• 센서학회지
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• 제14권2호
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• pp.101-108
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• 2005

The research on the avoidance of the large-obstacles such as a wall, a large box, etc. using ultrasonic sensors has been generally progressed up to now. But the mobile robot could meet a small-obstacle such as a small plastic bottle, a small sphere, and so on in its designated path, and could be disturbed by them in the locomotion of the mobile robot. So, it is necessary to research on the avoidance of a small-obstacle. In this paper, a robot's small-obstacle perceiving system was designed and fabricated by arranging four ultrasonic sensors on the plastic plate to avoid small-obstacles. The system was installed on the upper part of the mobile robot with the slope angles between $40.7^{\circ}$ and $23.3^{\circ}$ to a horizontal line and the dynamic characteristic test of the robot was performed. As the result, it was confirmed that the mobile robot with the system could avoid small-obstacles in indoor environment safely.

• 센서학회지
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• 제33권4호
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• pp.187-195
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• 2024

Light detection and ranging (LiDAR), a widely used sensor in mobile robots and autonomous vehicles, has its most important function as measuring the range of objects in three-dimensional space and generating point clouds. These point clouds consist of the coordinates of each reflection point and can be used for various tasks, such as obstacle detection and environment recognition. However, several processing steps are required, such as three-dimensional modeling, mesh generation, and rendering. Efficient data processing is crucial because LiDAR provides a large number of real-time measurements with high sampling frequencies. Despite the rapid development of controller computational power, simplifying the computational algorithm is still necessary. This paper presents a method for estimating the presence of curbs, humps, and ground tilt using range measurements from a single horizontal or vertical scan instead of point clouds. These features can be obtained by data segmentation based on linearization. The effectiveness of the proposed algorithm was verified by experiments in various environments.

• 마이크로전자및패키징학회지
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• 제8권4호
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• pp.17-23
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• 2001

3차원 홀 센서는 두 개의 수평 자계($\chi$, y성분) 검출부와 한 개의 수직 자계(z 성분) 검출부를 갖는다. 종래의 3차원 홀 센서는 일반적으로 $B_{z}$에 대한 감도가 $B_\chi, B_y$에 대한 감도의 약 1/10정도에 그친다. 본 연구에서는 새로운 구조를 갖는 3차원 홀 센서를 제안하였다. 이방성 식각을 이용하여 트랜치를 형성함으로써 감도를 약 6배 증가시켰다. 또한 자속을 집속시키기 위하여 웨이퍼 후면에 강자성체 박막을 증가시킴으로써 $B_{z}$에 대한 감도를 $B_\chi, B_y$에 대한 감도의 약 80% 정도로 증가시켰다. 전류 3 mA를 인가했을 때, Ni/Fe 박막을 증착하여 제작된 센서의 감도는 $B_\chi, B_y$, B$_{z}$ 에 대하여 각각 120.1 mV/T, 111.7 mV/T, 그리고 95.3 mV/T로 측정되었다. 센서의 선형성을 오차가 $\pm$3%로 우수하였다.

• 한국산학기술학회논문지
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• 제10권9호
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• pp.2340-2349
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• 2009

본 논문에서는 주기적 모니터링 센서 네트워크의 핫 스팟 문제를 해결하기 위한 호핑 라우팅 기법을 제안한다. 제안한 호핑 라우팅 기법은 네트워크의 모든 노드들의 에너지 소비 형태가 예측 가능한 부하 균등 경로를 구성한다. 부하 균등 라우팅 경로는 동일한 영역내 노드들의 부하 균형을 이루는 수평 호핑 전송 기법과 서로 다른 영역에 있는 노드 사이에 부하 균형을 이루는 수직 호핑 전송 기법으로 구할 수 있다. 수직 호핑 전송에 필요한 직접 전송횟수는 센서 노드의 에너지 소비 모델을 통해서 부하 균형을 이룰 수 있는 값을 도출하였다. 시뮬레이션을 통해서 제안한 호핑 라우팅 기법이 핫 스팟 문제를 효과적으로 해결함을 보였으며 기존 라우팅 기법 중에서 멀티 홉 전송 방식과 직접 전송 방식 그리고 클러스터링 기법과 비교 평가를 통해서 호핑 라우팅 기법의 효율성을 제시하였다.

• 한국음향학회지
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• 제40권4호
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• pp.391-399
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• 2021

곡면 배열 센서는 빔의 지향 방위에 따라 부 배열이 구성된다. 여기서 부 배열의 센서 선택 방법에 따라 곡면 배열 센서의 성능이 달라질 수 있다. 또한, 곡면 배열 센 서는 형상의 특성으로 인해 빔 지향 방위에 따라 부 배열의 형상이 달라진다. 따라서 빔 지향 방위에 따라 지향지수, 빔 폭 등의 성능이 달라진다. 그러므로 센서 선택 방법을 선택할 때, 빔 지향 방위에 따라 달라지는 지향지수, 빔폭 등의 성능을 고려해야 한다. 본 논문에서는 각 단일 센서의 위치 벡터가 기준인 부 배열을 선택하는 방법과 센서 빔의 지향 벡터가 기준인 부 배열을 선택하는 방법을 사용하였다. 두 가지 방법에 대해 빔 지향 방위별 지향지수와 수평 및 수직 빔 폭의 평균과 분산을 비교 분석하였다. 또한, 두 방법에서 사용되는 센서 수를 고정 하여 비교 분석하였다. 센서 수를 고정하지 않았을 때는 센서 빔의 지향 벡터 기준 방법의 성능이 대부분 높았으나 수직 빔 폭의 성능은 낮거나 비슷하였다. 하지만 센서 수를 고정하였을 경우, 두 방법 모두 성능은 비슷하나 지향 방위별 성능 분산은 줄어들었다.

