• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.50-50
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• 2000

In this paper, a new measuring system is :proposed which can measure the fine 6-DOF displacement of rigid bodies. Its measurement principle is based on detection of laser beam reflected from a specially fabricated mirror that looks like a triangular pyramid having an equilateral cross-sectional shape. The mirror has three lateral reflective surfaces inclined 45$^{\circ}$ to its bottom surface. We call this mirror 3-facet mirror. The 3-facet mirror is mounted on the object whose 6-DOF displacement is to be measured. The measurement is operated by a laser-based optical system composed of a 3-facet mirror, a laser source, three position-sensitive detectors(PSD). In the sensor system, three PSDs are located at three corner points of a triangular formation, which is an equilateral triangular formation tying parallel to the reference plane. The sensitive areas of three PSDs are oriented toward the center point of the triangular formation. The object whose 6-DOF displacement is to be measured is situated at the center with the 3-facet mirror on its top surface. A laser beam is emitted from the laser source located at the upright position and vertically incident on the top of the 3-fatcet mirror. Since each reflective facet faces toward each PSD, the laser beam is reflected at the 3-facet mirror and splits into three sub-beams, each of which is reflected from the three facets and finally arrives at three PSDs, respectively. Since each PSD is a 2-dimensional sensor, we can acquire the information on the 6-DOF displacement of the 3-facet mirror. From this principle, we can get 6-DOF displacement of any object simply by mounting the 3-facet mirror on the object. In this paper, we model the relationship between the 6-DOF displacement of the object and the outputs of three PSDs. And, a series of simulations are performed to demonstrate the effectiveness of the proposed method. The simulation results show that the proposed sensing system can be an effective means of obtaining 3-dimensional position and orientation of arbitrary objects.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.10
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• pp.46-55
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• 1996

As industrial standard data, the STL format which approximates three dimensional CAD model to triangular facets, is used for RP(Rapid Prototyping) system in recent days. Because most RP system take the only form of two dimensional line segments as an input stream inspite of its imperfectness while converting into STL format, a CAD model is converted into a standard industrial format which is composed of many triangular facets. The error verifying process is composed of four main steps, and these are 1) Remove facets with two or more vertices equal to each other. 2) Fix overlapping error such as more than three facets adjacent to anedge. 3) Fill holes in the mesh by using Delaunay triangulation method. 4) Correct the wrong direction and normal vectors. This paper is concerned with serching the mentioned errors in advance and modifying them.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.131.5-131
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• 2001

A new measurement method to measure vibrational motions of objects is presented. The original principle is similar to the previous work that utilized a 3-facet mirror to obtain three dimensional positions and orientations of rigid bodies. While the previous work was presented for only stationary objects, in this paper, we newly investigate the feasibility of this method for dynamic applications. The 3-facet mirror that looks like a triangular pyramid having an equilateral cross-sectional shape. The mirror has three lateral reflective surfaces inclined 45 degrees to its bottom surface, and its mounted on the object whose motion is to be measured, As optical components, a He-Ne laser source and three position-sensitive detectors(PSD) are used. The laser beam is emitted from the He-Ne laser source located at the upright position and vertically incident to the top of the 3-facet ...

• Journal of the Korean Society of Industry Convergence
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• v.5 no.2
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• pp.141-146
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• 2002

Stereolithography is the best known as rapid prototyping system. It uses the STL format data which is generated from CAD system. In this study, One of the main function of this developed CAM system deals with shape modification which divide a shape into two parts or more. The cross section of a STL part by a z-level is composed with nested or single polygonal closed loop. In order to make RP product, closed loops must fill with triangular facets from SSET and recover sliced triangular facets which is located normal direction to the cross sectional plane. The system is development by using Visuall C++ compiler in the environment of pentium PC. Operating system is Windows NT workstaion from Micro-Soft.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.3
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• pp.208-219
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• 2002

