• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.3016-3018
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• 2005

The PSD(Position Sensitive Detector) is a sensor for detecting the position of incident light. Because of its various advantages, it is used for position and angle sensing, optical range finders, laser displacement sensing, and etc. In the previous study of the position finding system, the laser tracking robot is developed. Small data rate and unidirectionality is the characteristics of data communication both DSP-based pan/tilt control board and the robot. If we can transmit data to the target using PSD sensor and laser diode module, there is no need for communication devices such as the bluetooth and wireless module. For this reason, this paper presents the new method for data transmission. Transmit data using RS-232 is modulated by a VTF(Voltage To Frequency) converter The laser diode module transmits the modulated data. And then the PSD sensor receive that data. Demodulation process is accomplished by the system which is consisted with trans-impedance amplifier, FTV(Frequency To Voltage) converter, and etc.

• The Journal of Korea Robotics Society
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• v.8 no.4
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• pp.283-291
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• 2013

Methods for measuring or estimating of ground shape by a laser range finder and a vision sensor(exteroceptive sensors) have critical weakness in terms that these methods need prior database built to distinguish acquired data as unique surface condition for driving. Also, ground information by exteroceptive sensors does not reflect the deflection of ground surface caused by the movement of UGVs. Thereby, UGVs have some difficulties regarding to finding optimal driving conditions for maximum maneuverability. Therefore, this paper proposes a method of recognizing exact and precise ground shape using Inertial Measurement Unit(IMU) as a proprioceptive sensor. In this paper, firstly this method recognizes attitude of a robot in real-time using IMU and compensates attitude data of a robot with angle errors through analysis of vehicle dynamics. This method is verified by outdoor driving experiments of a real mobile robot.

• Journal of the Korea Institute of Military Science and Technology
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• v.8 no.4 s.23
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• pp.110-119
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• 2005

In this paper, a new detection algorithm was proposed for finding the position of lenslet array spot pattern used to acquire laser wavefront. Based on the analysis of the required signal processing characteristics, we categorized into and designed four main signal processing functions. The proposed was designed in order to have robust feature against a variation of geometrical form of the spot and also implemented to have semi-automatic thresholding capability based on CCD noise analysis. For performance evaluation, we made qualitative and quantitative comparisons with Carvalho's algorithm which has been published in recent. In the given experimental spot images, the proposed could detect the spots which has 1/3 times lower than the least S/N of which Carvalho's can detect and could reach to a detection precision of 0.1 pixel at the S/N. In functional aspect, the proposed could separate all valid spots locally. From these results, the proposed could have a superior precision of location detection of spot pattern in wider S/N range.

• Journal of Fashion Business
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• v.24 no.3
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• pp.85-100
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• 2020

Recently, 3D printing technology, which is suitable for small-volume production of many varieties, has become considered a key manufacturing technology in the 4th industrial revolution. However, the nature of 3D printing technology means it is not yet able to be applied to traditional textiles due to Fabric Flexibility. The aim of this study is to investigate Textile Structural Design by finding the optimal yarn thickness for Selective Laser Sintering (SLS) 3D printed structures on geogrid dobby woven fabric that gives the optimal flexibility and tensile strength in the final product. The test results for tensile load strength of the 3D printed test samples, using 1.0mm, 0.8mm, 0.6mm and 0.4mm yarn thicknesses, showed that all were found to be above 250N, this higher than the tensile strength of 180N that is recommended for textile products. Based on these results, the four dobby structural patterns with 3D printing produced had four yarn thicknesses: 1.0mm, 0.8mm, 0.6mm, and 0.4mm. The thinner the yarn, the more flexible the fabric; as such the optimal conditions to produce SLS-based 3D printed textiles with suitable strength and flexibility used a thickness of yarn in the range of 0.4mm to 0.6mm.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.3
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• pp.236-241
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• 2008

