• The Journal of Korea Robotics Society
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• v.16 no.3
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• pp.189-198
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• 2021

In this paper, we introduce the software/hardware system that can reliably calculate the distance from sensor to the model regardless of point cloud density. As the 3d point cloud map is widely adopted for SLAM and computer vision, the accuracy of point cloud map is of great importance. However, the 3D point cloud map obtained from Lidar may reveal different point cloud density depending on the choice of sensor, measurement distance and the object shape. Currently, when measuring map accuracy, high reflective bands are used to generate specific points in point cloud map where distances are measured manually. This manual process is time and labor consuming being highly affected by Lidar sparsity level. To overcome these problems, this paper presents a hardware design that leverage high intensity point from three planar surface. Furthermore, by calculating distance from sensor to the device, we verified that the automated method is much faster than the manual procedure and robust to sparsity by testing with RGB-D camera and Lidar. As will be shown, the system performance is not limited to indoor environment by progressing the experiment using Lidar sensor at outdoor environment.

• JSTS:Journal of Semiconductor Technology and Science
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• v.5 no.1
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• pp.30-37
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• 2005

We present an air bridge type electrode system with tunable electrode distance for detecting electroactive biomolecules. It is known that the narrower gap between electrode fingers, the higher sensitivity in IDA (interdigitated array) electrode. In previous researches on IDA electrode, narrower patterning required much precise and expensive equipment as the gap goes down to nanometer scale. In this paper, an improved method is suggested to replace nano gap pattering with downsizing electrode distance and showed that the patterning can be replaced by thickness control using metal deposition methods, such as electroplating or metal sputtering. The air bridge type electrode was completed by the following procedures: gold patterning for lower electrode, copper electroplating, gold deposition for upper electrode, photoresist patterning for gold film support, and copper etching for space formation. The thickness of copper electroplating is the distance between upper and lower electrodes. Because the growth rate of electroplating is $0.5{\mu}m\;min^{-1}$, the distance is tunable up to hundreds of nanometers. Completed electrodes on the same wafer had $5{\mu}m$ electrode distance. The gaps between fingers are 10, 20, 30, and $40{\mu}m$ and the widths of fingers are 10, 20, 30, 40, and $50{\mu}m$. The air bridge type electrode system showed better sensitivity than planar electrode.

• Journal of Sensor Science and Technology
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• v.23 no.1
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• pp.46-50
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• 2014

In this paper, we report a novel algorithm based on phase displacement, which supplements conventional TOF methods for distance measurement using an ultrasonic wave. The proposed algorithm roughly measures the distance between the transmission part and the receiving part by using the initial TOF. Thereafter, the precise distance is determined by measuring the phase displacement value between the synchronizing transmission signal and the signal obtained at the receiving end. A distance measurement experiment using a micrometer was performed to verify the accuracy of the ultrasonic wave sensor system. We found that the mean errors from the one adopting the distance measurement algorithm based on phase displacement varied from a minimum of 0.03 mm to a maximum of 0.09 mm. In addition, the standard deviation varied from a minimum of 0.04 mm to a maximum of 0.07 mm, thus giving a precision of ${\pm}0.1$ mm.

• Journal of Navigation and Port Research
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• v.28 no.4
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• pp.323-331
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• 2004

This paper introduces a novel approach that can provide the three dimensional information about the movement of a spreader by using two CCD cameras and a laser distance measuring unit in order to derive ALS (Automatic Landing System) in the crane used at a harbor. So far a kind of 2D Laser scanner sensor or laser distance measuring units are used as comer detectors for the geometrical matching between the spreader and a container. Such systems provide only two dimensional information which is not enough for an accurate and fast ALS. In addition to this deficiency in performance, the price of the system is too high to adapt to the ALS. Therefore, to overcome these defects, we proposed a novel method to acquire the three dimensional spreader information using two CCD cameras and a laser distance measuring unit. To show the efficiency of proposed method, real experiments are performed to show the improvement of accuracy in distance measurement by fusing the sensory information of the CCD cameras and a laser distance measuring unit.

• The Journal of the Korea Contents Association
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• v.13 no.2
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• pp.52-61
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• 2013

In wireless sensor networks, the geographical positioning scheme is one of core technologies for sensor applications such as disaster monitoring and environment monitoring. For this reason, studies on range-free positioning schemes have been actively progressing. The density probability scheme based on central limit theorem and normal distribution was proposed to improve the location accuracy in non-uniform sensor network environments. The density probability scheme measures the final positions of unknown nodes by estimating distance through the sensor node communication. However, it has a problem that all of the neighboring nodes have the same 1-hop distance. In this paper, we propose an efficient sensor positioning scheme that overcomes this problem. The proposed scheme performs the second positioning step through the sensing range control after estimating the 1-hop distance of each node in order to minimize the estimation error. Our experimental results show that our proposed scheme improves the accuracy of sensor positioning by about 9% over the density probability scheme and by about 48% over the DV-HOP scheme.

