• 제어로봇시스템학회논문지
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• 제17권10호
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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.

• 센서학회지
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• 제19권3호
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• pp.202-208
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• 2010

This study examined the dependency of crystalline orientation and electric properties of sol-gel PZT film on hydrolysis, a $PbTiO_3$ seed layer and a concentration of sol-gel solution. The PZT thin films were prepared by using 2-Methoxyethanol-based sol-gel method and spin-coating on Pt/Ti/$SiO_2$/Si substrates. The 1-${\mu}m$-thick PZT films were coated and then fired in a furnace by direct insert method. The highly (111) oriented PZT film of pure perovskite structure could be obtained. We could control the degree of orientation by various parameters such as hydrolysis, a $PbTiO_3$ seed layer and a concentration of sol-gel solution. The highest measured remanent polarization, dielectric constant and piezoelectric coefficient are $24.16\;{\mu}C/cm^2$, 2808, and 159 pC/N, respectively.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2006년도 하계학술대회 논문집 Vol.7
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• pp.366-367
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• 2006

Different orientated SBN thin films were deposited by Ion Beam Sputtering, and electric properties were measured on each orientation. Ferroelectric $Sr_xBa_{1-x}Nb_2O_6$(SBN) has excellent electro-optic, photo-refractive, piezoelectric, pyroelectric properties. SBN thin film has been deposited by various method, of sol-gel, PLD, CVD, sputtering, etc.. To avoid lead pollution of Pb-system perovskite ferroelectric materials. SBN thin films were fabricated for pyroelectric IR sensor. Using the ceramic target of the same composition and Pt(100)/$TiO_2/SiO-2$/Si(100) substrate, crystallization and orientation behavior as well as electric properties of the films were examined. Seed layer and thin films thickness was controlled to observe the effect on preferred orientation. We measured I-V, C-V, P-E hysteresis to characterize electric-properties on each orientations.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2007년도 추계학술대회 논문집
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• pp.59-60
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• 2007

• Spatial Information Research
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• 제10권3호
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• pp.407-419
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• 2002

본 연구에서는 레이져 매핑 시스템 구현을 위한 4S-Van 시스템의 설계에 대해 논하였다. 레이져 센서는 대상물의 3차원값을 기존의 사진측량에 비해 정확하고 빠르게 측정가능한 센서이다. 4S-Van 에 장착된 레이져의 광의 발사위치와 방향을 결정하기 위해 약결합 방식의 (D)GPS/INS 통합 알고리즘을 사용하였다. 레이져 매핑을 실현하기 위한 기초적이고 예비적인 실험으로서 현 시스템에 장착된 센서를 고려하여(D)GPS/INS 통합 알고리즘의 성능테스트와 장착된 CCD 카메라의 보정을 위해 근거리사진측량 기법중의 하나인 self-calibration 기법을 통해 외부표정요소와 내부표정요소를 획득하였다. 3대의 레이져 스케너를 동시에 작동시켜 데이터간의 상호보정을 통해 정밀도 향상을 시도하였다. 향후 레이져 데이터와 CCD 영상을 통해 확보된 질감 정보를 이용하여 컴퓨터 공간상에 지형지물에 대해 3차원 시각화 및 도시모델링 구축에 활용할 계획이다.

• 한국정밀공학회지
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• 제16권12호
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• pp.87-98
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• 1999

This study is concentrated on the development of real-time estimation model and vision control method as well as the experimental test. The proposed method permits a kind of adaptability not otherwise available in that the relationship between the camera-space location of manipulable visual cues and the vector of manipulator joint coordinates is estimate in real time. This is done based on a estimation model ta\hat generalizes known manipulator kinematics to accommodate unknown relative camera position and orientation as well as uncertainty of manipulator. This vision control method is roboust and reliable, which overcomes the difficulties of the conventional research such as precise calibration of the vision sensor, exact kinematic modeling of the manipulator, and correct knowledge of position and orientation of CCD camera with respect to the manipulator base. Finally, evidence of the ability of real-time vision control method for manipulator's position control is provided by performing the thin-rod placement in space with 2 cues test model which is completed without a prior knowledge of camera or manipulator positions. This feature opens the door to a range of applications of manipulation, including a mobile manipulator with stationary cameras tracking and providing information for control of the manipulator event.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제9권6호
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• pp.2289-2301
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• 2015

