• Journal of Institute of Control, Robotics and Systems
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• v.22 no.3
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• pp.210-216
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• 2016

This paper presents a novel collision avoidance technique for mobile robots based on omni-directional vision simultaneous localization and mapping (SLAM). This method estimates the avoidance path and speed of a robot from the location of an obstacle, which can be detected using the Lucas-Kanade Optical Flow in images obtained through fish-eye cameras mounted on the robots. The conventional methods suggest avoidance paths by constructing an arbitrary force field around the obstacle found in the complete map obtained through the SLAM. Robots can also avoid obstacles by using the speed command based on the robot modeling and curved movement path of the robot. The recent research has been improved by optimizing the algorithm for the actual robot. However, research related to a robot using omni-directional vision SLAM to acquire around information at once has been comparatively less studied. The robot with the proposed algorithm avoids obstacles according to the estimated avoidance path based on the map obtained through an omni-directional vision SLAM using a fisheye image, and returns to the original path. In particular, it avoids the obstacles with various speed and direction using acceleration components based on motion information obtained by analyzing around the obstacles. The experimental results confirm the reliability of an avoidance algorithm through comparison between position obtained by the proposed algorithm and the real position collected while avoiding the obstacles.

• Current Optics and Photonics
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• v.1 no.6
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• pp.604-612
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• 2017

An effective and precise method using a scanning white-light interferometer (SWLI) for three-dimensional surface measurements, in particular for roughness measurements, has been proposed. The measurement of a microscopically sloped area using an interferometer has limitations, due to the numerical aperture of the lens. In particular, for roughness measurements, it is challenging to obtain accurate height data for a sloped area using the interferometer, due to diffraction of the light. Owing to these optical limitations of the interferometer for roughness measurements, the Ra measurements performed using an interferometer contain errors. To overcome the limitations, we propose a method consisting of the following two steps. First, we evaluate the height data and set the invalid height area to be blank, using the characteristics of the modulus peak, which has a low peak value for signals that have low reliability in the interferogram. Next, we interpolate the blank area using the adjacent reliable area. Rubert roughness standards are used to verify the proposed method. The results obtained by the proposed method are compared to those obtained with a stylus profilometer. For the considered sinusoidal samples, Ra ranges from $0.053{\mu}m$ to $6.303{\mu}m$, and we show that the interpolation method is effective. In addition, the method can be applied to a random surface where Ra ranges from $0.011{\mu}m$ to $0.164{\mu}m$. We show that the roughness results obtained using the proposed method agree well with profilometer results. The $R^2$ values for both sinusoidal and random samples are greater than 0.995.

• Proceedings of the Korean Vacuum Society Conference
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• 2011.02a
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• pp.185-185
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• 2011

ZnTe semiconductor is very attractive materials for optoelectronic devices in the visible green spectral region because of it has direct bandgap of 2.26 eV. The prototypes of ZnTe light emitting diodes (LEDs) have been reported [1], showing that their green emission peak closely matches the most sensitive region of the human eye. Another application to photovoltaics proved that ZnTe is useful for the production of high-efficiency multi-junction solar cells [2,3]. By using the pulse laser deposition system, ZnTe thin films were deposited on ZnO thin layer, which is grown on (0001) Al2O3substrates. To produce the plasma plume from an ablated ZnO and ZnTe target, a pulsed (10 Hz) YGA:Nd laser with energy density of 95 mJ/$cm^2$ and wavelength of 266 nm by a nonlinear fourth harmonic generator was used. The laser spot focused on the surface of the ZnO and ZnTe target by using an optical lens was approximately 1 mm2. The base pressure of the chamber was kept at a pressure around $10^{-6}$ Torr by using a turbo molecular pump. The oxygen gas flow was controlled around 3 sccm by using a mass flow controller system. During the ZnTe deposition, the substrate temperature was $400^{\circ}C$ and the ambient gas pressure was $10^{-2}$ Torr. The structural properties of the samples were analyzed by XRD measurement. The optical properties were investigated by using the photoluminescence spectra obtained with a 325 nm wavelength He-Cd laser. The film surface and carrier concentration were analyzed by an atomic force microscope and Hall measurement system.

