• IEMEK Journal of Embedded Systems and Applications
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• v.15 no.2
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• pp.71-78
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• 2020

This paper proposes vision sensors and deep learning-based around view monitoring system for ship berthing. Ship berthing to the port requires precise relative position and relative speed information between the mooring facility and the ship. For ships of Handysize or higher, the vesselships must be docked with the help of pilots and tugboats. In the case of ships handling dangerous cargo, tug boats push the ship and dock it in the port, using the distance and velocity information receiving from the berthing aid system (BAS). However, the existing BAS is very expensive and there is a limit on the size of the vessel that can be measured. Also, there is a limitation that it is difficult to measure distance and speed when there are obstacles near the port. This paper proposes a relative distance and speed estimation system that can be used as a ship berthing assist system. The proposed system is verified by comparing the performance with the existing laser-based distance and speed measurement system through the field tests at the actual port.

• Journal of Korea Multimedia Society
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• v.17 no.2
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• pp.132-142
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• 2014

Stereo camera is drawing attention as an essential sensor for future intelligence robot system since it has the advantage of acquiring not only distance but also other additive information for an object. However, it cannot match correlated point on target image for low textured region or periodic patterned region such as wall of building or room. In this paper, we propose a stereo matching technique that increase the matching performance by fusing belief propagation stereo matching algorithm and local distance measurements of 2D-laser range finder in order to overcome this kind of limitation. The proposed technique adds laser measurements by referring quad-tree based segment information on to the local-evidence of belief propagation stereo matching algorithm, and calculates compatibility function by reflecting over-segmented information. Experimental results of the proposed method using simulation and real test images show that the distance information for some low textured region can be acquired and the discontinuity of depth information is preserved by using segmentation information.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.23 no.7
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• pp.75-80
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• 2009

In this study, a Web server was constructed using LabVIEW's DataSocket, which makes possible acquisition, analysis, and saving in real time. The output value of the optical current sensor at the web server PC was measured and the output value was displayed using the Web browser of the client PC. DataSocket by LabVIEW makes the construction of a Web server easier than other languages and is compatible with other application programs. An optical current sensor was composed using a 1310 [nm] laser diode, and 9/125 [${\mu}m$] standard single mode optical fiber and was created to be a close type sensor. Data measurement using Web servers has the advantage of monitoring electric power systems at a great distance and can fuse IT technology and electric power systems. Also, this measurement uses inexpensive mounting and programming when compared to existing measurement equipment allowing the construction of a measurement system in any situation or surrounding.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.257-258
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• 2006

This paper presents the displacement sensor based on astigmatic method that has a small measurement range. The sensor has the characteristic that the measuring range is changed easily by exchanging a objective lens or distance between a objective lens and a collimator lens. The measuring range and resolution is evaluated by a laser interferometer.

• International Journal of Aeronautical and Space Sciences
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• v.17 no.1
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• pp.37-44
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• 2016

Optical fiber temperature sensing systems have incomparable advantages over traditional electrical-cable-based monitoring systems. However, the fiber optic interrogators and sensors have often been rejected as a temperature monitoring technology in real-world industrial applications because of high cost and over-specification. This study proposes a multiplexed fiber optic temperature monitoring sensor system using an economical Optical Time-Domain Reflectometer (OTDR) and Hard-Polymer-Clad Fiber (HPCF). HPCF is a special optical fiber in which a hard polymer cladding made of fluoroacrylate acts as a protective coating for an inner silica core. An OTDR is an optical loss measurement system that provides optical loss and event distance measurement in real time. A temperature sensor array with the five sensor nodes at 10-m interval was economically and quickly made by locally stripping HPCF clad through photo-thermal and photo-chemical processes using a continuous/pulse hybrid-mode laser. The exposed cores created backscattering signals in the OTDR attenuation trace. It was demonstrated that the backscattering peaks were independently sensitive to temperature variation. Since the 1.5-mm-long exposed core showed a 5-m-wide backscattering peak, the OTDR with a spatial resolution of 40 mm allows for making a sensor node at every 5 m for independent multiplexing. The performance of the sensor node included an operating range of up to $120^{\circ}C$, a resolution of $0.59^{\circ}C$, and a temperature sensitivity of $-0.00967dB/^{\circ}C$. Temperature monitoring errors in the environment tests stood at $0.76^{\circ}C$ and $0.36^{\circ}C$ under the temperature variation of the unstrapped fiber region and the vibration of the sensor node. The small sensitivities to the environment and the economic feasibility of the highly multiplexed HPCF temperature monitoring sensor system will be important advantages for use as system-integrated temperature sensors.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.9 no.2
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• pp.45-50
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• 2009