• Progress in Superconductivity
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• v.10 no.1
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• pp.1-5
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• 2008

Magnetocardiography (MCG) is a non-contact, non-invasive, and harmless diagnostic tool to detect the abnormal electrical conductivities of the heart caused by the various coronary artery disease or cardiac muscular disease. The purpose of this study is to identify whether MCG signals and MCG parameter values vary depending on the location of sensor assembly. It will be an important reference for the standard measurement. Four healthy male subjects (33.3$\pm$6.3 years) participated in this study. Basal recording was made at 20 mm apart from the chest surface. All subjects were requested to take a regular breathe while MCG was taken. The gap between the chest surface and the bottom of the sensor assembly was 20, 40, 60, and 80 mm. Recording was made using 64 channel MCG system (Axial type, first order gradiometer) developed by Korea Research Institute of Standards and Science (KRISS). After resting for two minutes in a supine position on the bed in magnetically shielded room, MCG were recorded for 30 s. As the sensor location is getting away from the chest surface signal, the amplitude of R and T wave peak decreases to 70% (at 40 mm gap), 50% (at 60 mm), and 37% (at 80 mm) of the reference strength measured (y = $1.3903e^{-0.0169x}$, $R^2$ = 0.99; where y=amplitude remained after reduction, x=distance between chest surface and sensor location). The regression equations may be used as a good reference to calculate how much strength will be decreased by the distance. In MCG parameters, most values of parameters were decreased as the gap was increased. As an example, the current moment at T-wave peak reduced to 52% (at 40 mm gap), 33% (at 60 mm), and 19% (at 80 mm). However, the difference caused by the gap could be reduced by considering the distance when the MCG parameters were calculated. The study results can be used as a useful reference to design the baseline and the sensor location.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.2
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• pp.163-168
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• 2008

Navigation system based on indoor location estimation is one of the core technologies in mobile robot systems. Wireless sensor network has great potential in the indoor location estimation due to its characteristics such as low power consumption, low cost, and simplicity. In this paper we present an algorithm to estimate the indoor location of mobile robot based on wireless sensor network and fuzzy modeling. ZigBee-based sensor network usually uses RSSI(Received Signal Strength Indication) values to measure the distance between two sensor nodes, which are affected by signal distortion, reflection, channel fading, and path loss. Therefore we need a proper correction method to obtain accurate distance information with RSSI. We develop the fuzzy distance models based on RSSI values and an efficient algorithm to estimate the robot location which applies to the navigation algorithm incorporating the time-varying data of environmental conditions which are received from the wireless sensor network.

• Journal of Broadcast Engineering
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• v.24 no.4
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• pp.580-591
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• 2019

This paper focuses on to improving object detection performance using the camera and LiDAR on autonomous vehicle platforms by fusing detected objects from individual sensors through a late fusion approach. In the case of object detection using camera sensor, YOLOv3 model was employed as a one-stage detection process. Furthermore, the distance estimation of the detected objects is based on the formulations of Perspective matrix. On the other hand, the object detection using LiDAR is based on K-means clustering method. The camera and LiDAR calibration was carried out by PnP-Ransac in order to calculate the rotation and translation matrix between two sensors. For Sensor fusion, intersection over union(IoU) on the image plane with respective to the distance and angle on world coordinate were estimated. Additionally, all the three attributes i.e; IoU, distance and angle were fused using logistic regression. The performance evaluation in the sensor fusion scenario has shown an effective 5% improvement in object detection performance compared to the usage of single sensor.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.29 no.1
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• pp.31-36
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• 2015

In this paper, an LED lighting system that is capable of automatic or maunal dimming control using a ultrasonic sensor and Bluetooth wireless communication technology is presented. The LED lighting system consists of a ultrasonic sensor, microcontroller unit, Bluetooth wireless communication, LED driver, and LED light source. By using the implemented LED lighting system sample, it is shown that the automatic and manual dimming control is realized. By using the ultrasonic sensor, the LED lighting is automatically brighter or dimmer depending on the distance between the sensor and an object. When using a smartphone that includes Bluetooth wireless communication function, one can not only manually control the brightness of the LED lighting from level 1 to 10, but also monitor the distance between the sensor and object on the smartphone.

• Journal of Welding and Joining
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• v.14 no.6
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• pp.131-139
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• 1996

The response of the arc sensor using the welding current and/or welding voltage as its outputs has been obtained by the analysis and/or experiments of the static characteristics of arc sensor. But in order to improve the reliability of arc sensor, it is necessary to know its dynamic characteristics. So in this paper, it is presented the dynamic model of arc sensor including the power source, arc voltage, electrode burnoff rate, and wire feed rate. A numerical simulation of the dynamic model of arc sensor was implemented, computing the welding current with input of CTWD. The results of computer simulations and experiments of $CO_2$arc welding showed that a linear relationship between weaving center - weld line distance and current area difference was established. Additionally, a real-time weld seam tracking system interfaced with industrial welding robot was constructed, the result of the weld seam tracking experiment for weld line with an initial offset error of 5$^{\circ}$was good.