Mobile devices are becoming powerful enough to realize augmented reality (AR) application. This paper introduces two AR methods to estimate an environmental illumination distribution of a scene. In the first method, we extract the lighting direction and intensity from input images captured with a front-side camera of a mobile device, using its orientation sensor. The second method extracts shadow regions cast by three dimensional (3D) AR marker of known shape and size. Because previous methods examine per pixel shadow intensity, their performances are much affected by the number of sampling points, positions, and threshold values. By using a simple binary operation between the previously clustered shadow regions and the threshold real shadow regions, we can compute efficiently their relative area proportions according to threshold values. This area-based method can overcome point sampling problem and threshold value selection. Experiment results demonstrate that the proposed methods generate natural image with multiple smooth shadows in real-time.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제9권8호
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• pp.2948-2963
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• 2015

In the field of computer vision, visual surveillance systems have recently become an important research topic. Growth in this area is being driven by both the increase in the availability of inexpensive computing devices and image sensors as well as the general inefficiency of manual surveillance and monitoring. In particular, the ultimate goal for many visual surveillance systems is to provide automatic activity recognition for events at a given site. A higher level of understanding of these activities requires certain lower-level computer vision tasks to be performed. So in this paper, we propose an intelligent activity recognition model that uses a structure learning method and a classification method. The structure learning method is provided as a K2-learning algorithm that generates Bayesian networks of causal relationships between sensors for a given activity. The statistical characteristics of the sensor values and the topological characteristics of the generated graphs are learned for each activity, and then a neural network is designed to classify the current activity according to the features extracted from the multiple sensor values that have been collected. Finally, the proposed method is implemented and tested by using PETS2013 benchmark data.

• 한국정보통신학회논문지
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• 제16권9호
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• pp.2064-2071
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• 2012

스마트 폰의 일반화로 인해 스마트폰 게임이 많이 출시되고 있지만, 주로 터치 기능을 이용하여 화면 상의 상호작용을 통한 게임이 주류를 이루고 있다. 한편 기존의 가속도센서, 방향센서 외에 자이로센서 등 단말기의 위치와 동작을 인식하는 기능은 나날이 발전하고 있다. 따라서 사용자의 동작을 단말을 통해 인식하여 사용자 단말을 게임도구로 사용하는 게임의 개발이 기술적으로 가능해지고 있으나, 아직 구체화된 사례는 발견되지 않고 있다. 본 논문에서는 단말기의 동작 인식과 단말기간 상호 통신을 결합한 새로운 형태의 게임의 기본 틀과 알고리즘을 제시하고, 그 구현 내용과 결과를 제시한다.

• Journal of Magnetics
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• 제14권1호
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• pp.42-46
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• 2009

The measurement of external magnetic field orientation using Giant Magneto Impedance (GMI) sensors has been performed. A soft magnetic alloy of $Co_{30}Fe_{34}Ni_{36}$ was electroplated on a Si wafer with a CoFeNi seed layer. V-shaped microwire patterns were formed using a conventional photolithography process. An external magnetic field was generated by a rectangular AlNiCo permanent magnet. The reference direction was defined as the external magnetic field direction oriented in the middle of 2 GMI devices. As the orientation of the magnetic field deviated from the reference direction, variation in the field component along each device introduced voltage changes. It was found that, by taking the voltage difference between the left and right arms of the Vshaped device, the nonlinearity of each device could be significantly reduced. The fabricated angle sensor had a linear range of approximately $70^{\circ}$ and an overall sensitivity of approximately 10 mV.