• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2701-2706
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• 2003

This paper describes weld seam tracking and error compensation methods of automatic plasma arc welding system designed for the corrugation panel that consists of a linear section and a curved section with various curvatures. Realizing automatic welding system, we are faced with two problems. One is a precise seam tracking and the other is an arc length control. Due to the complexity of the panel shape, it is difficult to find a seam and operate a torch manually in the welding process. So, laser vision sensor for seam tracking is equipped for sensing the seam position and controlling the height of a torch automatically. To attain more precise measurement of an arc length, we measure the 3D shape of the panel and analyze error factors according to the various panel states and caused errors are predicted through the welding process. Using that result, compensation algorithm is added to that of arc length control and real time error compensation is achieved. The result shows that these two methods work effectively.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1418-1423
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• 2003

In this paper, a nonlinear controller based on sliding mode control is applied to a two -wheeled Welding Mobile Robot (WMR) to track a smooth-curved welding path at a constant velocity of the welding point. T he mobile robot is considered in terms of dynamics model in Cartesian coordinates and its parameters are exactly known . To obtain the controller, the tracking errors are defined, and the two sliding surfaces are chosen to guarantee that the errors converge to zero asymptotically. Two cases are to be considered: fixed torch and controllable torch. In addition, a simple way of measuring the errors is introduced using two potentiometers. The simulation results are included to illustrate the performance of the control law.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.191-196
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• 2003

This paper presents a method to design an adaptive controller for the kinematic model of a two-wheeled welding mobile robot (WMR) with unknown parameters. We propose a nonlinear controller based on the Lyapunov function to enhance the tracking properties of the WMR. The WMR can track any smooth curved welding path at a constant velocity of the welding point. The system has three degrees of freedom including two wheels and one torch slider. Torch slider motion is used for fast tracking. To design the tracking performance, the errors from WMR to steel wall is defined, and the controller is designed to drive the errors to zero as fast as possible. The effectiveness of the proposed controller is shown through simulation results.

• Korean Journal of Computational Design and Engineering
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• v.9 no.2
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• pp.102-111
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• 2004

In this paper, the efficient layout method for generating common and continuous cutting path of flat-bar profile. The ‘flat -bar’ is a stiffener and has long rectangular shape. This paper describes a fast nesting algorithm of the flat-bar, and a procedure to generate cutting path of gas/plasma torch, which is operated by a NC (numerically controlled) gas/plasma cutting machine. By using this common and continuous path, the machining-time for cutting and the maintenance-cost of plasma-torch could be reduced. Proposed procedures are written in C-language and applied to the Interactive Flat-Bar-Nesting System executable on Open VMS with X-Window system.

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.9
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• pp.138-145
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• 1999

Surface hardening of AC4C aluminium alloy with TiC powders was obtained by plasma transferred are (PTA) method, Bead appearance, microstrucutre and wear behavior were characterized in relation to the torch current, powder feed rate and wear condition. The width and the depth of bead were mainly increased with increasing torch current. The comparison of wear behavior between AC4C alloy and PTA treated AC4C alloy showed the remarkable enhancement of wear resistance.

• International Journal of Korean Welding Society
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• v.5 no.1
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• pp.35-43
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• 2005

This paper deals with the optimum condition for spot heating to correct the thin buckled panel caused by welding. Heat input models for each flame torch tip (500, 800, 2000) with standoff were establish using FEA to evaluate the temperature distribution of the heated plate and verified by experiment. With the heat input models developed for each torch tip, the effect of heating variables including ramp ratio(R) and standoff on the radial shrinkage and angular distortion was identified using FEA. Based on the results, the proper conditions of spot heating with air cooling were established. The amount and distribution of the radial shrinkage by spot heating were formulated as the function of heating variables and in-plane rigidity of the plate.

• Journal of Welding and Joining
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• v.16 no.6
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• pp.68-76
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• 1998

A CCD camera with a laser stripe was applied to realized the automatic weld seam tracking. The 3-dimensional information obtained from the vision system made it possible to generate the weld torch path. The adaptive Hough transformation was used to extract laser stripes an to obtain specific weld points. It takes relatively long time to process image on-line control using the basic control using the basic Hough transformation, but it has a tendency of robustness over the noises such as spatter. For this reason, it was complemented with adaptive Hough transformation to have an on-line processing ability for scanning specific weld points. The dead zone, where the sensing of weld line is impossible, was eliminated by rotating the camera with its rotating axis centered at the weld torch. When weld lines were detected, the camera angle was controlled in order to get the minimum image data for sensing of weld lines. Consequently, the image processing time was reduced.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.1105-1109
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• 1995

A CCD-camera, which is structured with vision system, was used to realize automatic seam-tracking system and 3-D information which is needed to generate torch path, was obtained by using laser-slip beam. To extract laser strip and obtain welding-specific point, Adaptive Hough-transformation was used. Although the basic Hough transformation takes too much time to process image on line, it has a tendency to be robust to the noises as like spatter. For that reson, it was complemented with Adaptive Hough transformation to have an on-line processing ability for scanning a welding-specific point. the dead zone,where the sensing of weld line is impossible, is eliminated by rotating the camera with its rotating axis centered at welding torch. The camera angle is controlled so as to get the minimum image data for the sensing of weld line, hence the image processing time is reduced. The fuzzy controller is adapted to control the camera angle.

• Transactions of the Korean Society of Automotive Engineers
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• v.4 no.2
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• pp.147-157
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• 1996

Natural gas is gaining more attraction as a future fuel in particular both for environmental protection and energy conservation. In order to bring about more widespread use of gaseous engines, the technology capable of achieving output and efficiency performance equivalent to that of diesel engines needs to be developed. In the present paper, the requirements of the pilot torch from pre-chamber for ensuring ignition and promoting combustion are discussed by means of taking high-speed flame photography and system can run with leaner mixture of various fuels comparing to the electric plug ignition system cause the ignition delay period ignited with the torch and the combustion period are very short in spite of changing A/F of gaseous fuels in the main chamber. However, the suitable piston-cavity design for the use of lower-hydrocarbon fuels such as propane and butane must be discussed increasingly in the mear future.

• Applied Science and Convergence Technology
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• v.27 no.1
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• pp.14-18
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• 2018

In order to understand the mechanism of the synthesis of particles using a plasma torch, it is necessary to understand the reaction mechanisms using a computer simulation. In this study, we have developed a simulation method to combine the Lagrangian scheme to follow microparticles and a nodal method to treat nanoparticles categorized with different particle sizes. The Lagrangian scheme includes the Coulomb force which affects the dynamics of larger particles. In contrast, the nodal method is adequate for the nanoparticles because the charge effect is negligible for nanoparticles but the number of nanoparticles is much larger than that of microparticles. This method is helpful to understand the dynamics and growth mechanism of micro- and nano-powder mixture observed in the experiment.