The environment exploration is an essential process for indoor robots such as clean robot and security robot. Apartment house and office building has common frame structure, but internal arrangement of each room may be slightly different. So, it is more convenient to use a common frame map than to build a new map at every time the arrangement is changed. In this case, it is important to recognize invariant features such as wall, door and window. In this paper, an indoor mobile robot is implemented, and by using the laser scanner data and line segment histogram with respect to segment orientation and distance, an environment exploration method is presented and tested. This robot is fitted with a laser scanner, gyro sensor, ultra sonic sensor and IR sensor, and programed with C language.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.499-503
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• 2004

This application-oriented paper describes an automated welding carriage system to weld a thin corrugated workpiece with welding seam tracking function. Hyundai Heavy Industries Corporation has developed an automatic welding carriage system, which utilizes pulsed plasma arc welding process for corrugated sheets. It can obtain high speed welding more than 2 times faster than traditional TIG based welding system. The aim of this development is to increase the productivity by using automatic plasma welding carriage systems, to track weld seam line using vision sensor automatically, and finally to provide a convenience to operator in order to carry out welding. In this paper a robust image processing and a distance based tracking algorithms are introduced for corrugated workpiece welding. The automatic welding carriage system is controlled by the programmable logic controller(PLC), and the automatic welding seam tracking system is controlled by the industrial personal computer(IPC) equipped with embedded OS. The system was tested at actual workpiece to show the feasibility and performance of proposed algorithm and to confirm the reliability of developed controller.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1995.03a
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• pp.1-8
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• 1995

This paper proposed a simple method for measuring surface roughness of ground surface. utilizing non-contact in-process measuring system using the diode laser. The measurement system is consisted of a laser unit with a diode laser and a cylindrical lens a detecting unit with polygon mirror and CCD array sensor. and a signal processing unit with a computer and device. During operation, this measuring system can provide information on surface roughness in the measuring distance with a single sampling and simultanilusly monitor the state of the grind wheel. The experimental results, showed that the increase of the feed rate and the dressing speed an caused increase in the surface roughness and when the surface roughness is 4Rmax-10Rmax, the cutting speed is 1653m/min-1665m/min. the feed rate is 0.2m/min-0.9m/min, the dressing speed is 0.2mm/rev-0.4mm/rev, the stylus method and the in-process method can be obtained the same results. thus under limited working conditions. using the proposed system. the surface roughness of the ground surface during cylindrical grinding can be obtained through the in-process measurement method using the diode laser.

• Journal of the Korean Society of Safety
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• v.10 no.3
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• pp.30-41
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• 1995

This paper proposed a simple method for measuring surface roughness of ground surface. Utilizing non-contact in-process measuring system using the diode laser. The measurement system is consisted of a laser unit with a diode laser and a cylindrical lens, a detecting unit with polygon mirror and CCD array sensor, and a signal processing unit with a computer and device. During operation, this measuring system can provide information on surface roughness in the measuring distance with a single sampling and simultaniously monitor the state of the grind wheel. The experimental results, showed that the Increase of the feed rate and the dressing speed an caused increase in the surface roughness and when the surface roughness is 4Rmax-10Rmax, the cutting speed is 1653m/min-1665m/min, the table speed is 0.2n1/min -0.9m/min, the dressing speed is 0.2mm/rev～0.4mm/rev, the stylus method and the in-process method can be obtained the same results. Thus, under limited working conditions, using the proposed system, the surface roughness of the ground surface during cylindrical grinding can be obtained through the in-process measurement method using the diode laser.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.45 no.6
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• pp.149-156
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• 2008

SLAM(Simultaneous Localization and Mapping) system is to find a global position and build a map with sensing data when an unmanned-robot navigates an unknown environment. Two kinds of system were developed. One is used distance measurement sensors such as an ultra sonic and a laser sensor. The other is used stereo vision system. The distance measurement SLAM with sensors has low computing time and low cost, but precision of system can be somewhat worse by measurement error or non-linearity of the sensor In contrast, stereo vision system can accurately measure the 3D space area, but it needs high-end system for complex calculation and it is an expensive tool. In this paper, we implement the SLAM system using a single camera image and a PSD sensors. It detects obstacles from the front PSD sensor and then perceive size and feature of the obstacles by image processing. The probability SLAM was implemented using the data of sensor and image and we verify the performance of the system by real experiment.