This paper presents a method to recognize the plane regions for movement of walking robots. When the autonomous agencies using stereo camera or laser scanning sensor is under unknown 3D environment, the mobile agency has to detect the plane regions to decide the moving direction and perform the given tasks. In this paper, we propose a very fast method for plane detection using normal vector of a triangle by 3 vertices defined on a small circular region. To reduce the effect of noises and outliers, the triangle rotates with respect to the center position of the circular region and generates a series of triangles with different normal vectors based on different three points on the boundary of the circular region. The vectors for several triangles are normalized and then median direction of the normal vectors is used to test the planarity of the circular region. The method is very fast and we prove the performance of algorithm for real range data obtained from a stereo camera system.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.8
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• pp.1605-1614
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• 2009

The technique of simultaneous localization and mapping is the most important research topic in mobile robotics. In the process of building a map in its available memory, the robot memorizes environmental information on the plane of grid or topology. Several approaches about this technique have been presented so far, but most of them use mapping technique as either grid-based map or topology-based map. In this paper we propose a frame of solving the SLAM problem of linking map covering, map building, localizing, path finding and obstacle avoiding in an automatic way. Some algorithms integrating grid and topology map are considered and this make the SLAM performance faster and more stable. The proposed scheme uses an occupancy grid map in representing the environment and then formulate topological information in path finding by A${\ast}$ algorithm. The mapping process is shown and the shortest path is decided on grid based map. Then topological information such as direction, distance is calculated on simulator program then transmitted to robot hardware devices. The localization process and the dynamic obstacle avoidance can be accomplished by topological information on grid map. While mapping and moving, pose of the robot is adjusted for correct localization by implementing additional pixel based image layer and tracking some features. A laser range finer and electronic compass systems are implemented on the mobile robot and DC geared motor wheels are individually controlled by the adaptive PD control method. Simulations and experimental results show its performance and efficiency of the proposed scheme are increased.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.1
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• pp.125-133
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• 2010

A versatile micro-robotic platform for micro/nano scale assembly has been demanded in a variety of application areas such as micro-biology and nanotechnology. In the near future, a flexible and compact platform could be effectively used in a scanning electron microscope chamber. We are developing a platform that consists of miniature mobile robots and a compact positioning stage with multi degree-of-freedom. This paper presents the design and the implementation of a low-cost and compact multi degree of freedom position sensor that is capable of measuring absolute translational and rotational displacement. The proposed sensor is implemented by using a CMOS type image sensor and a target with specific hole patterns. Experimental design based on statistics was applied to finding optimal design of the target. Efficient algorithms for image processing and absolute position decoding are discussed. Simple calibration to eliminate the influence of inaccuracy of the fabricated target on the measuring performance also presented. The developed sensor was characterized by using a laser interferometer. It can be concluded that the sensor system has submicron resolution and accuracy of ${\pm}4{\mu}m$ over full travel range. The proposed vision-based sensor is cost-effective and used as a compact feedback device for implementation of a micro robotic platform.

• The Bulletin of The Korean Astronomical Society
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• v.35 no.1
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• pp.79-79
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• 2010

To investigate whether the present-day active galaxies follow the same black hole mass vs. stellar velocity dispersion (MBH-$\sigma*$) relation as quiescent galaxies, we measured the velocity dispersions of a sample of local Seyfert 1 galaxies, for which black hole masses were measured via reverberation mapping. We measured stellar velocity dispersions from high S/N optical spectra centered on the Ca II triplet region (${\sim}8500^{\circ}A$), obtained at the Keck, Palomar, and Lick Observatories. For two objects, in which the Ca II triplet region was contaminated by nuclear emission, we used high-quality H-band spectra obtained with the OH-Suppressing Infrared Imaging Spectrograph and laser-guide star adaptive optics at the Keck-II Telescope. Combining our new measurements with data from the literature, we assemble a sample of 24 active galaxies with stellar velocity dispersions and reverberation MBH in the range of black hole mass 106< MBH /$M{\odot}$ < 109,toobtainthefirstreverberationmappingconstraintsontheslopeandintrinsicscatteroftheMBH- $\sigma*$ relation of active galaxies. Assuming a constant virial coefficient f for the reverberation MBH, we find a slope ${\beta}=3.55{\pm}0.60$ and the intrinsic scatter ${\sigma}int=0.43{\pm}0.08$ dex in the relation log (MBH/M${\odot}$)=$\alpha+\beta$ log(${\sigma}*$/200 km s-1), which are consistent with those found for quiescent galaxies. We derive an updated value of the virial coefficient f by finding the value which places the reverberation masses in best agreement with the MBH - $\sigma*$ relation of quiescent galaxies; using the quiescent MBH - $\sigma*$ relation determined by Gultekin et al. we find log f=0.72+0.09 (or $0.71{\pm}0.10$) with an intrinsic scatter of $0.44{\pm}0.07$ (or 0.46+0.07) dex. No correlations between f and parameters connected to the physics of accretion (such as the Eddington ratio or line-shape measurements) are found. The uncertainty of the virial coefficient remains one of the main sources of the uncertainty in black hole mass determination using reverberation mapping, and therefore also in single-epoch spectroscopic estimates of black hole masses in active galaxies.

