• International Journal of Control, Automation, and Systems
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• 제3권1호
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• pp.1-14
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• 2005

This paper presents an obstacle detection algorithm based on the consecutive and the cooperative range sensor scanning schemes. For a known environment, a mobile robot scans the surroundings using a range sensor that can rotate 3600°. The environment is rebuilt using nodes of two adjacent walls. The robot configuration is then estimated and an obstacle is detected by comparing characteristic points of the sensor readings. In order to extract edges from noisy and inaccurate sensor readings, a filtering algorithm is developed. For multiple robot localization, a cooperative scanning method with sensor range limit is developed. Both are verified with simulation and experiments.

• 한국군사과학기술학회지
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• 제14권1호
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• pp.123-131
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• 2011

In this paper, modeling and design of a distributed detection system are considered for an active sonar sensor network. The sensor network has a parallel configuration and it consists of a fusion center and a set of receiver nodes. A system with two receiver nodes is considered to investigate a theoretical aspect of design. To be specific, AND rule and OR rule are considered as the fusion rules of the sensor network. For the fusion rules, it is shown that a threshold rule of each sensor node has uniformly most powerful properties. Optimum threshold for each sensor is obtained that maximizes the probability of detection given probability of false alarm. Numerical experiments were also performed to investigate the detection characteristics of a distributed detection system with multiple sensor nodes. The experimental results show how signal strength, false alarm probability, and the distance between nodes in a sensor field affect the system detection performances.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2002년도 하계학술대회 논문집
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• pp.181-184
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• 2002

This paper describes fabrication and characteristics of ceramic pressure sensor for working at high temperature. The proposed pressure sensor consists of a Ta-N thin-film, patterned on a Wheatstone bridge configuration, sputter deposited onto thermally oxidized Si membranes with an aluminium interconnection layer. The fabricated pressure sensor presents a low temperature coefficient of resistance, high sensitivity, low non-linearity and excellent temperature stability The sensitivity is 1.097∼1.21 mV/V$.$kgf/$\textrm{cm}^2$ in the temperature range of 25∼200$^{\circ}C$ and the maximum non-linearity is 0.43 %FS.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1550-1554
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• 2004

This paper deals with an unmanned vehicle system configuration using all terrain vehicle. Many research institutes and university study and develop unmanned vehicle system and control algorithm. Now a day, they try to apply unmanned vehicle to use military device and explore space and deep sea. These unmanned vehicles can help us to work is difficult task and approach. In the previous research of unmanned vehicle in our lab, we used 1/10 scale radio control vehicle and composed the unmanned vehicle system using ultrasonic sensors, CCD camera and kinds of sensor for vehicle's motion control. We designed lane detecting algorithm using vision system and obstacle detecting and avoidance algorithm using ultrasonic sensor and infrared ray sensor. As the system is increased, it is hard to compose the system on the 1/10 scale RC car. So we have to choose a new vehicle is bigger than 1/10 scale RC car but it is smaller than real size vehicle. ATV(all terrain vehicle) and real size vehicle have similar structure and its size is smaller. In this research, we make unmanned vehicle using ATV and explain control theory of each component

• 한국전기전자재료학회논문지
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• 제18권10호
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• pp.917-923
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• 2005

In this paper, effect of catalytic configuration on the sensing properties of $SnO_2$ nanoparticle gas sensitive thick film was investigated. Two types of catalytic configuration, mono and binary, were made on the $SnO_2$ nanoparticle. In case of mono catalytic system, $3 wt\%$ Pd or Pt catalyst was doped onto the $SnO_2$ nanoparticle, respectively. In case of binary catalytic system, Pd and Pt was doped simultaneously with concentration ratio of 1:2 to 2:1 onto the $SnO_2$ nanoparticle. After doping, gas sensitive thick film was printed on alumina substrate and heat-treated at 450 to $600^{\circ}C$. Gas sensing properties was evaluated using 500 to 10,000 ppm $CH_4$ gas. As a result, gas sensitive thick film with binary catalytic system showed unstable phenomena that the gas sensitivity was changed according to aging time. In contrary, the mono catalytic system showed relatively stable phenomena despite of aging time. Especially, gas sensitive thick film doped with $3 wt\%$ Pt catalyst and heat-treated at $500^{\circ}C$ showed good sensing properties such as 0.57 of $R_{3500}/R_{1000}$ and very small variation within $3.5\%$ after aging for 5 hours, and response time was very short less than 20 seconds.

