• 제어로봇시스템학회논문지
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• 제2권4호
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• pp.330-336
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• 1996

An real-time active beacon localization system for mobile robots is developed and implemented. This system permits the estimation of robot positions when detecting light sources by PSD(Position Sensitive Detector) sensor which are placed sparsely over the robots work space as beacons(or landmarks). An LSE(Least Square Estimation) method is introduced to calibrate the internal parameters of a model for the beacon and robot position. The proposed system has two operational modes of position estimation. One is the initial position calculation by the detection of two or more light sources positions of which are known. The other is the continuous position compensation that calculates the position and heading of the robot using the IEKF(Iterated Extended Kalman Filter) applied to the beacon and dead-reckoning data. Practical experiments show that the estimated position obtained by this system is precise enough to be useful for the navigation of robots.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 하계학술대회 논문집 D
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• pp.2665-2667
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• 2004

This paper presents a study of a position finding system for a reactor inspection robot. The position of PSD(Position Sensitive Detector) sensor is calculated by the degree of pan-tilt and the difference in height between pan-tilt and PSD. For that, the DSP which control pan-tilt is used for precise operation and the PIC microcontroller process PSD sensor data that indicate light incident position. A user using computer can acquire the conditions of pan-tilt and PSD.

• 한국항공우주학회지
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• 제46권3호
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• pp.219-229
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• 2018

본 논문에서는 복수 Position Sensitive Detector(PSD) 센서와 IR Beacon Module(적외선 비콘 모듈)을 이용하여 우주비행체의 랑데부/도킹/군집 운용과 같은 근접 운용을 위한 칼만 필터 기반의 상대항법 알고리즘 연구를 수행한다. PSD 센서와 적외선 비콘 모듈은 각각 Target Satellite과 Chaser Satellite에 장착되어 위성의 상대 위치와 상대 자세 정보를 획득하여 위성간 근접운용에 사용한다. 각각의 상대 항법 기법의 성능을 비교 분석하기 위하여 수치 시뮬레이션을 수행한다. 상대항법 알고리즘에 사용된 PSD 센서와 적외선 비콘 모듈의 광학적 모델링과 작동 원리를 기반으로 칼만필터의 측정 모델을 구성한다. 확장 칼만 필터(EKF)와 무향 칼만 필터(UKF)는 우주비행체의 병진 운동 및 회전 운동에 대한 운동학 및 동역학적 특성을 활용하는 측정 융합에 기반을 둔 확률론적 상대항법 기법으로 사용된다. EKF와 UKF, 두 필터의 상대 자세 및 상대 위치 추정 성능을 비교한다. Target Satellite과 Chaser Satellite에 장착되는 PSD 센서와 적외선 비콘 모듈의 개수와 상대항법기법의 변화에 따른 수치 시뮬레이션을 수행하여 성능 변화를 확인하였다.

• 한국광학회:학술대회논문집
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• 한국광학회 2009년도 동계학술발표회 논문집
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• pp.479-480
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• 2009

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 제36회 하계학술대회 논문집 C
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• pp.2265-2267
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• 2005

We present detailed studies of externally applicable UHF PD sensors for a metal covered epoxy barrier with a small opening of epoxy injection-hole. The sensors were attached at the surface of injection hole of a metal covered epoxy barrier. 3-Dimensional electro magnetic simulations were performed to analyze electric-field distribution of the GIS and epoxy barrier with injection hole. Sensor structures were designed and analyzed using the 3-D EM simulator then fabricated for experimental verification. Sensor performance was measured in terms of spectral response and detected peak power. Real scale GIS and epoxy barriers were used to test and measure various aspect of performance of the sensors.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 제39회 하계학술대회
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• pp.1378-1379
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• 2008

In this study, we developed intelligent spacer built in the internal type UHF PD sensors. 3-Dimensional electro-magnetic simulations were performed to analyze electric-field distribution of the single-phase GIS and three-phase GIS. After considering the spacer's specification, Sensor structures were designed and analyzed using the 3-D EM Simulator. As a result of the simulation the internal type UHF PD sensors were built in. Performance of the sensor built into real scale GIS spacer was measured in terms of return loss and detected Max voltage. And we identified a character of the intelligent spacer by using 5pC partial discharge cell.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2007년도 춘계학술대회 논문집
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• pp.1678-1684
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• 2007

