shape can be classified and removed.

• 한국통신학회논문지
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• 제29권6C호
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• pp.793-800
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• 2004

본 논문에서는 지하에 매설되어 있는 통신 관로의 효율적인 관리를 위하여 관로상태를 진단할 수 있는 자동 관로 등급 판정 시스템을 제안하였다. 작업자에 의해 행해지던 기존의 관로 조사는 주관적인 판단에 의해 수동으로 판단하기 때문에 수치적인 정량화를 통한 관로 등급 판정 및 효율적인 데이터베이스 구축이 어렵다. 이러한 단점을 보완하기 위하여 인입 길이별로 관로 단면에 레이저를 투영하여 단면의 상태를 획득하고, 획득된 영상에 대해 실제 관로 단면의 수치적인 최소 직경을 구하며 등급 판정하는 기법을 적용하였다. 제안된 기법에서는 관로 내부의 특별한 상황을 고려하여 잡음 제거 필터와 다양한 color model를 적용한 전처리 과정을 거치게 된다. 관로의 최소 직경판단 및 등급 판정은 세부처리 단계를 통하여 이루어진다. 정확도(precision)를 이용하여 제안된 시스템의 성능을 평가한 결과 90% 이상의 정확한 등급 판정이 가능한 것을 확인하였다.

• 한국측량학회지
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• 제11권2호
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• pp.43-51
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• 1993

도시 시설물에 관한 도면들은 시민의 생활과 도시 발전에 있어 매우 중요한 기반시설자원이다. 현재 이들에 대한 관리에 있어 존재하는 비효율성 방지를 위해 전산화의 필요성이 대두되고 있다. 본 연구에서는 PC용 GIS 소프트웨어를 이용하여 도시시설물중 하수도 시설의 관리 방법에 관하여 연구하였다. 경기도 안산시 일부지역을 표본으로 하여 하수도관리를 전산화하는 시스템구축을 위하여 도형 자료의 입력에는 1:38,000 안산시 행 정구역도와 1:3,000 도시 계획 총괄도, 그리고 1:500 시설물 도면을 이용하였고, 속성자료로서는 토지의 지번, 하수도의 설치 년도, 관의 재질, 관경, 길이 등을 입력하였다. 데이타베이스의 구축은 관계형(Relational) 자료모형을 이용하였으며, 자료의 검색, 분석, 처리를 위하여 위상관계를 설정하였다. 또한 본 연구에서는 노후관의 교체, 보수를 위한 공사와 관련된 물량, 시간, 비용 등을 계산할 수 있는 프로그램을 작성하였다.

• Journal of Welding and Joining
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• 제16권5호
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• pp.119-133
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• 1998

To implement full automation in pipe welding, it si most important to develop special sensors and their related systems which act like human operator when detecting irregular groove conditions. In this study, an automatic pipe Gas Metal Arc Welding (GMAW) system was proposed to full control pipe welding procedure with intelligent sensor systems. A five-axes manipulator was proposed for welding torch to automatically access to exact welding position when pipe size and welding angle were given. Pool status and torch position were measured by using a weld-pool image monitoring and processing technique in root-pass welding for weld seam tracking and weld pool control. To overcome the intensive arc light, pool image was captured at the instance of short circuit of welding power loop. Captured image was processed to determine weld pool shape. For weld seam tracking, the relative distance of a torch position from the pool center was calculated in the extracted pool shape to move torch just onto the groove center. To control penetration of root pas, gap was calculated in the extracted pool image, and then weld conditions were controlled for obtaining appropriate penetration. welding speed was determined with a fuzzy logic, and welding current and voltage were determined from a data base to correspond to the gap. For automatic fill-pass welding, the function of human operator of real time weld seam control can be substituted by a sensor system. In this study, an arc sensor system was proposed based on a fuzzy control logic. Using the proposed automatic system, root-pass welding of pipe which had gap variation was assured to be appropriately controlled in welding conditions and in torch position by showing sound welding result and good seam tracking capability. Fill-pass welding by the proposed system also showed very successful result by tracking along the offset welding line without any control of human operator.