• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.5
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• pp.877-889
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• 2006

This paper introduces a simple but effective method for recognizing vehicle models corresponding to each maker by information and images for moving vehicles. The proposed approach is implemented by combination of the breadth detection mechanism using the vehicle's pressure, exact height detection by a laser scanning, and license plate recognition for classifying specific vehicles. The implemented system is therefore capable of robust classification with real-time vehicle's moving images and established sensors. Simulation results using the proposed method on synthetic data as well as real world images demonstrate that proposed method can maintain an excellent recognition rate for moving vehicle models because of image acquisition by 2-D CCD and various image processing algorithms.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2014.10a
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• pp.314-320
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• 2014

Field balancing is required in any kind of phase information for the determination location balancing mass toward a rotor unbalance mass. Phase or phase angle is a measurement of the relationship of how one vibration signal which relates to another vibration signal and is commonly used to calculate the placement of balance weight. In this paper, A right guideline shows the photo optical speed sensor as the external keyphasor is a very useful when diagnosing machinery vibration problems on considering a phase lag comparing to the laser optical speed sensor. Some experimental results generate the interesting phase errors when appling to a wrong conditions. So, Usage of photo optical speed sensor which is used primarily to measure the shaft rotating speed serves as a reference for measuring vibration phase information has effect on the placement of phase angle how it was misunderstood. This paper will help a right method to search for the position of balancing weight and serves as baseline for further measurements using low cost and much easier user convenience. It is concluded that the propose baseline is likely to be applicable to apply to the practical field balancing weight.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.25 no.2
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• pp.101-107
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• 2015

Field balancing is required in any kind of phase information for the determination location balancing mass toward a rotor unbalance mass. Phase or phase angle is a measurement of the relationship of how one vibration signal which relates to another vibration signal and is commonly used to calculate the placement of balance weight. In this paper, A right guideline shows the photo optical speed sensor as the external KeyPhasor is a very useful when diagnosing machinery vibration problems on considering a phase lag comparing to the laser optical speed sensor. Some experimental results generate the interesting phase errors when appling to a wrong conditions. So, Usage of photo optical speed sensor which is used primarily to measure the shaft rotating speed serves as a reference for measuring vibration phase information has effect on the placement of phase angle how it was misunderstood. This paper will help a right method to search for the position of balancing weight and serves as baseline for further measurements using low cost and much easier user convenience. It is concluded that the propose baseline is likely to be applicable to apply to the practical field balancing weight.

• Journal of Sensor Science and Technology
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• v.21 no.3
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• pp.186-191
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• 2012

In this paper, we present a pH measurement method that uses a microcantilever-array-based biosensor system. It is composed of microcantilever array, liquid cell, micro syringe pump, laser diode array, position sensitive detector, data acquisition device, and data processing software. Four microcantilevers are functionalized with pH-sensitive MHA(mercaptohexadecanoic acid) as a probe, while three microcantilevers are functionalized with HDT(hexadecane thiol) as reference. We prepare PBS(phosphate buffered saline) solutions of different pH and inject them into the liquid cell with a predefined volumetric speed at regular time intervals. The functionalized mircocantilevers in the liquid cell deflect as a self-assembled monolayer on the microcantilever binds with probe molecules in the solution. The difference in deflection between the MHA-covered probe microcantilever and the HDT-covered reference microcantilever was used to compensate for thermal drift. The deflection difference clearly increases with increasing pH in the solution. It was shown that when the pH values of the PBS solutions are high, there were large variations in the deflection of microcantilevers, whereas there were small variations for low pH value. The experimental results show that the microcantilever array functionalized with MHA and HDT can detect pH value with good repeatability.

• 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.

