• 센서학회지
• /
• 제22권2호
• /
• pp.111-117
• /
• 2013

The autonomous driving method using magnetic sensors recognizes the position by measuring magnetic fields in autonomous robots or vehicles after installing magnetic markers in a moving path. The Position estimate method using magnetic sensors has an advantage of being affected less by variation of driving environment such as oil, water and dust due to the use of magnetic field. It also has the advantages that we can use the magnet as an indicator and there is no consideration for power and communication environment. In this paper, we propose an efficient sensor system for an autonomous driving vehicle supplemented for existing disadvantage. In order to efficiently eliminate geomagnetism, we analyze the components of the horizontal and vertical magnetic field. We propose an algorithm for position estimation and geomagnetic elimination to ease analysis, and also propose an initialization method for sensor applied in the vehicle. We measured and analyzed the developed system in various environments, and we verify the advantages of proposed methods.

• 한국도로학회논문집
• /
• 제13권2호
• /
• pp.175-185
• /
• 2011

도로기하구조정보는 도로의 안전성평가 및 도로의 유지관리를 위한 필수적인 요소이다. 본 연구에서는 GPS(Global Positioning System)/INS(Inertial Navigation System)센서가 탑재된 조사차량을 이용하여 기하구조정보를 수집하였으며, 수집된 차량의 자세정보 중 평면선형과 관련된 Roll, Heading 자료를 이용하여 직선, 원곡선, 완화곡선을 구분하는 알고리즘을 개발하였다. 본 연구에서는 평면선형 인식 이전에 전처리 과정으로 이동평균법을 통하여 자료를 평활화함으로써 원시자료의 이상치를 제거하여 평면선형 인식의 신뢰성을 제고하였다. 유전알고리즘(GA, Genetic Algorithm)을 이용하여 분류정확도(CCR, Correct Classification Rate)를 최대로 하는 알고리즘 파라미터를 설정한 결과 100%의 분류정확도를 보였다. 설정된 파라미터를 이용하여 고속도로와 국도 주행자료를 이용하여 알고리즘을 평가한 결과 90.48%와 88.24%의 분류정확도를 보여, 제안된 평면선형인식 알고리즘은 현장에서 적용 시 높은 신뢰도를 가지는 정보를 제공 가능한 것으로 분석되었다. 본 연구에서 개발한 평면선형인식 알고리즘은 조사차량에 GPS/INS센서의 소프트웨어로 탑재되어 도로 및 교통기술자에게 도로기하구조정보를 보다 용이하게 수집하고 분석할 수 있는 환경을 제공하는데 기여할 것으로 기대된다.

• Current Optics and Photonics
• /
• 제3권2호
• /
• pp.154-163
• /
• 2019

In this study, we developed an optical sighting system capable of shooting at a long-distance target by operating a digital gyro mirror composed of a gyro sensor and an FSM. The optical sighting system consists of a reticle part, a digital gyro mirror (FSM), a parallax correction lens, a reticle-ray reflection mirror, and a partial reflection window. In order to obtain the optimal volume and to calculate the leading angle range according to the driving angle of the FSM, a calculation program using Euler rotation angles and a three-dimensional reflection matrix was developed. With this program we have confirmed that the horizontal leading angle of the developed optical sighting system can be implemented under about ${\pm}8^{\circ}$ for the maximum horizontal driving angle (${\beta}={\pm}12.5^{\circ}$) of the current FSM. Also, if the ${\beta}$ horizontal driving angle of the FSM is under about ${\pm}15.5^{\circ}$, it can be confirmed that the horizontal direction leading angle can be under ${\pm}10.0^{\circ}$. If diagonal leading angles are allowed, we confirmed that we can achieve a diagonal leading angle of ${\pm}10.0^{\circ}$ with a vertical driving angle ${\alpha}$ of ${\pm}7.1^{\circ}$ and horizontal driving angle ${\beta}$ of ${\pm}12.5^{\circ}$.

• 제어로봇시스템학회논문지
• /
• 제7권8호
• /
• pp.656-663
• /
• 2001

This paper presents a sensor fusion method to recognize a cylindrical object a CCD camera, a laser slit beam and ultrasonic sensors on a pan/tilt device. For object recognition with a vision sensor, an active light source projects a stripe pattern of light on the object surface. The 2D image data are transformed into 3D data using the geometry between the camera and the laser slit beam. The ultrasonic sensor uses an ultrasonic transducer array mounted in horizontal direction on the pan/tilt device. The time of flight is estimated by finding the maximum correlation between the received ultrasonic pulse and a set of stored templates - also called a matched filter. The distance of flight is calculated by simply multiplying the time of flight by the speed of sound and the maximum amplitude of the filtered signal is used to determine the face angle to the object. To determine the position and the radius of cylindrical objects, we use a statistical sensor fusion. Experimental results show that the fused data increase the reliability for the object recognition.

• Journal of Magnetics
• /
• 제16권4호
• /
• pp.453-456
• /
• 2011

Demagnetization for a tube sample which was made of a galvanized steel sheet was performed by applying a magnetic field with a decrement to remove the remanent magnetization of the material. An orthogonal fluxgate magnetic field sensor was used to measure a magnetic field created from a ferromagnetic material. To evaluate the remanent magnetization, the measured magnetic fields were separated into two magnetic field components by the remnant magnetization and the induced one. The horizontal and the vertical bias fields should be controlled separately during demagnetization to remove the horizontal and the vertical components of the remanent magnetization of the tube sample.

