• Journal of Institute of Control, Robotics and Systems
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• v.13 no.2
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• pp.140-146
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• 2007

This paper demonstrates the development of a mobile robot for patrol. We fuse differential GPS, angle sensor and odometry data using the framework of extended Kalman filter to localize a mobile robot in outdoor environments. An important feature of road environment is the existence of curbs. So, we also propose an algorithm to find out the position of curbs from laser range finder data using Hough transform. The mobile robot builds the map of the curbs of roads and the map is used fur tracking and localization. The patrol robot system consists of a mobile robot and a control station. The mobile robot sends the image data from a camera to the control station. The remote control station receives and displays the image data. Also, the patrol robot system can be used in two modes, teleoperated or autonomous. In teleoperated mode, the teleoperator commands the mobile robot based on the image data. On the other hand, in autonomous mode, the mobile robot has to autonomously track the predefined waypoints. So, we have designed a path tracking controller to track the path. We have been able to confirm that the proposed algorithms show proper performances in outdoor environment through experiments in the road.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.6
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• pp.513-520
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• 2011

This paper presents the motion planning of robotic vehicles for the path tracking and the obstacle avoidance. To follow the given path, the vehicle moves through the turning radius obtained through the pure pursuit method, which is a geometric path tracking method. In this paper, we assume that the vehicle is equipped with a 2D laser scanner, allowing it to avoid obstacles within its sensing range. The turning radius for avoiding the obstacle, which is inversely proportional to the virtual force, is then calculated. Therefore, these two kinds of the turning radius are used to generate the steering angle for the front wheel of the vehicle. And the vehicle reduces the velocity when it meets the obstacle or the large steering angle using the potentials of obstacle points and the steering angle. Thus the motion planning of the vehicle is done by planning the steering angle for the front wheels and the velocity. Finally, the performance of the proposed method is tested through simulation.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.318-320
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• 2006

Inaccurate localization exposes a robot to many dangerous conditions. It could make a robot be moved to wrong direction or damaged by collision with surrounding obstacles. There are numerous approaches to self-localization, and there are different modalities as well (vision, laser range finders, ultrasonic sonars). Since sensor information is generally uncertain and contains noise, there are many researches to reduce the noise. But, the correctness is limited because most researches are based on statistical approach. The goal of our research is to measure more exact robot location by matching between built VRML 3D model and real vision image. To determine the position of mobile robot, landmark-localitzation technique has been applied. Landmarks are any detectable structure in the physical environment. Some use vertical lines, others use specially designed markers, In this paper, specially designed markers are used as landmarks. Given known focal length and a single image of three landmarks it is possible to compute the angular separation between the lines of sight of the landmarks. The image-processing and neural network pattern matching techniques are employed to recognize landmarks placed in a robot working environment. After self-localization, the 2D scene of the vision is overlaid with the VRML scene.

• Journal of Powder Materials
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• v.9 no.4
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• pp.267-272
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• 2002

The production of micro components is one of the leading technologies in the fields of information and communiation, medical and biotechnology, and micro sensor and micro actuator system. Microfabrication (micromachining) techniques such as X-ray lithography, electroforming, micromolding and excimer laser ablation are used for the production of micro components out of silicon, polymer and a limited number of pure metals or binary alloys. However, since the first development of microfabrication technologies there have been demands for the cost-effective replication in large scale series as well as the extended range of available material. One such promising process is micro powder injection molding (PIM), which inherits the advantages of the conventional PIM technology, such as low production cost, shape complexity, applicability to many materials, applicability to many materials, and good tolerance. This paper reports on a fundamental investigation of the application of W-Cu powder to micro metal injection molding (MIM), especially in view of achieving a good filling and a safe removal of a micro mold conducted in the experiment. It is absolutely legitimate and meaningful, at the present state of the technique, to continue developing the micro MIM towards production processes for micro components.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.25 no.12
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• pp.674-678
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• 2013

We present a non-invasive technique to the measure temperature distribution in nano-sized porous thin films by means of the two-color laser-induced fluorescence (2-LIF) of rhodamine B. The fluorescence induced by the green line of a mercury lamp with the makeup of optical filters was measured on two separate color bands. They can be selected for their strong difference in the temperature sensitivity of the fluorescence quantum yield. This technique allows for absolute temperature measurements by determining the relative intensities on two adequate spectral bands of the same dye. To measure temperature fields, Silica (SiO2) nanoporous structure with 1-um thickness was constructed on a cover glass, and fluorescent dye was absorbed into these porous thin films. The calibration curves of the fluorescence intensity versus temperature were measured in a temperature range of $10-60^{\circ}C$, and visualization and measurement of the temperature field were performed by taking the intensity distributions from the specimen for the temperature field.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.10
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• pp.1573-1580
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• 2013

This study is proposed traffic signal operating system to find existing problems of loop system and complex with doplar system, which have strong linearity, resistence of weather effects and wide range to improve delay problems that used in vehicle detection method. This proposed method have simulated on Southern-Gwangju station to Enter of SeoChang take about 10km by using VISSIM tool and we found this proposed method is 15% through(또는 to) 30% more effective than continuous progress interlocking system or crossing progress interlocking system.

