• 제어로봇시스템학회논문지
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• 제19권3호
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• pp.268-274
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• 2013

In this paper, the performance analysis of optics-based sensor node localization using ToF (Time of Flight) scheme is conducted. Generally, the position of the sensor node is calculated on the base station. And the base station scans neighboring sensor nodes with a laser. The laser which is reflected from one sensor node, however, can be reached to the base station at different angles according to the scanning resolution. This means that the error of the reached angle can increase and one node may be recognized as different nodes. Also the power of laser can decrease because the laser signal spread. Thus the sensor node which is located at a long distance from the base station cannot be detected. In order to overcome these problems which can be occurred in localization using ToF, the beam spot, the scanning resolution, the size of reflector and the power of laser at the sensor node were analyzed. It can be expected that the consequence of analysis can be provided in acquisition of accurate position of sensor node and construction of optics-based sensor node localization system.

• 디지털산업정보학회논문지
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• 제10권2호
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• pp.13-20
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• 2014

In this paper, we implemented the object scanning with nxtOSEK which is an open source platform. nxtOSEK consists of device driver of leJOS NXJ C/Assembly source code, TOPPERS/ATK(Automotive real time Kernel) and TOPPERS/JSP Real-Time Operating System source code that includes ARM7 specific porting part, and glue code make them work together. nxtOSEK can provide ANSI C by using GCC tool chain and C API and apply for real-time multi tasking features. We experimented the 3D scanning with ultra sonic and laser sensor which are made directly by laser module diode and experimented the measurement of scanning the object by knowing x, y, and z coordinates for every points that it scans. In this paper, the laser module is the dimension of $6{\times}10[mm]$ requiring 5volts/5[mW], and used the laser light of wavelength in the 650[nm] range. For detecting the object, we used the beacon detection algorithm and as the laser light swept the objects, the photodiode monitored the ambient light at interval of 10[ms] which is called a real time. We communicated the 3D scanning platform via bluetooth protocol with host platform and the results are displayed via DPlot graphic tool. And therefore we enhanced the functionality of the 3D scanner for identifying the image scanning with laser sensor modules compared to ultra sonic sensor.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2004년도 추계학술대회 논문집
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• pp.201-206
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• 2004

Laser scanner are getting used for inspection and reverse engineering in industry such as motors, electronic products, dies and molds. However, due to the lack of efficient scanning technique, the tasks become limited to the low accuracy purpose. The main reasons for this limitation for usefulness are caused from the optical drawback, such as irregular reflection, scanning direction normal to measuring surface, the influence of surface integrity, and other optical disturbances. To overcome these drawback of laser scanner, this study propose the mechanism to reduce the optical trouble by using the 2 kinds of rotational movement axis and by composing the spherical coordinate to scanning the surface keeping normal direction consistently. So, it could be designed and interfaced the measuring device to realize that mechanism, and then it could acquisite the accurate 3D form cloud data. Also, these data are compared with the standard master ball and the data acquisited from the touch point sensor, to evaluate the accuracy and stability of measurement and to demonstrate the implementation of an dental tooth purpose system

• 대한기계학회논문집A
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• 제20권3호
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• pp.891-900
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• 1996

The vision sensor which is based on the optical triangulation theory with the laser as an auxiliary light source can detect not only the seam position but the shape of seam. In this study, a vision sensor using the scanning laser beam was investigated. To design the vision sensor which considers the reflectivity of the sensing object and satisfies the desired resolution and measuring range, the equation of the focused laser beam which has a Gaussian irradiance profile was firstly formulated, Secondly, the image formaing sequence, and thirdly the relation between the displacement in the measuring surface and the displacement in the camera plane was formulated. Therefore, the focused beam diameter in the measuring range could be determined and the influence of the relative location between the laser and camera plane could be estimated. The measuring range and the resolution of the vision sensor which was based on the Scheimpflug's condition could also be calculated. From the results mentioned above a vision sensor was developed, and an adequate calibration technique was proposed. The image processing algorithm which and recognize the center of joint and its shape informaitons was investigated. Using the developed vision sensor and image processing algorithm, the shape informations was investigated. Using the developed vision sensor and image processing algorithm, the shape informations of the vee-, butt- and lap joint were extracted.

• 비파괴검사학회지
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• 제25권6호
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• pp.459-466
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• 2005

The scanning laser source (SLS) technique has been proposed recently as an effective way to investigate small surface-breaking defects, By monitoring the amplitude and frequency changes of the ultrasound generated as the SLS scans over a defect, the SLS technique has provided enhanced signal-to-noise performance compared to the traditional pitch-catch or pulse-echo ultrasonic methods, An extension of the SLS approach to map defects in microdevices is proposed by bringing both the generator and the receiver to the near-field scattering region of the defects, To facilitate near-field ultrasound measurement, silicon microcantilever probes are fabricated using microfabrication technique and their acoustical characteristics are investigated, Then, both the laser-generated ultrasonic source and the microcantilever probe are used to monitor near-field scattering by a surface-breaking defect.