A novel measurement method to obtain the 6-DOF motions of arbitrary rigid bodies is proposed in this paper. The method adopts a specially fabricated mirror called 3-facet mirror, which looks like a triangular pyramid haying an equilateral cross-sectional shape. The mirror is mounted on the objects to be measured, illuminated by a laser beam having circular profile, and reflects the laser beam in three different directions. Three PSDs(position sensitive detector) detect the three beams reflected by the mirror, respectively. From the signals of the PSDs, we can calculate the 3-dimensional position and orientation of the 3-facet mirror, and thus enabling us to determine the 3-dimensional position and orientation of the objects. In this paper, we model the relationship between the 3-dimensional position and orientation of an object in motion and the outputs of three PSDs. A series of experiments are performed to demonstrate the effectiveness and accuracy of the proposed method. The experimental results show that the proposed sensing system can be an effective means of obtaining 3-dimensional position and orientation of arbitrary objects and provide resonable measurement accuracy.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.8
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• pp.172-179
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• 2000

In this paper a technology for the fabrication of the oblique structure using the LIGA process will be presented. The fabricated microstructure is a tetrahedral 3- facet mirror. The mirror has an equilateral triangular base of hundreds ${\mu}m$ length mirror-like three side-facets inclined to the base at 45$^{\circ}$ and knife edges. Two regular triangles of 45$^{\circ}$ and tan-12. After development the shaded part of the PMMA the tetrahedral mirror remains, The completed mirror shows excellent aspects of mirror-like facets and knife-edges. By controlling the gap between the mask and the substrate the size of mirror easily can be changed. This mirror would be used as a laser beam splitter for the feedback control of the HDD slider.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.97.5-97
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• 2002

A sensor modeling via artificial neural network is presented in this paper. The optical sensor has been designed to treasure absolute 3-dimensional positions and orientations of objects in 6-DOF. The method utilizes a triangular pyramidal mirror having an equilateral cross-sectional shape referred as 3-facet mirror. The mirror has three lateral reflective surfaces inclined 45 degrees to its bottom surface. The 3-facet mirror is mounted on the object whose 6-DOF motion is to be measured. As optical components, a He-Ne laser source and three position-sensitive detectors(PSD) are used. The laser beam is emitted from the He-Ne laser source located at the upright position and vertically incident o...

• Journal of the Korean Society for Precision Engineering
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• v.12 no.11
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• pp.140-147
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• 1995

This paper deals with conversion from the STL file to the Slice to the Slice cross-sectional information for Stereolithography. The STL file is widely used for Stereolithography, but it is very difficult to convert STL file into Slice file directly. Because it consists of an ordered list of triangular net without any topological information other than the orientation of each facet. So, The system is accomplished by data flow through several intermediate stages such as Reference. SL1. .SL2L. .SL3. and .SLC file. The data processing is performed in 5 steps: 1) Create a Reference file including common information. 2) Modify STL file within the effective range of SL machine. 3) Calculate a point of intersection between plane equation and line equation. 4) Sort z values in ascending order using quick sort algorithm. 5) Search the adjacent points and formulate a closed loop usingsingly linked linear list. The system is developed by using Borland C++ 3.1 compiler in the environment of Pentium PC, and verified to be satisfactory by making some prototypes of electric household appliances.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.597-601
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• 1996

Nowadays, the STL format, industrial standard data, which approximates three dimensional CAD model to triangular facets, is used for RP(Rapid Prototyping) system. Because most RP machine is accpted to only two dimensional line segments, but some STL translators are sometimes poorly implemented. The error verifying process is as follows. 1) Remove facets with two or more vertices equal to each other. 2) Fix overlapping error such as more than three facets adjacent to an edge. 3) Fill holes in the mesh by using Delaunay triangulation method. 4) Repair wrong direction and value of normal vectors. This paper is concerned with searching the mentioned errors in advance and modifying them.

• Journal of Korean Society for Geospatial Information Science
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• v.15 no.2 s.40
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• pp.3-14
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• 2007

This study proposes an automatic method to generate 3D building models using a draft map, which is an intermediate product generated during the map generation process based on aerial photos. The proposed method is to generate a terrain model, roof models, and wall models sequentially from the limited 3D information extracted from an existing draft map. Based on the planar fitting error of the roof corner points, the roof model is generated as a single planar facet or a multiple planar structure. The first type is derived using a robust estimation method while the second type is constructed through segmentation and merging based on a triangular irregular network. Each edge of this roof model is then projected to the terrain model to create a wall facet. The experimental results from its application to real data indicates that the building models of various shapes in wide areas are successfully generated. The proposed method is evaluated to be an cost and time effective method since it utilizes the existing data.