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김창현(C. H. Kim),최태용(T. Y. Choi),이주장(J. J. Lee),서정(J. Suh),박경택(K. T. Park),강희신(H. S. Kang) 한국정밀공학회 2006 한국정밀공학회 학술발표대회 논문집 Vol.2006 No.5월
The essential tasks to operate the welding robot are the acquisition of the position and/or shape of the parent metal. For the seam tracking or the robot automation, many kinds of contact and non-contact sensors are used. Recently, the vision sensor is most popular. In this paper, the development of the system which measures the profile of the welding part is described. The total system will be assembled into a compact module which can be attached to the head of welding robot system. This system uses the line-type structured laser diode and the vision sensor. It implemented Direct Linear Transformation (DLT) for the camera calibration as well as radial distortion correction. The three dimensional shape of the parent metal is obtained after simple linear transformation and therefore, the system operates in real time. Some experiments are carried out to evaluate the performance of the developed system.
최태용,이규복,김학신 전북대학교 공업기술연구소 1993 工學硏究 Vol.24 No.-
The reversed austenite formed from ausformed martensite of Fe-31% Ni-0.2% C alloy was reheated at 500~1200℃ for 1hr.or 3hr. and then qenched in water at room temperature. The microstructure,hardness,As and Af points of the reversed austenite have been investigated in order to study the high temperature behaviors of Fe-31% Ni-0.2% C alloy. The results obtained in this study are as follows: 1. The rebersed transformation was achived by the diffusional reansformation mechanism during the slow heating. but achieved by the martensitic transformation mechanism during the rapid heating. In this study, the precipitation of cohenite, graphite and growth of austenite grain were caused by diffusional transformation mechanism in the reheating temperature ranges of 500~1200℃. 2. The As and Af points of reversed austenite increased with the increase of prior deformation degree and the increase of reheating rate. 3. The structure of reversed austenite formed from ausformed martensite with 80% prior deformation degree is a fine equiaxed structure. Reheating at 500~1200℃ for 1hr or 3hr, the structures grow into the coarse polyangled structure. 4. According to the reheating temperatures, the solid-solutioned carbon in the reversed austenite is precipitated into cahenite below 600℃ but into graphite over the reheating temperature of 800℃. And the carbide precipitation was decreased with the increase of prior defromation degree. 5. The hardness of reversed austenite was gradually decreased with the increase of reheating temperatures, and the softening behaviors of this alloy was increased with the increase of prior defromation degree.