Platform Screen Door(PSD) has been installed in train manual operation section(ATS/ATC) by SeoulMetro since 2005. PSDs are now operating at 17 stations in SeoulMetro lines. As a result, it increases the safety of passenger, makes a comfortable platform and saves the energy of air conditioning. For PSD operation, train shall stop within 600mm of the train stop reference point. In train manual operation section, the detection system of train position is required to notify the train driver of train position and to ensure the condition that train stops the correct position for PSD operation. To detect the train stop position, the optical sensor shall be installed at platform. However, in case of SeoulMetro lines, the detection criterions of the train correct position stop are different because of using various types of trains which have different size and shape of front cars. In this paper, to solve this problem, the precise detection algorithm of the train stop at the correct position is used, and Laser distance measure sensor is introduced to notify the distance form the reference point of the train correct stop to train driver. This system has been applying to Seoul Metro line total.

• Journal of Mechanical Science and Technology
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• 제15권10호
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• pp.1369-1379
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• 2001

This paper focuses on a development of a sensor system measuring locations of a vehicle to localize a mobile robot while it tracks on the track (location sensor) . Also it focuses on a system configuration identifying the vehicle's orientation and distance from the object while it is stationary at certain station (position sensor) . As for the location sensor it consists of a set of sensors with a combined guiding and counting sensor, and an address-coded sensor to localize the vehicle while moving on the rail. For the position sensor a PSD (Position Sensitive Device) sensor with photo-switches sensor to measure the offset and orientation of the vehicle at each station is introduced. Both sensor systems are integrated with a microprocessor as a data relay to the main computer controlling the vehicle. The location sensor system is developed and its performance for a mobile robot is verified by experiments. The position measuring system is proposed and is robust to the environmental variation. Moreover, the two kinds of sensor systems guarantee a low cost application and high reliability.

• 한국마린엔지니어링학회:학술대회논문집
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• 한국마린엔지니어링학회 2006년도 전기학술대회논문집
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• pp.213-214
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• 2006

In this paper, it is described about a system that acquire several underwater information. This system is composed of SIM(Sensor Interface Module), MCM(Main Control Module), PSD(Precision Sensor Driver), PMM(Power Management Module), and Data Analysis Program etc.

• 센서학회지
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• 제11권2호
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• pp.67-76
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• 2002

본 연구에서는 페라이트 링 코어를 이용한 2차원 fluxgate 센서를 제안하였으며, 본 fluxgate 센서 시스템은 2차원 자장을 측정할 수 있는 센서와 그 센서를 구동하기 위한 구동회로, 그리고 신호처리회로 등으로 구성하였다. 신호 검출 방법으로는 우수고조파 성분 검출을 위해 PSD(phase sensitivity detector) 회로를 사용하였으며, 기존의 제 2고조파 검출법과 비교하기 위해서 pick-up 코일 출력전압의 제 2고조파 성분을 FFT 스펙트럼 분석기를 사용하여 측정하였고, 이렇게 측정된 제 2고조파 성분의 전압과 PSD 단의 출력전압을 비교하였다. 그 결과 여자전류의 증가에 따라 센서의 출력전압도 증가하였으며, 구동주파수에 따른 PSD 단의 출력전압은 주파수가 1.5[kHz]일 때까지는 증가하였지만, 그 이상의 주파수에서는 감소함을 보였다. 그리고 pick-up 코일의 제 2고조파 성분의 전압은 계속 증가함을 보였다. 센서의 최대감도는 구동주파수 1.5 [kHz], 구동전류 2 [App]에서 최대값을 보였으며 감도는 약 1580 [V/T]였다. 센서의 비선형계수는 3 [G] 이내에서 제 2고조파 성분의 전압인 경우 약 1 [%]이내였으며, PSD 단 이후는 약 2.3 [%]이내였다. 그리고 각도오차는 약 ${\pm}2$ [%/FS]이내였다.