• 센서학회지
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• 제16권4호
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• pp.286-293
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• 2007

For safe walking of the people who are blind, walking assistance robot which can detecting and avoiding the obstacle was investigated. The implemented prototype walking assistance robot consists of a obstacle detecting module, a user interface using acoustic signal and a driving module. The obstacle detecting module uses 6 ultrasonic sensors those located at the front part of the robot can perceive the obstacle which is in 3 meter distances and $180^{\circ}$ degrees. It calculates the distance and degree from the obstacle using TOF (time of flight) method and decides the 3-dimensional location of the obstacle. The obstacle information is delivered to the user using acoustic alarm and guide sound. The robot is designed to avoid by itself when the obstacle is detecting and the user only follows it to safe walking. After the designed robot was implemented, driving and obstacle detecting experiments were carried out. The result showed that the designed walking assistance robot will help the people who are blind to walk around safe.

• 제어로봇시스템학회논문지
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• 제17권10호
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• pp.1051-1058
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• 2011

Unmanned autonomous forklifts have a great potential to enhance the productivity of material handling in various applications because these forklifts can pick up and deliver loads without an operator and any fixed guide. Especially, automation of pallet loading and unloading technique is useful for enhancing performance of logistics and reducing cost for automation system. There are, however, many technical difficulties in developing such forklifts including localization, map building, sensor fusion, control, and so on. This is because the system requires numerous sensors, actuators, and controllers that need to be connected with each other, and the number of connections grows very rapidly as the number of devices grows. This paper presents a vision sensorbased autonomous loading and unloading for network-based unmanned forklift where system components are connected to a shared CAN network. Functions such as image processing and control algorithm are divided into small tasks that are distributed over a number of microcontrollers with a limited computing capacity. And the experimental results show that proposed architecture can be an appropriate choice for autonomous loading in the unmanned forklift.

• 한국산학기술학회논문지
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• 제16권5호
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• pp.3060-3070
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• 2015

최근 차량을 운전하는 성별과 연령대와 차종이 다양해짐에 따라 초보 운전자나 운전 약자들은 자동차의 폭이나 길이에 대한 감각이 미숙하고 자동차의 운동 특성을 이해하기 어렵게 되었다. 이러한 문제점을 보완하기 위해 후방 센서 및 카메라 사용이 증가되고 있고, 운전자의 주차 편의성을 향상시키는 주차 보조 시스템들이 개발되고 있다. 이에 따라 차종에 따른 조향각 차이를 반영하고 거리오차를 쉽게 보정할 수 있는 주차 가이드 시스템이 필요하다. 본 연구에서는 기존의 애커먼장토식을 보완하여 후진 시 회전 반경 공식을 제안하고, 핸들 조향각 센서를 통해 도출한 핸들 조향 값을 제안하는 공식에 대입하여 보다 더 정확한 주차 가이드라인 생성 알고리즘을 개발하고자 한다.

• Physical Therapy Rehabilitation Science
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• 제11권2호
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• pp.215-223
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• 2022

Objective: This study was to resolve the limitations of the experimental environment and to solve the shortcomings of the method of measuring human gait characteristics using optical measuring instruments. Design: A cross-sectional study. Methods: Fifteen healthy adults without a history of orthopedic surgery on the lower extremities for the past 6 months were participated. They were analyzed gait variables using the smart guide and the 3D image analysis at the same time, and their results were compared. Visual-3D was used to calculate the analysis variables. Results: The reliability and validity of the data according to the two measuring instruments were found to be very high; gait speed(0.85), cycle time(0.99), stride time of both feet(0.98, 0.97) stride legnth of both feet(0.86, 0.88) stride per minute of both feet(0.99, 0.96), foot speed of both feet(0.90, 0.91), step time of both feet(0.77, 0.71), step per minute(0.72, 0.74), stance time of both feet(0.96, 0.97), swing time of both feet(0.93, 0.79), double step time(0.81), initial double step time(0.84) and terminal step time(0.76). Conclusions: In the case of the smart insole, which measures human gait variables using the pressure sensor and inertial sensor inserted in the insole, the reliability and validity of the measured data were found to be very high. It can be used as a device to replace 3D image analysis when measuring pathological gait.

• 문화기술의 융합
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• 제9권4호
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• pp.617-623
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• 2023

지난 10년간 우리나라에서 발생한 화재 사건 중 건물 화재가 가장 많고 재산과 인명 피해가 가장 많다. 하지만 기존 소방 시스템은 비상구 위치만 알려주고 안전한 경로를 안내해 사상자들이 원활하게 대피할 수 있도록 도와주지는 않는다. 공간적 특성을 이용하여 수직적 특성과 수평적 특성을 구분하여 성공적인 대피를 돕는 시스템을 제안하였다. 본 연구에서는 온도 감지 센서와 연기 센서 값을 이용하여 화재를 예측하고, Dijkstra 알고리즘을 통해 최적의 대피 경로를 계산하여 효과적인 대피 시스템을 제안하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.382-387
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• 1992

