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유황열,임태규,임승현,한준희 제어로봇시스템학회 2011 제어로봇시스템학회 각 지부별 자료집 Vol.2011 No.12
We propose a novel background subtraction algorithm for the videos captured by a mobile vision system. In our technique, spatio-temproal approach is used to generate foreground and background models, and likelihood maps are computed based on the models. After that, an energy minimization technique is applied to the likelihood maps for segmentation. Block-wise models are propagated form the previous frame using motion information, and pixel-wise foreground/background likelihoods and labels in the current frame are estimated based on these models. A graph-cut algorithm performs segmentation based on the foreground/background likelihood maps, and the segmentation result is employed to update the motion of each segment in a block. We tested our framework with various challenging videos involving large camera and object motions, significant background changes and clutters.
유황열,김무림,유기성,최진태 제어로봇시스템학회 2011 제어로봇시스템학회 각 지부별 자료집 Vol.2011 No.12
Factory automation have been effectively acting on the existing infrastructure of the steel industry in the perspective of increasing production, reducing cost, increasing customer satisfaction and to sustain the global competition. Many workers, however, have still complained about their hard work due to the two twelve-hour shifts and continuously repetitive jobs under an unstructured environment. To make the unstructured process or jobs automated, much research has gone into how industry robots could function autonomously. As a result, many jobs and processes that have routinely operated before have been done without human intervention in the terms of fully automated or semi-automated way. In this paper, we introduce an interactive and cooperative system being capable of complementing various and unstructured tasks between human operator and the industrial robot. The industrial robot understands what the human operators’ intention is through a force/torque sensor mounted in the end of robot end-effector and helps them to construct the heavy refractory bricks inside the converter. By doing so, the human operator can reduce painful musculoskeletal disease. This paper presents application of the human-robot cooperative system for constructing the refractory bricks in the converter.
유황열(HwangRyol Ryu),김무림,유기성 제어로봇시스템학회 2010 제어로봇시스템학회 각 지부별 자료집 Vol.2010 No.12
This paper presents the successfully developed visual servoing robot that must satisfy less than ±1㎜ accuracy and ±0.5㎜ repeatability requirements in the process of changing rolls used to deform the diameter of rod in steel work. To achieve research objectives, visual servo controller is developed to enable a robot end-effector to track a desired position as determined by a sequence of images from pin-hole camera mounted in the center of end-effector. To do this, 3D alignment task using a ring pattern is developed to compensate for end-effector position errors and the practically efficient line segment detection method is developed to determine an insertion angle for an elaborate locking between insert pin and unit with the less than ±0.5° accuracy as well.
1P-759 대기방지시설 유지관리를 위한 맞춤형 세정제 개발
송두리,오경열,정성목,김진배,유황율,김호태 한국공업화학회 2017 한국공업화학회 연구논문 초록집 Vol.2017 No.1
섬유염색 공장에서는 염색원단 가공 중 발생하는 악취와 오일 먼지들이 혼합된 대기오염원의 배출을 방지하기 위하여 전기집진설비, 스크러버, 흡수탑 등이 사용되고 있다. 이들 설비를 장기간 가동하면 오염물질이 쌓이고 점착되면서 복합오염물질이 누적되어 대기방지설비의 성능을 저하시키고 화재 등의 위험성이 증가한다. 본 연구과제에서는 염색공정에서 사용되는 대기방지시설 중에서 우선 전기집진설비를 적용대상으로 선정하여 집진판 표면에 누적된 타르성분의 오염물질을 효과적으로 제거할 수 있는 세정제를 개발하였다. 집진판에 누적된 오염물질을 분석한 결과 섬유가공 공정에서 사용되는 유연제 등에 기인하는 타르형태의 축합방향족탄화수소 등의 물질이 생성되어 있었다. 세정제 원료 성분별 조성과 농도를 검토하여 해당 설비에 최적화된 알칼리계 준수계세정제를 제조하여 효과적으로 오염물질을 제거할 수 있었다. 집진판의 재질이 알루미늄일 경우에는 알칼리에 의한 부식이 발생하기 때문에 세정제의 pH를 조절할 필요가 있었다. 실제 염색공정의 오염된 집진판을 세정하여 세정후의 대기오염물질 방지효율이 크게 향상되는 것을 확인하였다.
김무림,유기성,유황열,최진태,Jin, Mao-Lin,You, Ki-Sung,Ryu, Hwang-Ryol,Choi, Chin-Tae 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.7
This paper presents the development of roll replacement robot system for wire-rod press rolls. The roll replacement robot system consist of a palletized railway truck, a 6-DOF industrial robot manipulator, a roll changing tool and a hydraulic power system. Results of simulation and pilot experiment show the roll changing task can be successfully automated using proposed robot system.
김무림(Maolin Jin),유기성(Ki-sung You),유황열(Hwang-ryol Ryu),최진태(Chintae Choi) 제어로봇시스템학회 2010 제어로봇시스템학회 각 지부별 자료집 Vol.2010 No.12
This paper presents development of oxygen cleaning lance and robot system for oxygen opening of ladle top nozzle. The oxygen cleaning lance has truss type structure to prevent oxygen pipe from deflecting, and has co-axial double-tube structure; inner tube is for transport of oxygen, and outer tube is for air cooling. An robot system for oxygen opening of ladle top nozzle is developed using proposed oxygen cleaning lance and a Kawasaki industrial robot. Simulation results show accurate position tracking performance of the proposed system, thereby demonstrating its effectiveness for the oxygen opening of Ladle top nozzle.