• 제어로봇시스템학회논문지
• /
• 제13권3호
• /
• pp.235-241
• /
• 2007

This paper proposes a self-calibration method of robots those are used in industrial assembly lines. The proposed method is a position compensation using laser sensor and vision camera. Because the laser sensor is cross type laser sensor which can scan a horizontal and vertical line, it is efficient way to detect a feature of vehicle and winding shape of vehicle's body. For position compensation of 3-Dimensional axis, we applied block interpolation method. For selecting feature point, pattern matching method is used and 3-D position is selected by Euclidean distance mapping between 462 feature values and evaluated feature point. In order to evaluate the proposed algorithm, experiments are performed in real industrial vehicle assembly line. In results, robot's working point can be displayed 3-D points. These points are used to diagnosis error of position and reselecting working point.

• Journal of Welding and Joining
• /
• 제19권2호
• /
• pp.200-207
• /
• 2001

Three-diemnsional bead profile was measured using the biprism stereo vision sensor in GMAW, which consists of an optical filter, biprism and CCD camera. Since single CCD camera is used, this system has various advantages over the conventional stereo vision system using two cameras such as finding the corresponding points along the horizontal scanline. In this wort, the biprism stereo vision sensor was designed for the GMAW, and the linear calibration method was proposed to determine the prism and camera parameters. Image processing techniques were employed to find the corresponding point along the pool boundary. The ism-intensity contour corresponding to the pool boundary was found in the pixel order and the filter-based matching algorithm was used to refine the corresponding points in the subpixel order. Predicted bead dimensions were in broad agreements with the measured results under the conditions of spray mode and humping bead.

• 한국엔터테인먼트산업학회논문지
• /
• 제5권2호
• /
• pp.166-172
• /
• 2011

저가의 홀센서를 이용하여 자석의 위치를 인식하는 센서 시스템을 제안하였다. 먼저 모델식을 이용하여 자석에 의한 자기장을 측정하고, 수평 자계와 수직 자계의 특성을 분석하여, 센서의 배치방법을 결정하였다. 자석과 홀센서의 위치 관계에 따라서 측정된 자기장 값으로부터 자석의 위치를 추정하는 알고리즘을 제안하고, 이론적인 오차를 계산하였다. 또한 마이크로 컨트롤러를 사용하여 개발할 때의 단점인 실시간 데이터 확인이 어려운 점을 극복하기 위해서 컴퓨터용 응용 프로그램을 작성하여, 작업의 수월성을 높였다. 계산된 이론적 오차는 0.0025cm 이하로 나타났으며 실제로 개발된 시스템의 오차는 0.07cm 이하로 측정되어 여러 가지 상황에서 제안한 방법들의 우수성을 입증하였다.

• Nuclear Engineering and Technology
• /
• 제43권2호
• /
• pp.133-140
• /
• 2011

In this paper, a deformation measurement technology for nuclear fuel rods is proposed. The deformation measurement system includes a high-definition CMOS image sensor, a lens, a semiconductor laser line beam marker, and optical and mechanical accessories. The basic idea of the proposed deformation measurement system is to illuminate the outer surface of a fuel rod with a collimated laser line beam at an angle of 45 degrees or higher. For this method, it is assumed that a nuclear fuel rod and the optical axis of the image sensor for observing the rod are vertically composed. The relative motion of the fuel rod in the horizontal direction causes the illuminated laser line beam to move vertically along the surface of the fuel rod. The resulting change of the laser line beam position on the surface of the fuel rod is imaged as a parabolic beam in the high-definition CMOS image sensor. An ellipse model is then extracted from the parabolic beam pattern. The center coordinates of the ellipse model are taken as the feature of the deformed fuel rod. The vertical offset of the feature point of the nuclear fuel rod is derived based on the displacement of the offset in the horizontal direction. Based on the experimental results for a nuclear fuel rod sample with a formation of surface crud, an inspection resolution of 50 ${\mu}m$ is achieved using the proposed method. In terms of the degree of precision, this inspection resolution is an improvement of more than 300% from a 150 ${\mu}m$ resolution, which is the conventional measurement criteria required for the deformation of neutron irradiated fuel rods.

• 한국정밀공학회지
• /
• 제16권6호
• /
• pp.58-65
• /
• 1999

The spinning machine has been developed for a bus and truck wheel disc which is manufactured by spinning process method. This machine has the mechanical structure with bed, 2-column, cross head, 2-vertical slide, 2-horizontal slide with forming roller, clamp slide and main spindle similar to large size vertical lathe. Main spindle attached the mandrel is rotated about 500rpm drived by 280kW power DC motor, and a rotating black material pressed on the mandrel with the clamp slide is spinformed by 2-forming rollers which are attached inner end of the 2-horizontal slides. The 2-vertical and 2-horizontal slides are actuated by the hydraulic cylinder which is controlled by the servo valve individially, and these servo valves are controlled by control signal of the CNC controller which is computed with position signal feedbacked from the encoder sensor. The developed machine can manufacture wheel disc of various section profile without mandrel change because section profile is easily modified using program editing in the CNC controller processor. The wheel disc manufactured by spinning process method has many advantages that the endurance is increased by 2 times and the weight is decreased by 30% compared with a conventional disc.