• Journal of Sensor Science and Technology
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• v.30 no.5
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• pp.279-285
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• 2021

Recently, cesium tellurium iodine (Cs₂TeI₆) has emerged as an inorganic halide perovskite material with potential application in optoelectronic devices due to its high absorption coefficient, suitable bandgap and because it consists of nontoxic and earth-abundant elements. However, studies on its fabrication process as well as photoresponse characteristics are limited. In this study, a simple and effective method is introduced for the synthesis of Cs₂TeI₆ thin films by a two-step dry process. A Cs₂TeI₆-based lateral photosensor was fabricated, and its photoresponse characteristics were explored under laser illuminations of four different wavelengths in the visible range: 405, 450, 520, and 655 nm. The initial photosensing results suggest potential application and can lead to more promising studies of Cs₂TeI₆ film in optoelectronics.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1034-1039
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• 2005

SALM(Simultaneous localization and mapping) and AI(Artificial intelligence) have been active research areas in robotics for two decades. In particular, localization is one of the most important tasks in mobile robot research. Until now expensive sensors such as a laser sensor have been used for mobile robot localization. Currently, the proliferation of RFID technology is advancing rapidly, while RFID reader devices, antennas and tags are becoming increasingly smaller and cheaper. So, in this paper, the smart floor using passive RFID tags is proposed and, passive RFID tags are mainly used for identifying location of the mobile robot in the smart floor. We discuss a number of challenges related to this approach, such as tag distribution (density and structure), typing and clustering. In the smart floor using RFID tags, the localization error results from the sensing area of the RFID reader, because the reader just knows whether the tag is in the sensing range of the sensor and, until now, there is no study to estimate the heading of mobile robot using RFID tags. So, in this paper, two algorithms are suggested to. The Markov localization method is used to reduce the location(X,Y) error and the Kalman Filter method is used to estimate the heading($\theta$) of mobile robot. The algorithms which are based on Markov localization require high computing power, so we suggest fast Markov localization algorithm. Finally we applied these algorithms our personal robot CMR-P3. And we show the possibility of our probability approach using the cheap sensors such as odometers and RFID tags for mobile robot localization in the smart floor

• Journal of the Korean Society for Precision Engineering
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• v.19 no.8
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• pp.180-186
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• 2002

Hot Plate is the major unit that it used to remove damp of wafer surface, to strength adhesion of photoresist (PR) and to bake coated PR in FAB process of semiconductor. The badness of Hot Plate (HP) has directly influence upon the performance of wafer, it is necessary to guarantee the performance of HP. In this study, a reliability evaluation system has been designed and developed, which is to measure and to estimate thermal uniformity and flatness of HP in range of temperature 0~$250^\circC$. This system has included the techniques which measures and analyzes thermal uniformity using infrared thermal vision, and which compensates measuring error of flatness using laser displacement sensor For measuring flatness, a measurement stage of 3 axes are developed which adapts the precision encoder. The allowable error of this system in respect of thermal uniformity is less $than\pm0.1^\circC$ and in respect of flatness is less $than\pm$1mm . It is expected that the developed system can measure from $\Phi200mm\;(wafer 8＂)\;to\;\Phi300mm$ (wafer 12＂) and also can be used in performance test of the Cool Plate and industrial heater, etc.

• Smart Structures and Systems
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• v.22 no.2
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• pp.133-137
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• 2018

Increasing interest in prognostics and health management has heightened the need for wireless sensor networks (WSN) with efficient power sources. Piezoelectric energy harvesters using Pb(Zr,Ti)O3 (PZT) are one of the candidate power sources for WSNs as they efficiently convert mechanical vibration energy into electrical energy. These types of devices are resonated at a specific frequency, which has a significant impact on the amount of energy harvested, by external vibration. Hence, precise prediction of mechanical deformation including modal analysis of piezoelectric devices is crucial for estimating the energy generated under specific conditions. In this study, an experimental vibrational system capable of controlling a wide range of frequencies and accelerations was designed to generate mechanical vibration for piezoelectric energy harvesters. In conjunction with MATLAB, the system automatically finds the resonance frequency of harvesters. A small accelerometer and non-contact laser displacement sensor are employed to investigate the mechanical deformation of harvesters. Mechanical deformation under various frequencies and accelerations were investigated and analyzed based on data from two types of sensors. The results verify that the proposed system can be employed to carry out vibration experiments for piezoelectric harvesters and measurement of their mechanical deformation.