• Proceedings of the Korean Powder Metallurgy Institute Conference
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• 2006.09b
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• pp.918-920
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• 2006

Metal sulfide powders such as MnS, $MoS_2$ and FeS are simply used to the machinery processing improvement agent and solid lubricant in powder metallurgy industrial. And then, metal sulfide powders have received relatively little attention from powder metallurgy. Recently, the portable machine is one of the important interfaces between human or human and electronic machine. With the increase of the intelligent activity, the social and industrial demands for information display device and power source are increasing. The transition metal sulfide materials (FeS, ZnS) have received considerable attention due to the large variety of its electric, optical and magnetic properties. Among the metal sulfide, $FeS_2$ is appealing superior material for applications in $Li-2^{nd}$ battery because of high capacity. ZnS is also a famous phosphor material with various luminescence properties, such as photoluminescence (PL) and electroluminescence (EL). So generally used in the fields of display, sensors and laser. Metal sulfide materials, therefore, are provided for most widely application in all industries. In recent years, material researchers have become increasingly interested in studying with synthesis of metal sulfide.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.995-1005
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• 2011

An efficient outdoor local localization method is suggested using multi-sensor fusion with MU-EKF (Multi-Update Extended Kalman Filter) for car-like mobile robots. In outdoor environments, where mobile robots are used for explorations or military services, accurate localization with multiple sensors is indispensable. In this paper, multi-sensor fusion outdoor local localization algorithm is proposed, which fuses sensor data from LRF (Laser Range Finder), Encoder, and GPS. First, encoder data is used for the prediction stage of MU-EKF. Then the LRF data obtained by scanning the environment is used to extract objects, and estimates the robot position and orientation by mapping with map objects, as the first update stage of MU-EKF. This estimation is finally fused with GPS as the second update stage of MU-EKF. This MU-EKF algorithm can also fuse more than three sensor data efficiently even with different sensor data sampling periods, and ensures high accuracy in localization. The validity of the proposed algorithm is revealed via experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.940-946
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• 2012

This paper proposes a method to predict maximum traction for unmanned robots on rough terrain in order to improve traversability. For a traction prediction, we use a friction-slip model based on modified Brixius model derived empirically in terramechanics which is a function of mobility number $B_n$ and slip ratio S. A friction-slip model includes characteristics of various rough terrains where robots are operated such as soil, sandy soil and grass-covered soil. Using a friction-slip model, we build a prediction model for terrain parameters on which we can know maximum static friction and optimal slip with respect to mobility number $B_n$. In this paper, Mobility number $B_n$ is estimated by modified Willoughby Sinkage model which is a function of sinkage z and slip ratio S. Therefore, if sinkage z and slip ratio are measured once by sensors such as a laser sensor and a velocity sensor, then mobility number $B_n$ is estimated and maximum traction is predicted through a prediction model for terrain parameters. Estimation results for maximum traction are shown on simulation using MATLAB. Prediction Performance for maximum traction of various terrains is evaluated as high accuracy by analyzing estimation errors.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.10
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• pp.1044-1050
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• 2014

Robots used for pipe inspection have been studied for a long time and many mobile mechanisms have been proposed to achieve inspection tasks within pipelines. Localization is an important factor for an inpipe robot to perform successful autonomous operation. However, sensors such as GPS and beacons cannot be used because of the unique characteristics of inpipe conditions. In this paper, an inpipe localization algorithm based on elbow detection is presented. By processing the projected marker images of laser pointers and the attitude and heading data from an IMU, the odometer module of the robot determines whether the robot is within a straight pipe or an elbow and minimizes the integration error in the orientation. In addition, an off-line positioning algorithm has been performed with forward and backward estimation and Procrustes analysis. The experimental environment has consisted of several straight pipes and elbows, and a map of the pipeline has been constructed as the result.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.36S no.1
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• pp.93-103
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• 1999

To detect obstacles and lane-markers for driving vehicles, a new moving window scheme where moving windows are assigned to an image frame captured by a camera is addressed. For the detection of obstacles, it is important to estimate lane-markers precisely and rapidly. For this purpose, selecting some partes of an image frame at the expected lane locations, i.e., selecting window are generally adopted for extracting lane-markers efficiently. In this paper, a new scheme that extracts lane-markers precisely by assigning variable size windows at the expected locations of lane-markers considering the road curvature and finally detects obstacles within a driving lane is proposed. The accuracy improvement using this moving window scheme is showed by comparing to the conventional fixed window method and to using radar to laser sensors.