• 대한기계학회논문집
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• 제17권9호
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• pp.2191-2204
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• 1993

A sensor system has been developed to measure the posture(position and orientation) of mobile robots working in industrial environments. The proposed sensor system consists of a CCD camera, retro-reflective landmarks, a strobe unit and an image processing board. The proposed hardware system can be built in economic price compared to commercial vision systems. The system has the capability of measuring the posture of mobile robots within 60 msec when a 386 personal computer is used as the host computer. The experimental results demonstrated a remarkable performance of the proposed sensor system in the posture measurement of mobile robots - the average error in position is less than 3 mm and the average error in orientation is less than 1.5.

• 디지털융복합연구
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• 제11권11호
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• pp.85-94
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• 2013

본 논문에서는 기존 DTV 커버리지 측정차량의 문제점을 해결하고 효율적으로 전파 음영지역을 찾아내기 위해 고정식 DTV전파측정차량의 기능을 포함하면서도 이동하며 전파수신현황 및 수신상태를 측정할 수 있는 다중 안테나 이동측정시스템을 제안한다. 제안된 시스템은 모두 4개의 무지향성(omni-directional)안테나와 고정측정을 위한 1개의 지향성(directional)안테나를 포함하며, 공간 다이버시티(space diversity)를 활용하여 운용할 수 있도록 각각의 안테나마다 측정장비를 배치하고 각각의 측정값을 실시간으로 수집하고 처리한다. 제안된 시스템의 효용성을 보이기 위해 국내 수신 전파 환경을 3가지 유형으로 모델링하고 이들 지역에서 집중적인 측정을 실시하였다. 또한 측정 결과의 상세한 분석을 토대로 이동측정 및 고정측정간의 상관관계를 밝히고자 하였다. 특히 제안된 시스템의 적용을 위한 실험에는 방송사 현업 실무자들이 측정 및 결과 정리에 공동으로 참여하는 등 객관성을 확보하고자 하였으며 개발 장비를 국책 연구기관의 인위적 난시청 조사사업에 일부 적용하는 등 실제 방송 커버리지 관리 업무에 적극적으로 활용하고 있다.

• 제어로봇시스템학회논문지
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• 제12권4호
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• pp.395-399
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• 2006

A method to recognize unpaved road region using a 3D depth measurement system is proposed for mobile robots. For autonomous maneuvering of mobile robots, recognition of obstacles or recognition of road region is the essential task. In this paper, the 3D depth measurement system which is composed of a rotating mirror, a line laser and mono-camera is employed to detect depth, where the laser light is reflected by the mirror and projected to the scene objects whose locations are to be determined. The obtained depth information is converted into an image. Such depth images of the road region represent even and plane while that of off-road region is irregular or textured. Therefore, the problem falls into a texture identification problem. Road region is detected employing a simple spatial differentiation technique to detect the plain textured area. Identification results of the diverse situation of unpaved trail are included in this paper.

• 전기전자학회논문지
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• 제13권2호
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• pp.220-223
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• 2009

A simple measurement system is built to estimate the dual-antenna diversity gain at 2.4GHz easily in open lab environment. To obtain multipath fading propagation channel, the system consists of two transmission horn that placed on opposite direction and a rotating stage mechanically changing the position of test dual-antenna with time over distance greater than one wavelength. Estimated diversity is nearly same as theoretical value such that measured diversity gain of 30mm separated is about 6dB similar to theoretical value of 5.7dB and increases monotonically with the increasing separation distance as predicted by the theory. Proposed measurement system that is simple enough to fit in a small space can evaluate the performance of various dual-antennas with a reasonable accuracy with lower 5% difference between the ten sets of measured waveform distribution and theoretical Rayleigh cumulative distribution.

