• Journal of the Korean Society for Precision Engineering
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• v.12 no.8
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• pp.73-85
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• 1995

The sensor system to measure the distance precisely from the center of the sensor system to the obstacle is needed to recognize the surrounding environments, and the sensor system is to be calibrated thoroughly to get the range information exactly. This study covers the calibration of the active range sensor which consists of camera and laser slit emitting device, and provides the equations to get the 3D range data. This can be possible by obtaining the extrinsic parameters of laser slit emitting device through image processing the slits measured during the constant distance intervals and the intrinsic parameters from the calibration of camera. The 3D range data equation derived from the simple geometric assumptions is proved to be applicable to the general cases using the calibration parameters. Also the exact 3D range data were obtained to the object from the real experiment.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1997.10a
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• pp.432-437
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• 1997

In this paper, a pseudo-sensor-output-feedback(PSOF) control approach is applied to the active and semi-active systems for the vibration suppression of the flexible structures. This approach reduces the modeling error encounted in the output equation formulation and is easy to be implemented in practice. Experimental works are performed for the validation of theoretical predictions with a piezoelectric sensor and actuator bonded on the cantilever beam. The objective of this study is also to compare and analyze between active and semi-active systems. An algorithm based on the sliding mode control theory is developed and analyzed for the robustness to the modeling errors and parameter uncertainties.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2012.06a
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• pp.119-120
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• 2012

In the various industry plant, it need a condition monitoring system for an active machine that used an detachable wireless sensors. In this paper, IEEE802.15.4 standard based detachable wireless sensor monitoring system configure results will be introduced.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2009.04a
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• pp.462-465
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• 2009

Cellulose based electro-active paper (EAPap) is a new smart material that has a potential to be used in biomimetic actuator and sensor. Beside of the natural abundance, cellulose EAPap is fascinating with its biodegradability, lightweight, high mechanical strength and low actuation voltage. An actuating mechanism of EAPap is revealed to be the combination of ion migration effect and piezoelectricity. EAPap can generate the electrical current and voltage when the mechanical stress applied due to its electro-mechanical characteristics. In this paper, we investigated the feasibility of EAPap as a mechanical strain sensor.

• Journal of KSNVE
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• v.9 no.1
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• pp.70-76
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• 1999

This paper presents a pseudo-sensor-output-feedback(PSOF) method for the vibration suppression of the flexible piezoelectric smart structures. This method reduces the modeling errors using pseudo sensors in the output equation formulation. It also reduces computation time in practice. since the output equation does not need the state observer required in the state space equation. Experimental works are performed for the validation of theoretical predictions with the piezoelectric sensor and actuator bonded on the cantilever beam. An algorithm based on the sliding mode control theory is developed and analyzed for the robustness to the modeling errors and parameter uncertainties. This study also discusses the characteristics of the active and semi-active systems.

• Journal of KSNVE
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• v.10 no.6
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• pp.941-948
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• 2000

Active noise control is an approach to reduce the noise by utilizing a secondary noise source that destructively interferes with the unwanted noise. In general, active noise control systems rely on multiple sensors to measure the unwanted noise field and the effect of the cancellation. This paper develops an approach that utilizes a single sensor. The noise field is modeled as a stochastic process, and an adaptive algorithm is used to adaptively estimate the parameters of the process. Based on these parameter estimates, a canceling signal is generated. Oppenheim assumed that transfer function characteristics from the canceling source to the error sensor is only a propagation delay. This paper proposes a modified Oppenheim algorithm by considering transfer characteristics of speaker-path-sensor This transfer characteristics is adaptively cancelled by the proposed adaptive modeling technique. Feasibility of the proposed method is proved by computer simulations with artificially generated random noises and sine wave noise. The details of the proposed architecture. and theoretical simulation of the noise cancellation system for three dimension enclosure are presented in the Paper.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.871-875
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• 2003

To detect and avoid obstacles is one of the important tasks of mobile navigation. In a real environment, when a mobile robot encounters dynamic obstacles, it is required to simultaneously detect and avoid obstacles for its body safely. In previous vision system, mobile robot has used it as either a passive sensor or an active sensor. This paper proposes a new obstacle detection algorithm that uses a stereo camera as both a passive sensor and an active sensor. Our system estimates the distances from obstacles by both passive-correspondence and active-correspondence using laser slit. The system operates in three steps. First, a far-off obstacle is detected by the disparity from stereo correspondence. Next, a close obstacle is acquired from laser slit beam projected in the same stereo image. Finally, we implement obstacle avoidance algorithm, adopting the modified Dynamic Window Approach (DWA), by using the acquired the obstacle's distance.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.4
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• pp.427-433
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• 2019

This paper propose a fuzzy inference model for map building and navigation for a mobile robot with an active camera, which is intelligently navigating to the goal location in unknown environments using sensor fusion, based on situational command using an active camera sensor. Active cameras provide a mobile robot with the capability to estimate and track feature images over a hallway field of view. In this paper, instead of using "physical sensor fusion" method which generates the trajectory of a robot based upon the environment model and sensory data. Command fusion method is used to govern the robot navigation. The navigation strategy is based on the combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance. To identify the environments, a command fusion technique is introduced, where the sensory data of active camera sensor for navigation experiments are fused into the identification process. Navigation performance improves on that achieved using fuzzy inference alone and shows significant advantages over command fusion techniques. Experimental evidences are provided, demonstrating that the proposed method can be reliably used over a wide range of relative positions between the active camera and the feature images.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.1
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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.

• Journal of the Korean Magnetics Society
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• v.23 no.5
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• pp.159-165
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• 2013

A active magnetic sensor has been widely used in the underwater guided weapon system because it is able to detect a target accurately in close range, but the target doesn't have any good countermeasure to overcome the threat from the active magnetic sensor. Recently, in order to increase the damage area of target by shock wave with explosion of the underwater weapon system and to detect small target, the maximum target detection range of the active magnetic sensor needs to be increased. One method for improving maximum target detection range is to improve output power from transmitter through demagnetization factor minimization of a transmitting core. Thus, in this paper, we describe the study results on the transmitter core shape design to enhance output power of the active magnetic sensor.