• 대한용접접합학회:학술대회논문집
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• 대한용접접합학회 1999년도 특별강연 및 추계학술발표대회 개요집
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• pp.58-61
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• 1999

• 대한기계학회논문집A
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• 제33권6호
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• pp.614-619
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• 2009

An engine for marine propulsion and power generation consists of several cylinder liner-piston sets. And the oil groove is on the cylinder liner inside wall for the lubrication between a piston and cylinder. The machining process of oil groove has been carried by manual work so far, because of the diversity of the shape. Recently, we developed an automatic grinding robot system for oil groove machining of engine cylinder liners. It can covers various types of oil grooves and adjust its position by itself. The grinding robot system consists of a robot, a machining tool head, sensors and a control system. The robot automatically recognizes the cylinder liner's inside configuration by using a laser displacement sensor and a vision sensor after the cylinder liner is placed on a set-up equipment.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.1075-1080
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• 2008

An engine for marine propulsion and power generation consists of several cylinder liner-piston sets. And the oil groove is on the cylinder liner inside wall for the lubrication between a piston and cylinder. The machining process of oil groove has been carried by manual work so far, because of the diversity of the shape. Recently, we developed an automatic grinding robot system for oil groove machining of engine cylinder liners. It can covers various types of oil grooves and adjust its position by itself. The grinding robot system consists of a robot, a machining tool head, sensors and a control system. The robot automatically recognizes the cylinder liner's inside configuration by using a laser displacement sensor and a vision sensor after the cylinder liner is placed on a set-up equipment.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 1999년도 추계학술대회논문집
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• pp.309-314
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• 1999

The major movement block of the containers is range between apron and designation points on yard in container terminal. The yard tractor operated by human takes charge of it's movement in conventional container terminal. In unmanned container terminal, UCT(unmanned container transporter) has charge of the yard tractor's role and the navigation path is ordered from upper level control system. The unmanned container terminal facilities must have docking system that guided landing line to have high speed travelling and precision positioning in unmanned container terminal. The general method for docking uses the vision system with CCD camera, infra red, and laser. This paper describes the investigation for the developed docking method in view point of merit and demerit and introduces 속 result of developing the docking system with LSB(laser slit beam).

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1828-1831
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• 1997

this paper, to represent the robot motion approximately in space, delas with algorithm for position recognition of space robot, target and obstacle with vision system in 2-D. And also there are algorithms for precise distance-measuring and calibration usign laser displacement system, and for trajectory selection for optimizing moving to object, and for robot locomtion with air-thrust valve. And the software synthesizing of these algorithms hleps operator to realize the situation certainly and perform the job without any difficulty.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2001년도 춘계학술대회 논문집(한국공작기계학회)
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• pp.119-124
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• 2001

In this study, a vision system with image processing method have been introduced to find the edge radius of curvature. It was applied to inspect the edge quality of the deburring process product with brush grinding. Size of data was found to be critical in calculating the radius of curvature. Results using laser measurement system were compared.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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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.

• 로봇학회논문지
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• 제6권2호
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• pp.182-188
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• 2011

This paper describes a method of road tracking by using a vision and laser with extracting road boundary (road lane and curb) for navigation of intelligent transport robot in structured road environments. Road boundary information plays a major role in developing such intelligent robot. For global navigation, we use a global positioning system achieved by means of a global planner and local navigation accomplished with recognizing road lane and curb which is road boundary on the road and estimating the location of lane and curb from the current robot with EKF(Extended Kalman Filter) algorithm in the road assumed that it has prior information. The complete system has been tested on the electronic vehicles which is equipped with cameras, lasers, GPS. Experimental results are presented to demonstrate the effectiveness of the combined laser and vision system by our approach for detecting the curb of road and lane boundary detection.

• 대한용접접합학회:학술대회논문집
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• 대한용접접합학회 2005년도 춘계학술발표대회 개요집
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• pp.324-325
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• 2005

The primary aim of this paper is to develop an automated welding system capable of adapting to variation in the weld seam center in order to allow higher welding speeds and improved welding quality by using a laser vision sensor. The system is designed to compensate for production problems such as pipe ovality, variation in bevel geometry and track misalignment.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.1506-1511
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• 2003

This paper describes an automatic weld seam tracking method of plasma arc welding system designed for the corrugation panel that consists of a linear section and a curved section with various curvatures. 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, the laser vision sensor for seam tracking is designed for sensing the seam position and controlling a torch automatically. To achieve precise seam tracking, the design of sensor head, image simulation, and calibration are carried out. Through a series of experiment result, compensation algorithm is added and real time error compensation is achieved. The experiment result shows that this vision sensor works effectively. It will provide more precise welding performance and convenience to the operator.