• Korean Journal of Optics and Photonics
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• v.10 no.2
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• pp.107-113
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• 1999

Low-aberration holographic scanners that eliminate the need for lenses and mirrors promise to greatly reduce the cost of laser printers and image scanners. In this study, a holographic optical element that can simultaneously scan and focus a laser beam is designed with analytic ray tracing method. An analytic and experimental work is conducted in which we investigated the hologram structure and hologon configuration for linear aberration-free scanning. For a prototype scanner, a He-Ne laser is used to manufacture and reconstruct the hologram, and the measured bow is about $\pm$133$\mu\textrm{m}$ and spot size(half-intensity beamwidth) in under 100$\mu\textrm{m}$ for a 300 mm scan length without using a correcting lens or mirror. The diffraction efficiency is about 55$\pm$5%, which is acceptably flat. The experimentally measured results agrees with the computed values. From this fact, we can conclude that the computed results using ray tracing method are practical and useful values, and have a potential for use in high resolution laser printers.

• Journal of the Optical Society of Korea
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• v.18 no.5
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• pp.546-550
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• 2014

To investigate the minimum near-infrared ray intensity required (quantifiable threshold value) for consistent measurements of axial length (AL) using partial coherence interferometry (PCI), we attached two polarizing lenses (PL) to two types of PCI (IOLmaster, ALscan). The near-infrared ray intensity of PCI was modified by rotating the axis of one PL at intervals of 5 degrees. The right eye of each volunteer was measured three times and the AL and signal-to-noise ratio (SNR) was recorded five times for each measurement. Reduction of light intensity was theoretically estimated using Malus' Law. AL was measured consistently with both IOLmaster and ALscan until they reached 55 degrees (1.33 % of intensity) and 60 degrees (0.77%), respectively (P = 0.343, Log-rank test). In contrast, SNR decreased as light intensity decreased. In addition, to analyze media opacities that precluded measurement of AL, we retrospectively reviewed the medical records of patients unmeasurable by PCI (ALscan) from May to November 2013. Thirty-eight of 473 eyes (8.0%) could not be measured using ALscan due to media opacities, such as severe posterior subcapsular cataract (PSC, 11 eyes), hypermature cataract (9 eyes), and vitreous hemorrhage (18 eyes). The mean grades of vitreous haze and PSC were $7.72{\pm}0.96$ and $4.45{\pm}1.04$, respectively. In conclusion, up to 0.77-1.33% of near-infrared rays decreased, and AL could be measured consistently.

• Proceedings of the Optical Society of Korea Conference
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• 2006.07a
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• pp.197-198
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• 2006

본 연구에서 개발하는 성형렌즈는 그림1과 같이 한쪽 면이 비구면인 평볼록 형상이다. Glass렌즈의 고온압축성형을 위해서는 초정밀 가공기술로 제작된 성형Mold가 필요하며, Mold재질에 따른 성형기술의 확립이 필수적이다. 또한, 성형Mold의 표면과 융착반응이 없는 Glass소재가 요구된다. 본 실험을 위한 성형Mold는 코발트(Co) 함량 0.5 %의 초경합금(WC; 일본, Everloy社, 002K)을 초정밀 연삭가공하여 제작하였다. Glass소재는 전이점(Transformation Point; Tg) $572\;^{\circ}C$,항복점(Yielding Point; At) $630\;^{\circ}C$의 열적 특성을 갖는 K-BK7(일본, Sumita社)을 사용하였으며, d선에서 굴절률 및 아베수는 각각 1.51633, 64.1이다. 비구면 Glass렌즈 성형은 GMP(Glass Molding Press; 일본, Sumitomo社, Nano Press-S)장비를 사용하여 성형온도 $625\;^{\circ}C$, 서냉온도 $550\;^{\circ}C$로 고정하고 성형압력를 200-800 N 범위에서 변화시켰다. 표 1에 성형변수로 사용한 서냉속도와 서냉전환온도 조건을 나타낸다. 표1과 같이 각 서냉조건별로5장의 렌즈를 성형 후 특성값이 평균치에 가까운 3장을 선별하여 그 특성을 비교하였다. 각 조건에 따른 성형렌즈의 형상정도(일본, Panasonic社, UA3P, 자유곡면형상측정기), 두께(일본, Mitutoyo社, MDC-25M, 마이크로메터), 굴절률(일본, Shimatus社, KPR-200, 정밀굴절률측정기) 및 MTF[해상도](독일, Trioptics社, Image Master HR, MTF-Field)를 측정하여 각각의 광학적 특성을 비교 평가하였다. 비구면 Glass렌즈 성형장비와 형상측정기를 그림 2, 3에 각각 나타낸다.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.22 no.12
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• pp.1-9
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• 2008