• Tuberculosis and Respiratory Diseases
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• v.44 no.4
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• pp.742-755
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• 1997

Background : Endobronchial tuberculosis(ET) is still relatively common disease in Korea. We intended to evaluate the length of endobronchial lesion, peribronchial thickness, luminal irregularity and associated mediastinal lymph node enlargement with Chest CT to get information for such aggressive treatment as electrocautery, laser therapy and so on of bronchial stricture in ET, and also to compare the change of Chest CT finding with that of bronchoscopic finding after one month of anti-tuberculosis treatment. Method : We performed CT in 26 patients who were diagnosed as ET by bronchoscopy at Boramae Hospital from November 1991 to March 1996. After classifying ET into seven subtypes according to bronchoscopic finding, we analyzed the CT finding of each subtype. And we followed up the bronchoscopy, CT, and PIT after one month of anti-tuberculosis treatment, and compared the change of CT findings with those of bronchoscopic findings in nine patients. Results : Age of the patients was from 17 to 73 years old, and the ratio of male to female was 1 : 25 with absolute female predominance. The site(s) of bronchial involvement by tuberculosis is one in 14 cases, two in nine cases and three in one case, respectively, and the left main bronchus was the most frequently involved site (13 cases for multiple involvements and 7 cases for single involvement among 26 cases). The length of bronchial involvement by tuberculosis which was measured by CT was from 10 to 55 mm, and there was a tendency that the length of involved lesion in fibrostenotic type was shorter than that of actively caseating type. Bronchial stricture on CT was noticed in 25 (96%) cases and the range of severity was from total occlusion to near-normal and also showed wide variation even though the subtype of ET was same. The increase of peribronchial thickness which was measured by CT, was noticed in 21 cases (91%) among 23 cases (in which the measurement was possible), and there was no improvement of peribronchial thickness in those cases which showed little improvement in bronchial stricture despite anti-tuberculosis treatment. There was no difference in the luminal irregularity of involved bronchi on CT in relation to bronchoscopic subtypes. The mediastinal lymph node enlargement, defined as the diameter of lymph node was larger than 1cm on CT, was detected in 20 cases (77%), and right side was more frequently involved (L : R = 1 : 5.2). The CT finding usually showed extrinsic bronchial compression but showed direct invasion in two cases which were bronchoscopically classified as tumorous type. When follow-up bronchoscopy and CT was performed after one month of anti-tuberculosis treatment in nine patients, CT showed significant improvement in peribronchial thickness and mediastinal lymph node enlargement. Bronchial stricture was also improved in 6 cases but aggravated in 3 cases despite anti-tuberculosis therapy. In two cases which were classified as fibrostenotic type by bronchoscopy, CT showed significant improvement in bronchial stricture, interestingly. Conclusion : We concluded that the role of Chest CT was complimentary to bronchoscopy in ET, since CT was useful in evaluating the length of bronchial involvement, peribronchial thickness, and mediastinal lymph node enlargement.