• 한국군사과학기술학회지
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• 제13권6호
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• pp.1006-1012
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• 2010

For the autonomous navigation of an unmanned ground vehicle in the rough terrain and combat, the dust environment should necessarily be overcome. Therefore, we propose a robust obstacle detection methodology using laser range sensor and radar. Laser range sensor has a good angle and distance accuracy, however, it has a weakness in the dust environment. On the other hand, radar has not better the angle and distance accuracy than laser range sensor, it has a robustness in the dust environment. Using these characteristics of laser range sensor and radar, we use laser range sensor as a main sensor for normal times and radar as a assist sensor for the dust environment. For fusion of laser range sensor and radar information, the angle and distance data of the laser range sensor and radar are separately transformed to the angle and distance data of virtual range sensor which is located in the center of the vehicle. Through distance comparison of laser range sensor and radar in the same angle, the distance data of a fused virtual range sensor are changed to the distance data of the laser range sensor, if the distance of laser range sensor and radar are similar. In the other case, the distance data of the fused virtual range sensor are changed to the distance data of the radar. The suggested methodology is verified by real experiment.

• 전기학회논문지
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• 제62권12호
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• pp.1813-1819
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• 2013

Existing level crossing obstacle detecting system was installed using a laser beam. Level crossing obstacle detecting system using a laser beam that has been a problem in relation to safety and maintainability failure according to weather conditions. We proposed laser radar level crossing obstacle detecting system as a way to overcome problem, and we developed an algorithm for this. Level crossing obstacle detecting system using a laser radar sensor algorithm is robust to external environment and a shadow zone does not exist. Sensor part of the laser radar level crossing obstacle detecting system of these is made up by the image processing unit and laser radar sensor, it operations by receiving train entering information from the control unit. In this paper, we proposed a detecting algorithm with calculation of the size of the laser radar sensor. Based on this, we were performance test on the basis of the scenario by making a prototype. In the future, laser radar level crossing obstacle detecting system to ensure the safety and reliability through the field test.

• 한국통신학회논문지
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• 제39C권3호
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• pp.307-315
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• 2014

기존의 건널목 지장물 검지장치는 선검지 방식으로 지장물을 검지하지 못하는 구간이 발생하며, 분산적인 기기설치로 인해 유지보수 비용 및 안전성 측면에서 문제가 되고 있다. 따라서 이러한 지장물 검지장치의 문제점을 해결하기 위해 레이저레이더 센서를 이용한 건널목 지장물 검지장치가 개발되었다. 본 논문에서는 개발된 레이저레이더 센서를 이용한 건널목 지장물 검지장치의 기능시험을 수행한 결과에 대해 설명하고 있다. 기능시험은 지장물 검지에 따른 센서부와 제어부의 정상작동 시험과 센서부와 제어부에 고장 발생 시 고장정보를 표시하는 시험으로 구성하여 수행하였다. 수행된 기능시험을 통해 레이저레이더 센서를 이용한 건널목 지장물 검지장치의 기능들이 모두 정상동작하는 것을 확인하였다.

• International Journal of Safety
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• 제9권2호
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• pp.35-40
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• 2010

Many casualties are being occurred due to many misses the railway platform, and the accident occurrence is being increased. Recently in Korea, efforts to prevent casualties fundamentally are being made by installing and operating the PSD(Passenger Screen Door) as to prevent these casualties of passengers. However, in case of the PSD system, although it can solve the problem of public casualties at platform fundamentally, it is impossible to install it at whole railway platforms. This paper proposes the safety equipment using LaserRadar sensor for the prevention against casualties of passengers at platform. The safety equipment using novel sensor is the safety equipment making an approaching train stopped if the falling object is a person by detecting the obstacle at platform, and it has the merit possible to apply it to platform since it may detect accurately under ambient environmental elements such as the snow, rain and yellow dust, etc. also. We manufactured a prototype of the safety equipment to reduce public casualties at platform by using LaserRadar sensor and carried out its performance test, and the result is presented in this paper.

• 전기학회논문지P
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• 제62권2호
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• pp.57-64
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• 2013

Many accidents are being occurred due to many missteps, etc. at the railway platform. Recently in Korea, efforts to prevent casualties fundamentally are being made by installing and operating the PSD(Platform Screen Door) with underground station building as its center to prevent these casualties of passengers. Although this PSD can solve the problem of public casualties at platform fundamentally, it is impossible to install it at whole station buildings since its installation cost is high, and in case of the ground station building of general railway whose operation speed is higher, installation of PSD is impossible due to the characteristics of railway system. This paper proposes the novel safety equipment using Laser radar sensors for the prevention against casualties of passengers at station buildings where the PSDs are not installed like this. The safety equipment using Laser radar sensors is the safety equipment making an approaching train stopped if the falling object is a person by detecting the obstacle at platform through, and it has the merit possible to apply it to station buildings not only in the underground section but also in the ground section since it may detect accurately under ambient environmental elements such as the snow, rain and yellow dust, etc. also. We developed the prototype of the safety equipment to reduce public casualties at platform by using Laser radar sensors and carried out its performance test, and the result is presented in this paper.