In order to obtain desired arc welding performance, we already developed an arc welding robot system that enabled coordinated motions of dual arm robots. In this system one robot arm holds a welding target as a positioning device, and the other robot moves the welding torch. Concerning to such a dual arm robot system, the positioning accuracy of robots is one important problem, since nowadays conventional industrial robots unfortunately don't have enough absolute accuracy in position. In order to cope with this problem, our robot system employed teaching playback method, where absolute error are compensated by the operator's visual feedback. Due to this system, an ideal arc welding considering the posture of the welding target and the directions of the gravity has become possible. Another problem still remains, while we developed an original teaching method of the dual arm robots with coordinated motions. The problem is that manual teaching tasks are still tedious since they need fine movements with intensive attentions. Therefore, we developed a 3-dimensional vision guided robot control method for our welding robot system with coordinated motions. In this paper we show our 3-dimensional vision sensor to guide our arc welding robot system with coordinated motions. A sensing device is compactly designed and is mounted on the tip of the arc welding robot. The sensor detects the 3-dimensional shape of groove on the target work which needs to be weld. And the welding robot is controlled to trace the grooves with accuracy. The principle of the 3-dimensional measurement is depend on the slit-ray projection method. In order to realize a slit-ray projection method, two laser slit-ray projectors and one CCD TV camera are compactly mounted. Tactful image processing enabled 3-dimensional data processing without suffering from disturbance lights. The 3-dimensional information of the target groove is combined with the rough teaching data they are given by the operator in advance. Therefore, the teaching tasks are simplified

• 센서학회지
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• 제27권4호
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• pp.232-236
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• 2018

A radiation detection sensor was developed and characterized by combining three types of CsI(Tl) scintillators and an array-type SiPM to detect the radioactive contamination of discharged water in real time. The characterization results showed that type 3 exhibited the most desirable characteristics in response linearity (R-square: 0.97889) according to detection sensitivity and incident radiation dose. Furthermore, in terms of spectral characteristics, type 3 exhibited 16.54% at 0.356 MeV (the emission gamma ray energy of $^{133}Ba$), 10.28% at 0.511 MeV (the emission gamma ray energy of $^{22}Na$), 9.68% at 0.356 MeV (the emission gamma ray energy of $^{137}Cs$), and 2.55% and 4.80% at 1.173 MeV and 1.332 MeV (the emission gamma ray energies of $^{60}Co$), respectively. These measurements confirmed the good energy characteristics. The results were used to evaluate the spectral characteristics and energy linearity in a mixed source using type 3 with the best detection characteristics. It was confirmed that the gamma ray peaks of $^{133}Ba$, $^{22}Na$, $^{137}Cs$, and $^{60}Co$ were well resolved. Moreover, it was confirmed that R-square, which is an indicator of energy linearity, was 0.99986. This indicates a good linearity characteristic. Based on this study, further commercialization studies will contribute to measurements in real time and to the management of the contamination caused by radioactive wastewater or radioactive material leakage, which originate from facilities that use radioactive isotopes or care facilities.

• 현장농수산연구지
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• 제22권2호
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• pp.115-122
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• 2020

In Korea, the agricultural machinery market has been generally on the rise, and particularly the demand for the diverse agricultural machine is increasing due to the radical changes in agriculture, such as a high supply of the advanced and automated agricultural machine and an increase in aged or female farmer population. Therefore, this study analyzes the technical trends in the precision agricultural machine domestically and globally to guide the direction of development of the ICT-based machine. The investigation of the precision agricultural machine in this study focuses on the production technology through analyzing the trends in sensor-related technology, the decision-making research, variable treatment technology, and academic publication. The result shows that information processing technology including the sensor and the decision-making requires various measurement factors and the established technologies are continually being developed.

• 로봇학회논문지
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• 제3권3호
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• pp.219-225
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• 2008

This study developed a surveillance robot for a ship. The developed robot consists of ultrasonic sensors, an actuator, a lighting fixture and a camera. The ultrasonic sensors are used to avoid collision with obstacles in the environment. The actuator is a servo motor system. The developed robot has four drive wheels for driving. The lighting fixture is used to guide the robot in a dark environment. To transmit an image, a camera with a pan moving and a tilt moving is equipped on the upper part of the robot. AdaBoost algorithm trained with 15 features, is used for face recognition. In order to evaluate the face recognition of the developed robot, experiments were performed.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2010년도 추계학술대회 논문집
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• pp.433-438
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• 2010

Reactor vessel internals comprehensive vibration assessment program(RVI CVAP) is one of the necessary tests to ensure the safety of nuclear power plants. RVI CVAP of U.S. Nuclear Regulatory Commission Regulatory Guide 1.20(U.S. NRC R.G. 1.20) consists of the analysis, measurement, and inspection. One of the core technologies of the measurement program for RVI CVAP is to select suitable sensors. We analyzed RVI design data of Palo Verde nuclear generating station(U.S.) and Yonggwang nuclear generating station(Korea) and investigated measuring sensors used in both of them; moreover, we investigated sensors used for measurement of RVI CVAP for the last 20 years throughout the world. Based on these results, we selected the most suitable sensors for RVI CVAP in Advanced Power Reactor 1400(APR1400).