• Progress in Superconductivity
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• 제12권1호
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• pp.41-45
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• 2010

Low temperature micro-calorimeters have been employed in the field of high resolution alpha spectrometers. These alpha detectors typically consist of a superconducting or metal absorber and a temperature sensor. The temperature sensor can be a transition edge sensor (TES), a metallic magnetic calorimeter (MMC) or other low temperature detectors for an accurate measurement of temperature change due to an alpha particle absorption. We report a recent study of the heat flow between a replaceable absorber and a temperature sensor. A piece of gold foil in $2.4{\times}2.7{\times}0.03\;mm^3$ is used as an absorber. A $40\;{\mu}m$ diameter Au:Er paramagnetic sensor is attached to another small piece of gold foil in $400{\times}200{\times}30\;{\mu}m^3$ to serve as the temperature sensor. This sensor assembly, Au:Er and gold foil, is placed on a miniature SQUID susceptometer in a gradiometric configuration. The thermal connection between the absorber and the sensor was made with three gold bonding wires. The measured thermal conductance shows a linear dependence to the temperature. The values are in a good agreement with Wiedemann-Franz type thermal conductance of the gold wires.

• 제어로봇시스템학회논문지
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• 제21권5호
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• pp.453-458
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• 2015

We presented a quad-rotor controlling algorithm design by using sensor fusion in this paper. The controller design technique was performed by a PD controller with a Kalman filter and compensation algorithm for increasing the stability and reliability of the quad-rotor attitude. In this paper, we propose an attitude estimation algorithm for quad-rotor based sensor fusion by using the Kalman filter. For this reason, firstly, we studied the platform configuration and principle of the quad-rotor. Secondly, the bias errors of a gyro sensor, acceleration and geomagnetic sensor are compensated. The measured values of each sensor are then fused via a Kalman filter. Finally, the performance of the proposed algorithm is evaluated through experimental data of attitude estimation. As a result, the proposed sensor fusion algorithm showed superior attitude estimation performance, and also proved that robust attitude estimation is possible even in disturbance.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2009년도 추계학술대회
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• pp.1035-1037
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• 2009

고정노드를 사용하는 일반적인 센서 네트워크와 달리 최근의 무선 센서 네트워크에서는 노드의 이동이 빈번히 일어난다. 이러한 무선 센서 네트워크에서는 센서노드의 이동성을 고려하여 동적으로 자가구성이 가능한 라우팅 프로토콜이 요구된다. 본 논문에서는 고정 노드에서의 자가구성과 에너지효율성이 유용한 LEACH 프로토콜을 기반으로 하여 노드의 이동에 따라 클러스터가 동적으로 자가 구성되는 M-LEACH 라우팅 프로토콜을 제안한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.76-76
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• 2000

The calibration of the robot system with a visual sensor consists of robot, hand-to-eye, and sensor calibration. This paper describe a new technique for computing 3D position and orientation of a 3D sensor system relative to the end effect of a robot manipulator in an eye-on-hand robot configuration. When the 3D coordinates of the feature points at each robot movement and the relative robot motion between two robot movements are known, a homogeneous equation of the form AX : XB is derived. To solve for X uniquely, it is necessary to make two robot arm movements and form a system of two equation of the form: A$_1$X : XB$_1$ and A$_2$X = XB$_2$. A closed-form solution to this system of equations is developed and the constraints for solution existence are described in detail. Test results through a series of simulation show that this technique is simple, efficient, and accurate fur hand/eye calibration.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2008년도 춘계학술대회 논문집 센서 박막재료연구회 및 광주 전남지부
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• pp.98-102
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• 2008

Methods and analysis of a simple wireless sensor concept for detecting and locating faults as well as for load monitoring are presented. The concept is based on distributed wireless sensors that are attached to the incoming and outgoing power lines of secondary substations. A sensor measures only phase current characteristics of the wire it is attached to, is not synchronized to other sensors and does not need configuration of triggering levels. The main novelty of the concept is in detecting and locating faults by combining power distribution network characteristics on system level with low power sampling methods for individual sensors. This concept enables the sensor design to be simple, energy efficient and thus applicable in new installations and for retrofit purposes in both overhead and underground electrical distribution systems.