• 제어로봇시스템학회논문지
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• 제16권4호
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• pp.381-390
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• 2010

This paper describes a procedure of the map-based localization for mobile robots by using a sensor fusion technique in structured environments. A combination of various sensors with different characteristics and limited sensibility has advantages in view of complementariness and cooperation to obtain better information on the environment. In this paper, for robust self-localization of a mobile robot with a monocular camera and a laser structured light sensor, environment information acquired from two sensors is combined and fused by a Bayesian sensor fusion technique based on the probabilistic reliability function of each sensor predefined through experiments. For the self-localization using the monocular vision, the robot utilizes image features consisting of vertical edge lines from input camera images, and they are used as natural landmark points in self-localization process. However, in case of using the laser structured light sensor, it utilizes geometrical features composed of corners and planes as natural landmark shapes during this process, which are extracted from range data at a constant height from the navigation floor. Although only each feature group of them is sometimes useful to localize mobile robots, all features from the two sensors are simultaneously used and fused in term of information for reliable localization under various environment conditions. To verify the advantage of using multi-sensor fusion, a series of experiments are performed, and experimental results are discussed in detail.

• 센서학회지
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• 제27권5호
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• pp.352-356
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• 2018

This paper relates to a technology for monitoring a liquefied gas storage tank in the special gas field where demand is increasing owing to the continuous growth of related fields such as the semiconductor, display, and ICT convergence electronics industries. We have proposed a system for real - time monitoring using wireless sensor network technology, and implemented a system consisting of a sensor unit, transmitter module, and receiver module to be attached to a liquefied gas storage tank. The system was applied to LCO2 tanks among various liquefied gas storage tanks to verify the feasibility. The storage tanks employed in the experiments has capacities of 16,179 l and was 1,920 mm in inner diameter. Furthermore, the density was 1.03 g/l. The measured data were compared with reference data on the remaining gas level versus the $CO_2$ height of the surface, expressed using a conventional water meter, provided by an existing storage tank supplier. The experimental results show that the data is similar to the standard data provided by the tank supplier, and has a high accuracy and reliability within an error range of 0.03%.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.643-646
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• 2000

In this study, we constructed a preview-sensing visual sensor system for weld seam tracking in real time in GMA welding. A sensor part consists of a CCD camera, a band-pass filter, a diode laser system with a cylindrical lens, and a vision board for inter frame process. We used a commercialized robot system which includes a GMA welding machine. To extract the weld seam we used a inter frame process in vision board from that we could remove the noise due to the spatters and fume in the image. Since the image was very reasonable by using the inter frame process, we could use the simplest way to extract the weld seam from the image, such as first differential and central difference method. Also we used a moving average method to the successive position data of weld seam for reducing the data fluctuation. In experiment the developed robot system with visual sensor could be able to track a most popular weld seam, such as a fillet-joint, a V-groove, and a lap-joint of which weld seam include planar and height directional variation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.568-570
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• 2004

This paper presents a study of a position finding system using PSD Sensor and Pan/Tilt. The position of PSD(Position Sensitive Detector) sensor is calculated by the degree of pan-tilt and the difference in height between pan-tilt and PSD. For that, the DSP which control pan-tilt is used for precise operation. The PIC microcontroller process PSD sensor data that indicate light incident position. A user using computer can acquire the conditions of pan-tilt and PSD and issue an order.

• 한국정밀공학회지
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• 제21권8호
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• pp.65-72
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• 2004

For the burrs formed in machining are irregular and very sharp in shape, it is usually very difficult to measure burr accurately. It was proved that micro burr geometry can be measured imprecision by the Conoprobe sensor using conoscopic holography method. We developed 3D burr measurement system using this sensor. The system is composed of Conoprobe sensor, XY table, controller and 3D measurement program. Some measurements using the developed system are conducted for the burrs formed in micro drilling and piercing. Specific software fur burr measurement includes several function, calculation of burr volume, average burr height. Burs formed on a curved surface were compensated and measured successfully using the basic surface compensation function.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2002년도 Proceedings of International Symposium on Remote Sensing
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• pp.518-523
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• 2002

Nowadays the Rational Function Model (RFM), an abstract sensor model, is substituting physical sensor models for highly complicated imaging geometry. But RFM is algorithm to be required many Ground Control Points (GCP). In case of RFM of the third order, At least forty GCP are required far RFM generation. The purpose of this study is to research more efficient algorithm on GCP and accurate algorithm similar to RFM. The Polynomial Camera Model is relatively accurate and requires a little GCP in comparisons of RFM. This paper introduces how to generate Polynomial Camera Model and fundamental algorithms for construction of 3-D topographic data using the Polynomial Camera Model information in the Kompsat stereo pair and describes how to generate the 3-D ground coordinates by manual matching. Finally we tried to extract height information for the whole image area with the stereo matching technique based on the correlation.

• Journal of electromagnetic engineering and science
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• 제18권1호
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• pp.35-40
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• 2018

This study presents a vertical-type CMOS Hall device with improved sensitivity to detect a 3D magnetic field in various types of sensors or communication devices. To improve sensitivity, trenches are implanted next to the current input terminal, so that the Hall current becomes maximum. The effect of the dimension and location of trenches on sensitivity is simulated in the COMSOL simulator. A vertical-type Hall device with a width of $16{\mu}m$ and a height of $2{\mu}m$ is optimized for maximum sensitivity. The simulation result shows that it has a 23% better result than a conventional vertical-type CMOS Hall device without a trench.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 C
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• pp.1646-1648
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• 2001

This paper described the outputs of acoustic sensors due to the vibration of particles in the mock up GIS. We used the two type of acoustic sensors which had 150kHz resonant frequency and 60kHz resonant frequency respectively. In the experiment of the mock up GIS, we paid attention to the magnitude and attenuation of sensor outputs due to particles. In this results the output of each sensor in frequency characteristic depended on the material of GIS tank and the output of sensor in magnitude characteristics depended on the size of particles and dropping height.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.94.1-94
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• 2001

Arc sensor gives important groove information during welding. Automatic seam tracking control system with arc sensor has significant characteristics such that bead formation is given as decentralization of penetration and formation of concave bead profile and that a turning point of transverse weaving with constant arc length control is decided whether or not torch height reaches to a specified setting level. Furthermore, the rotating action of the arc prevents hanging of weld bead and forms flat bead surface under high speed welding condition. The variation of groove and deposition area can be detected from the trace of weaving. The area and width of weaving trace has close correlation with the area of groove and deposition. In this paper, main object of this system is to realize an adaptive microprocessor based controller ...

• 한국복합재료학회:학술대회논문집
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• 한국복합재료학회 2005년도 추계학술발표대회 논문집
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• pp.27-30
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• 2005

This paper studied the PVDF(polyvinylidene fluoride) and Acoustic Emission sensors characteristics of the laminated composite panels under the low velocity impact. The various impact test by changing impact height is performed on the instrumented drop weight impact tester. The STFT(short time Fourier transform) and WT(wavelet transform) are used to decompose the each sensor signals. A ultrasonic C-scan and digital scope are used to define damaged area in each case. The test result indicated that the individual sensor signals involve the damage initiation and development.