• Journal of Institute of Control, Robotics and Systems
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• v.18 no.6
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• pp.601-607
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• 2012

The recognition of elevator door is needed for mobile service robots to moving between floors in the building. This paper proposed the sensor fusion approach using LRF (Laser Range Finder) and camera to solve the problem. Using the laser scans by the LRF, we extract line segments and detect candidates as the elevator door. Using the image by the camera, the door candidates are verified and selected as real door of the elevator. The outliers are filtered through the verification process. Then, the door state detection is performed by depth analysis within the door. The proposed method uses extrinsic calibration to fuse the LRF and the camera. It gives better results of elevator door recognition compared to the method using LRF only.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2016.05a
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• pp.256-258
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• 2016

Domestic vehicle demand is growing steadily. In proportion to the increased interest generated by the automobile-related accidents are more frequent. One of the causes of these accidents are caused by vehicle accidents exists tire problems. Users check tire wear with their naked eyes or check the tread and the wear indicator by using a coin. However, such visual judgment cannot be precise and make it possible to identify the time for tire replacement. Therefore, by utilizing visual and objective data rather than incorrect decisions through objective data, we designed a system that accurately and can easily tell whether the tire condition and replacement of the driver.

• Journal of Sensor Science and Technology
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• v.22 no.1
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• pp.84-88
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• 2013

In this paper, the low price signal generator with capability of frequency high-resolution and variable sync pulse has implemented. It fulfils well the requirements for SS-OCT of the frequency resolution less than 1Hz, frequency stability of ${\leq}{\pm}0.5Hz$/10 min and variable sync pulse output timing. Through its performance test applied to wavelength swept laser, 120 nm sweeping range and 10 mW average optical power were obtained. This shows that the realized sine-wave generator can replace the commercial high cost and high performance signal generators employed by current SS-OCT systems.

• Journal of the Korean Institute of Navigation
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• v.16 no.2
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• pp.21-27
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• 1992

Shortening the lasing wavelength(particularly below infrared ; the visible region) of laser diodes is very attractive because it can provide a wide range of applications in the fields of optical information, measurement, sensor, the development of medical instrument, and optical communication through plastic fibers. According to the recent researches on the field, InGaAsP/GaAs was suggested as a material for red-light laser. In this study, in order to grow InGaAsP/GaAs epitaxial layer on InGaAsP/GaAs by LPE, we used GaP and InP two phase solution technique for 670nm and 780 nm region, respectively. Through the X-ray diffraction measurement for the epitaxial layer grown from the experiments, we found that the lattice mismatch of $In_{0.46}Ga_{0.54}As_{0.07}P_{0.93}$/GaAs and $In_{0.19}Ga_{0.81}As_{0.62}P_{0.38}$/GaAs was about +0.3% and +0.1%, respectively.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2003.07b
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• pp.1227-1230
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• 2003

In this paper, we propose a pose estimation method using local map acquired from 2d laser range finder information. The proposed method uses extended kalman filter. The state equation is a navigation system equation of Nomad Super Scout II. The measurement equation is a map-based measurement equation using a SICK PLS 101-112 sensor. We describe a map consisting of geometric features such as plane, edge and corner. For pose estimation we scan external environments by laser rage finer. And then these data are fed to kalman filter to estimate robot pose and position. The proposed method enables very fast simultaneous map building and pose estimation.

• Journal of Sensor Science and Technology
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• v.15 no.6
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• pp.442-448
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• 2006

Ultrasonic anemometers using pulse envelope detection-based method are standard instruments in most meteorological studies. In this paper, a new phase measurement method is tried to achieve the enhanced resolution without changing dimensions. The measurement sensitivity, dynamic range, and measurement speed of the new instrument are 0.2 mm/s, 13.3 m/s, and 13 measurements/sec, respectively. A graphic user interface is added to show the velocity and direction of the wind with the speed of sound and temperature of the wind in the 3 dimensional space. The new anemometer could be useful for the measurement of the air speed, the flow of fluids, and even air flow inside the downtown buildings.

• Journal of Sensor Science and Technology
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• v.24 no.6
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• pp.398-403
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• 2015

In this paper, the sine-wave and trigger pulse generator with capability of frequency high-resolution and time-variable trigger edge has implemented. It fulfills well the requirements for SS-OCT with frequency resolution of 1 Hz, frequency stability of ${\leq}{\pm}0.03Hz$ and time-variable trigger edge. Through its performance test applied to the wavelength swept laser, 90 nm, sweeping range and 10mW average optical power were obtained. This showes that the realized generator can replace the commercial high cost and high performance signal generators employed by current SS-OCT systems.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.31-32
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• 2006

A signal conditioning circuit for capacitive sensors was developed using a commercial single chip solution. Since capacitive displacement sensors can achieve high resolution and linearity, they have been widely used as precision sensors within the range of several hundred micrometers. However, they inherently have a limitation in low frequency range and some nonlinearity characteristics and so a specially designed signal conditioning circuit is needed to handle these properties. Up to now, several companies already have succeeded in the development of the capacitive sensors system and they are commercially available in the market. In this research, to construct the signal processing circuits more easily and simply, we used a universal LVDT signal conditioner (AD698). Since the AD698 provides one chip solution for a basic signal processing including modulation and demodulation using various internal components, we can build the processing circuits successfully with minimal additional circuits: a compensation circuits for the drift caused by the bias current of OP amplifiers and a fine adjustment circuit for the elimination of nonlinearity. The signal processing circuits shows nonlinearity less than 0.05% in the comparison with a laser interferometer.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.496-500
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• 1998

Not merely running at the designated constant speed as the classical cruise control, the adaptive cruise control (ACC) maintains safe headway distance when the front is blocked by other vehicles. One of the most essential part of ACC System is the range sensor which can measure the position and speed of all objects in front continuously, ignore all irrelevant objects, distinguish vehicles in different lanes and lock on to the closest vehicle in the same lane. In this paper, the hierarchical object recognition algorithm (HORA) is proposed to process raw scanning laser data and acquire valid distance to target vehicle. HORA contains two principal concepts. First, the concept of life quantifies the reliability of range data to filter off the spurious detection and preserve the missing target position. Second, the concept of conformation checks the mobility of each obstacle and tracks the position shift. To estimate and predict the vehicle position Kalman filter is used. Repeatedly updated covariance matrix determines the bound of valid data. The algorithm is emulated on computer and tested on-line with our ACC vehicle.

• Proceedings of the IEEK Conference
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• 2002.07a
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• pp.542-544
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• 2002

This paper proposes a wavelength sensor based on the optical directional coupler. The finite-difference time-domain (FDTD) is used in analysis of the field intensity of tile light propagating thorough the structure. The device with tile width of 0.4 $\mu\textrm{m}$ and the thickness of 0.4 $\mu\textrm{m}$, which corresponding with the coupling length of 40$\mu\textrm{m}$, would provide tile linear relationship between the coupling efficiency against the wavelength. The device can sense the wavelength in a range between 1.5$\mu\textrm{m}$ and 1.6$\mu\textrm{m}$, with continuous resolution. The wide wavelength could be also done be paralleling th light to a number of wavelength-sensing modules with particularly required bands. Therefore, it could be employed as the wavelength sensing for most optical communications, optoelectronics, laser applications and etc.