• Journal of Photoscience
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• 제6권1호
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• pp.5-6
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• 1999

Solar ultraviolet-B (UV-B) irradiances incident on a horizantal surface at Taegu of Korea during 1995-1998 were calculated with 5 min averges of measuremets taken every 30 seconds by a broadband UV-B sensor. The maximum and minimum of monthly averages of daily UV-B dose were 15.89 KJ m-2 day-1 in April and 3.91KJm-2 day-1 on May 22, 1998 and 1.230W m-2 at 12 : 45, July 13, 1998, respectively. Increasing trend in annual maximum of instantaneous UV-B radiation was averaged to 12.0% per year during 1995-1998 of observation period.

• 대한의용생체공학회:의공학회지
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• 제16권1호
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• pp.43-48
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• 1995

A high speed optic scanner capable of 16 frames/sec imaging has been developed for the realization of the infrared thermal Imaging system with a single element infrared sensor. The high speed optic scanner is composed of a rotating polygon mirror for horizontal scanning, a flat mirror mounted on a galvanometer for vertical scanning, and a spherical mirror. It has been experimentally found that the optic scanner is capable of 16 framesllsec imaging with the frame matrix size of 256 x 64.

• Journal of Biosystems Engineering
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• 제41권4호
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• pp.304-312
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• 2016

Purpose: Soil strength has been measured using a cone penetrometer, which is making it difficult to obtain the spatial data required for precision agriculture. Our objectives were to evaluate real-time horizontal soil strength (RHSS) to measure soil strength in real time while moving across the field. Using the RHSS data, the tillage depth was determined, and the power consumption of a tractor and rotavators were compared. Methods: The horizontal soil-strength index (HSSI) obtained by the RHSS was compared with the cone index (CI), which was measured using a cone penetrometer. Comparison analysis in accordance with the measurement depth that increased at 5-cm interval was conducted using kriged maps at six sensing depths. For tillage control and evaluation of the power consumption, the system was installed with a potentiometer for tillage depth, a torque sensor from the rear axle, and a power take-off (PTO) shaft. Results: The HSSI was lower than the CI, but they were the same at 54.81% of the total grids for the 5-cm depth and at 3.85% for the 10-cm depth. In accordance with the recommended tillage map, tillage operations between 0 and 15 cm left 2.3% and 7% residue cover on the soil, and that between 20 and 10 cm covered a wider utilization of 3% and 18.4%, respectively. When the tillage depth was 15 cm, the comparison result of the power requirements between the PTO and rear axle in terms of control performance revealed that the maximum power requirements of the axle and PTO were 44.63 and 23.24 kW, respectively. Conclusions: An HSSI measurement system was evaluated by comparison with the conventional soil strength measurement system (CI) and applied to a tractor to compare the tillage power consumption. Further study is needed on its application to various farm works using a tractor for precision agriculture.

• 센서학회지
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• 제26권1호
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• pp.66-72
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• 2017

The three dimensional ultrasonic anemometer was constructed to reduce the disadvantages of the two-dimensional anemometer and to be free from the use environment. Three pairs of transmitting and receiving ultrasonic sensors were designed to face each other at an angle of $45^{\circ}$ to the upper and lower surfaces at intervals of $120^{\circ}$. 200 kHz ultrasonic sensor Oscillation, transmission and reception, level detection, power supply circuit were designed and U, V, W wind speed vector components were obtained by measuring the time of first received ultrasonic pulse by transmitting pulse ultrasound. It is implemented as firmware in ARM Coretex-M3 processor so that horizontal and vertical wind direction and wind speed can be converted into digital signal by vector calculation. In this study, The three-dimensional ultrasonic anemometer can complement the disadvantages of the two-dimensional anemometer (mechanical and ultrasonic), and it is expected to gradually replace the two-dimensional anemometer due to its high utilization rate by collecting additional information such as vertical wind.

• 한국해양공학회지
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• 제17권6호
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• pp.83-90
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• 2003

This paper presents an underwater hybrid navigation system for a semi-autonomous underwater vehicle (SAUV). The navigation system consists of an inertial measurement unit (IMU), and a Doppler velocity log (DVL), accompanied by a magnetic compass. The errors of inertial measurement units increase with time, due to the bias errors of gyros and accelerometers. A navigational system model is derived, to include the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters is 20. The conventional extended Kalman filter was used to propagate the error covariance, update the measurement errors, and correct the state equation when the measurements are available. Simulation was performed with the 6-d.o,f equations of motion of SAUV, using a lawn-mowing survey mode. The hybrid underwater navigation system shows good tracking performance, by updating the error covariance and correcting the system's states with the measurement errors from a DVL, a magnetic compass, and a depth sensor. The error of the estimated position still slowly drifts in the horizontal plane, about 3.5m for 500 seconds, which could be eliminated with the help of additional USBL information.