• 한국군사과학기술학회지
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• 제17권1호
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• pp.90-95
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• 2014

The system design and the system performance analysis of 3D imaging laser radar system for the mapping purpose is addressed in this article. For the mapping, a push-bloom scanning method is utilized. The pulsed fiber laser with high pulse energy and high pulse repetition rate is used for the light source of laser radar system. The high sensitive linear mode InGaAs avalanche photo-diode is used for the laser receiver module. The time-of-flight of laser pulse from the laser to the receiver is calculated by using high speed FPGA based signal processing board. To reduce the walk error of laser pulse regardless of the intensity differences between pulses, the time of flight is measured from peak to peak of laser pulses. To get 3D image with a single pixel detector, Risley scanner which stirs the laser beam in an ellipsoidal pattern is used. The system laser energy budget characteristics is modeled using LADAR equation, from which the system performances such as the pulse detection probability, false alarm and etc. are analyzed and predicted. The test results of the system performances are acquired and compared with the predicted system performance. According to test results, all the system requirements are satisfied. The 3D image which was acquired by using the laser radar system is also presented in this article.

• 한국전자파학회:학술대회논문집
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• 한국전자파학회 2003년도 종합학술발표회 논문집 Vol.13 No.1
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• pp.203-207
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• 2003

Due to the inherent nature of the low flying UAV, obstacle detection is a fundamental requirement in the flight path to avoid the collision from obstacles as well as manned aircraft. In this paper, a preliminary sensor requirements of an obstacle detection system for UAV in low-altitude flight are analyzed, and the automated obstacle detection sensor system is proposed assessing both passive and active sensors such as EO camera, IR, Laser radar, microwave and millimeter radar. In addition, TCAS (Traffic Alert and Collision Avoidance System) are reviewed for the collision avoidance of the manned aircraft system. It is suggested that small-sized radar sensor is the best candidate for the smart UAV because an active radar can provide the real-time informations on range and range rate in the all-weather environment. However, an important constraints on small UAV should be resolved in terms of accommodation of the mass, volume, and power allocated in the payload of the UAV system design requirements.

• 자동차안전학회지
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• 제9권4호
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• pp.32-37
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• 2017

For automated vehicles, the integrity and fault tolerance of environment perception sensor have been an important issue. This paper presents radar, vision, lidar(laser radar) fusion-based fault detection algorithm for autonomous vehicles. In this paper, characteristics of each sensor are shown. And the error of states of moving targets estimated by each sensor is analyzed to present the method to detect fault of environment sensors by characteristic of this error. Each estimation of moving targets isperformed by EKF/IMM method. To guarantee the reliability of fault detection algorithm of environment sensor, various driving data in several types of road is analyzed.

• 한국지능시스템학회논문지
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• 제23권1호
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• pp.35-45
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• 2013

자동차의 자율주행기능 실현을 위해서는 기존의 지능형자동차 인식시스템 보다 강인하고 우수한 성능의 주행환경 인식시스템이 요구된다. 특히, 카메라와 레이저레이더 센서는 물체의 특징, 거리 등의 정보를 제공하는 대표적인 주행환경인식 센서로, 이를 이용한 단일센서기반 인식시스템 연구가 활발히 이루어지고 있다. 일반적으로 레이저레이더 센서의 거리정보는 도로의 구조, 차량, 보행자 등의 인식을 위하여 많이 사용되며, 카메라의 영상정보는 차선, 횡단보도, 표지판 등의 주행환경 인지에 사용된다. 하지만, 단일센서기반 인식시스템은 센서의 특성 및 주행환경에 의한 오검출 또는 미검출 발생률이 높기 때문에 자율주행기능 구현에 적합하지 않다. 따라서 단일센서기반의 인식시스템의 한계를 극복하기 위하여 카메라, 레이저레이더, GPS 등을 이용한 정보융합 인식시스템 개발이 필수적이다. 이 연구에서는 영상 및 레이저레이더의 정보융합을 통해 강인한 차선인식, 횡단보도 인식 등을 수행하는 자율주행자동차의 주행환경 인식기술을 개발하였다. 이 연구를 통해 개발된 주행환경 인식기술은 자율주행자동차에 적용되어 다양한 주행시험을 통해 신뢰성 및 안정성이 검증되었다.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2009년도 춘계학술대회 논문집
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• pp.872-878
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• 2009

Passenger safety is a primary concern of the railway system. However, dozens of people are killed every year when they accidently fall on to the track from the boarding platform. This is one of the most urgent issues to solve regarding the railway platform. The installation environment, and the blind area problems as well as maintenance and operating costs which are not efficient have to be looked at. To solve these problems, we propose a 3D laser radar sensor based monitoring system for the railway platform. This paper introduces an overview, the detecting method, and the interface with the signalling system in detecting a fallen passenger from the platform using the 3D laser radar sensor.