• 대한방사선기술학회지:방사선기술과학
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• 제45권1호
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• pp.49-55
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• 2022

This study is to develop a mobile type environmental radiation measurement system for emergency response or environmental radiation monitoring of local governments near nuclear facilities. A mobile radiation measurement system can monitor radiation by field beyond the spatial constraints of a fixed environmental radiation monitor. If installed in local government infrastructure such as public transportation, environmental radiation can be monitored without additional manpower and measurement work. In addition, it is designed to enable monitoring and measurement of radiation from low to high doses as well as the environment in preparation for radioactive disasters such as nuclear power plant accidents. It is expected that this system will be utilized not only in normal times but also in the event of a radiation accident to improve the disaster prevention capabilities of local governments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.511-515
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• 1996

A remote controlled mobile robot system has been developed and tested to monitor the radiation area in the nuclear power plant. The mobile robot system operates according to car-driving-like commands and is capable of radiation measurement and visual inspection in unmanned situations under radiation. The robot system is equipped with a radiation sensor and two cameras with appropriate illumination set-ups. The camera with auto-focus function and 8-times zoom lens is mounted on the pan/tilt rotational base and the other is mounted on the front panel of the robot system. All commands regarding the motion of the mobile robot and various sensors are given through the monitoring system which is designed to provide an integrated man-machine interface.

• 한국측량학회:학술대회논문집
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• 한국측량학회 2010년 춘계학술발표회 논문집
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• pp.69-71
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• 2010

In this paper, we focus on the accuracy estimation of laser scanning mobile mapping system using Lynx Mobile Mapper. For this, we surveyed checkpoints(181 points) in study areas. A method to estimate the accuracy of laser scanning mobile mapping system based on the measurement range, interval of control points and gps signal environments. As a result, to ensure reliable measurement results, we must be made a plan considering Measure range(60m or under) and operation. The estimation results showed the need for improving accuracy using control points about 150m interval according to environment error source.

• 전자공학회논문지
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• 제50권2호
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• pp.35-46
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• 2013

모바일 네트워크 사용량이 급증함에 따라 트래픽 수요 문제를 해결하기 위한 많은 연구가 이뤄지고 있다. 특히 네트워크 환경 측정 분야는 정확한 분석을 통해 네트워크상에 발생되는 문제들의 원인을 찾아냄으로써 트래픽 수요 문제를 해결할 수 있는 기반을 제공한다. 특히 최근 스마트폰의 수요가 늘어남에 따라 모바일 플랫폼 특성이 네트워크에 미치는 영향을 고려한 측정시스템이 필요하다. 이에 본 논문에서는 모바일 플랫폼을 위한 네트워크 환경 측정 시스템을 설계하였다. 설계된 시스템은 클라이언트를 통하여 얻은 패킷의 정보를 통하여 패킷 전송간의 지연시간과 throughput을 실시간으로 계산한다. 그리고 측정시 클라이언트인 모바일 단말기에 요구되는 계산량을 줄임으로써 모바일 단말기에 걸리는 부하를 최소화하였다. 설계한 시스템을 통하여 네트워크 자원을 최대로 사용하였을 시 Wi-Fi 망이 3G 망보다 짧은 전송지연시간, 높은 최대 throughput, 낮은 손실률을 가지고, Android가 iOS보다 짧은 전송지연시간과 높은 최대 throughput을 가지며, UDP가 TCP보다 긴 전송지연시간, 높은 최대 throughput을 가진다는 것을 확인하였다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제10권4호
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• pp.281-286
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• 2010

We propose a space and time based sensor fusion method and a robust landmark detecting algorithm based on sensor fusion for mobile robot navigation. To fully utilize the information from the sensors, first, this paper proposes a new sensor-fusion technique where the data sets for the previous moments are properly transformed and fused into the current data sets to enable an accurate measurement. Exploration of an unknown environment is an important task for the new generation of mobile robots. The mobile robots may navigate by means of a number of monitoring systems such as the sonar-sensing system or the visual-sensing system. The newly proposed, STSF (Space and Time Sensor Fusion) scheme is applied to landmark recognition for mobile robot navigation in an unstructured environment as well as structured environment, and the experimental results demonstrate the performances of the landmark recognition.

• Nuclear Engineering and Technology
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• 제55권11호
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• pp.4077-4082
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• 2023

Large areas must be rapidly screened to monitor radiation in marine environments. For this purpose, this study developed a mobile real-time gamma-ray measurement system for shipboard use and evaluated its performance. The system was developed to measure engine or generator cooling water by installing a canister inside the ship. The minimum detectable activity of the system is about 0.8 Bq/L for a 60 s measurement period, and real-time data transmission and remote control are possible. The system was tested in the field and is currently being installed and operated on ships in service. Such a ship-based real-time gamma-radiation measurement system is suitable for a wide range of marine radiation surveillance applications and is expected to be rapidly deployed.