• 한국건설관리학회논문집
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• 제25권3호
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• pp.68-82
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• 2024

The planning stage of laser scanning is crucial for acquiring high-quality 3D source data. It involves assessing the target space's environment and formulating an effective measurement strategy. However, existing practices often overlook on-site conditions, with decisions on scanner deployment and scanning locations relying heavily on the operators' experience. This approach has resulted in frequent modifications to scanning locations and diminished 3D data quality. Previous research has explored the selection of optimal scanner locations and conducted preliminary reviews through simulation, but these methods have significant drawbacks. They fail to consider scanner inaccuracies, do not support the use of multiple scanners, rely on less accurate 2D drawings, and require specialized knowledge in 3D modeling and programming. This study introduces an optimization technique for laser scanning planning using 3D simulation to address these issues. By evaluating the accuracy of scan data from various laser scanners and their positioning for scanning a retaining wall structure in a small-scale building, this method aids in refining the laser scanning plan. It enhances the decision-making process for end-users by ensuring data quality and reducing the need for plan adjustments during the planning phase.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.768-772
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• 2008

Various scanning systems have been studied in many industrial areas to acquire a range data or to reconstruct an explicit 3D model. Currently optical technology has been used widely by virtue of noncontactness and high-accuracy. In this paper, we describe a 3D laser scanning system developped to reconstruct the 3D surface of a large-scale object such as a curved-plate of ship-hull. Our scanning system comprises of 4ch-parallel laser vision modules using a triangulation technique. For multi laser vision, calibration method based on least square technique is applied. In global scanning, an effective method without solving difficulty of matching problem among the scanning results of each camera is presented. Also minimal image processing algorithm and robot-based calibration technique are applied. A prototype had been implemented for testing.

• 전기학회논문지P
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• 제51권3호
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• pp.155-160
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• 2002

This paper focuses on the problem of local obstacle avoidance of mobile robots. To solve this problem, the safety direction section search algorithm is suggested. This concept is mainly composed with non-collision section and collision section from the detecting area of laser scanning sensor. Then, we will search for the most suitable direction in these sections. The proposed local motion planning method is simple and requires less computation than others. An environment model is developed using the vector space concept to determine robot motion direction taking the target direction, obstacle configuration, and robot trajectory into account. Since the motion command is obtained considering motion dynamics, it results in smooth and fast as well as safe movement. Using the mobile base, the proposed obstacle avoidance method is tested, especially in the environment with pillar, wall and some doors. Also, the proposed autonomous motion planning and control algorithm are tested extensively. The experimental results show the proposed method yields safe and stable robot motion through the motion speed is not so fast.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
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• pp.105-110
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• 1999

This paper presents a local obstacle avoidance method for indoor mobile robots using Lane method and velocity Space Command approach. The method locates local obstacles using the information form multi-sensors, such that ultrasonic sensor array and laser scanning sensor. The method uses lane method to determine optimum collision-free heading direction of a robot. Also, it deals with the robot motion dynamics problem to reduce some vibration and guarantee fast movement as well. It yields translational and rotational velocities required to avoid the detected obstacles and to keep the robot heading direction toward goal location as close as possible. For experimental verification of the method, a mobile robot driven by two AC servo motors, equipped with 24 ultrasonic sensor array and laser scanning sensor navigates using the method through a corridor cluttered with obstacle.

• Journal of Welding and Joining
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• 제21권2호
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• pp.102-110
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• 2003

A visual sensor consisted of polygonal mirror, laser, and CCD camera was proposed to measure the distance to the weld joint for recognizing the joint shape. To scan the laser beam of the sensor onto an object, 8-facet polygonal mirror was used as the rotating mirror. By locating the laser and the camera at axi-symmetrical positions around the mirror, the synchronized-scan condition could be satisfied even when the mirror was set to rotate through one direction continuously, which could remove the inertia effect of the conventional oscillating-mirror methods. The mathematical modelling of the proposed sensor with the optical triangulation method made it possible to derive the relation between the position of an image on the camera and the one of a laser light on the object. Through the geometrical simulation of the proposed sensor with the principal of reflection and virtual image, the optical path of a laser light could be predicted. The position and direction of the CCD camera were determined based on the Scheimpflug's condition to fit the focus of any image reflected from an object within the field of view. The results of modelling and simulation revealed that the proposed visual sensor could be used to recognize the weld joint and its vicinity located within the range of the field of view and the resolution. (Received February 19, 2003)