This paper is about l00[W] discrete LED floodlight lighting system, light color and color temperature to be controlled using the 3[W] RGBA LED, is developed the product with optical, heat dissipation, circuit, luminaire and system design. The result, color temperature is changed corresponding to black body locus from 2,000[K] to 10,000[K] and The Color Rendering Index(C.R.I) is achieved from 71 to 91 by high C.RI. Driving voltage is $90{\sim}250[Vac]$, circuit efficiency is 87[%], P.F is more than 93. moreover the LED lens is designed to achieve narrow, middle, wide beam angle, heat dissipation design is executed to minimize variation of luminous output by the surroundings temperature and to ensure reliability.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.6
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• pp.4108-4114
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• 2015

An image acquisition by using an optical mirror is called as a catadioptric method. The catadioptric imaging method is generally used for acquisition of 360-degree all directional visual information in an image. An exemplar omnidirectional optical mirror is the bowl-shaped hyperbolic mirror. In this paper, a single camera omnidirectional stereo imaging method is studied with an additional concave lens. It is possible to obtain 3 dimensional coordinates of environmental objects from the omnidirectional stereo image by matching the stereo image having different view points. The omnidirectional stereo imaging system in this paper is cost-effective and relatively easy for correspondence matching because of consistent camera intrinsic parameters in the stereo image. The parameters of the imaging system are extracted through 3-step calibration and the performance for 3-dimensional coordinates reconstruction is verified through experiments in this paper. Measurable range of the proposed imaging system is also presented by depth-resolution analysis.

• Nuclear Engineering and Technology
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• v.43 no.2
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• pp.133-140
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• 2011

In this paper, a deformation measurement technology for nuclear fuel rods is proposed. The deformation measurement system includes a high-definition CMOS image sensor, a lens, a semiconductor laser line beam marker, and optical and mechanical accessories. The basic idea of the proposed deformation measurement system is to illuminate the outer surface of a fuel rod with a collimated laser line beam at an angle of 45 degrees or higher. For this method, it is assumed that a nuclear fuel rod and the optical axis of the image sensor for observing the rod are vertically composed. The relative motion of the fuel rod in the horizontal direction causes the illuminated laser line beam to move vertically along the surface of the fuel rod. The resulting change of the laser line beam position on the surface of the fuel rod is imaged as a parabolic beam in the high-definition CMOS image sensor. An ellipse model is then extracted from the parabolic beam pattern. The center coordinates of the ellipse model are taken as the feature of the deformed fuel rod. The vertical offset of the feature point of the nuclear fuel rod is derived based on the displacement of the offset in the horizontal direction. Based on the experimental results for a nuclear fuel rod sample with a formation of surface crud, an inspection resolution of 50 ${\mu}m$ is achieved using the proposed method. In terms of the degree of precision, this inspection resolution is an improvement of more than 300% from a 150 ${\mu}m$ resolution, which is the conventional measurement criteria required for the deformation of neutron irradiated fuel rods.

• Journal of the Optical Society of Korea
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• v.15 no.1
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• pp.61-67
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• 2011

The confocal laser scanning microscopy and two-photon microscopy was implemented based on a single laser source and an objective lens. We imaged and compared the morphology of identical sites of ex vivo human skin using both microscopes. The back-scattering emission from the sample provided the contrast for the confocal microscopy. The intrinsic autofluorescence and the second harmonic generation were used as the luminescence source for the two-photon microscopy. The wavelength of the Ti:Sapphire laser was tuned at 710 nm, which corresponds to the excitation peak of NADH and FAD in skin tissue. The various cell layers in the epidermis and the papillary dermis were clearly distinguished by both imaging modalities. The two-photon microscopy more clearly visualized the intercellular region and the nucleus of the cell compared to the confocal microscopy. The fibrous structures in the dermis were more clearly resolved by the confocal microscopy. Numerous cells in papillary dermal layer, as deep as $100\;{\mu}m$, were observed in both CLSM and two-photon microscopy. While most previous studies focused on fibrous structure imaging (collagen and elastin fiber) in the dermis, we demonstrated that the combined imaging with the CLSM and two-photon microscopy can be applied for the non-invasive study of the population, distribution and metabolism of papillary dermal cells in skin.