• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.724-728
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• 2005

This paper represents a development of a range finder sensor module for indoor 2-D mapping and modified Hough transformation for map building. A range finder sensor module has been developed by using optic PSD (Position Sensitive Detector) sensor array at a low price. While PSD sensor is cost effective and light weighting, it has switching noise and white noise. To remove these noises, we propose a heuristic filter. For line-based map building, also we proposed advanced Hough transformation and navigation algorithm. Some experiments were illustrated for the validity of the developed system.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.3016-3018
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• 2005

The PSD(Position Sensitive Detector) is a sensor for detecting the position of incident light. Because of its various advantages, it is used for position and angle sensing, optical range finders, laser displacement sensing, and etc. In the previous study of the position finding system, the laser tracking robot is developed. Small data rate and unidirectionality is the characteristics of data communication both DSP-based pan/tilt control board and the robot. If we can transmit data to the target using PSD sensor and laser diode module, there is no need for communication devices such as the bluetooth and wireless module. For this reason, this paper presents the new method for data transmission. Transmit data using RS-232 is modulated by a VTF(Voltage To Frequency) converter The laser diode module transmits the modulated data. And then the PSD sensor receive that data. Demodulation process is accomplished by the system which is consisted with trans-impedance amplifier, FTV(Frequency To Voltage) converter, and etc.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.603-605
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• 2005

In this paper, we deal with a calibration method for low cost motion capture sensor using PSD (Position Sensitive Detection). The PSD sensor is employed to measure the direction of incident light from moving markers attached to motion body. To calibrate the PSD optical module, a conventional camera calibration algorithm introduced by Tsai. The 3-dimensional positions of the markers are measured by using stereo camera geometry. From the experimental results, the low cost motion capture sensor can be used in a real time system.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.10
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• pp.1897-1904
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• 2006

Home service robot must recognize and build map for indoor and components of the house such as furniture and chair etc. The previous researcher has developed a indoor map building system by using CCD camera and ultra sonic sensor. %no stems have some problem in such a way that (1) a distun resolution can be changed according to the number of pixel when we use a CCD camera system, (2) a measured distance can be decreased when it transmitted to the rubber because of being absorbed the sound energy. This paper represents an intelligent sensor controller of module has been developed by using optic PSD(Position Sensitive Detector) sensor any at a low price. To deduce the switching noise from beam power module and diffused reflection noise, we proposed a heuristic soft filter. The performance of the developed system was compared with ultra sonic sensor system by detecting the indoor wall environment. Some experiments were illustrated for the validity of the developed system.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.351-352
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• 2012

• Journal of the Korea Institute of Information and Communication Engineering
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• v.9 no.7
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• pp.1479-1484
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• 2005

This paper represents an intelligent sensor controller of mobile robot for object recognition in an indoor hon environment. A range finder sensor module has been developed by using optic PSD (Position Sensitive Detector) sensor way at a low Vice. While PSD sensor is cost effective and light weighting, it has switching noise and white noise. To remove these noises, we propose a heuristic filter. For line-based map building. also we prorosed advanced Hough transformation and navigation algorithm. Some experiments were illustrated for the validity of the developed system.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2006.06a
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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.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• v.9 no.2
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• pp.191-194
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• 2005

This paper represents an intelligent sensor controller of mobile robot for object recognition in an indoor known environment. A range finder sensor module has been developed by using optic PSD (Position Sensitive Detector) sensor array at a low price. While PSD sensor is cost effective and light weighting, it has switching noise and while noise. To remove these noises, we propose a heuristic filter. For line-based map building, also we proposed advanced Hough transformation and navigation algorism. Some experiments were illustrated for the validity of the developed system.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.582-584
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• 2006

This paper describes a monocular PSD-based motion capture sensor to employ with commercial video game systems such as Microsoft's XBOX and Sony's Playstation II. The system compact, low-cost, and only requires a one-time calibration at the factory. The system includes a PSD(Position Sensitive Detector) and active infrared (IR) LED markers that are placed on the object to be tracked. The PSD sensor is placed in the focal plane of a wide-angle lens. The micro-controller calculates the 3D position of the markers using only the measured intensity and 2D position on the PSD. A series of experiments were performed to evaluate the performance of our prototype system. From the experimental results we see that the proposed system's compact size, low-cost, ease of installation, and high frame rates are suitable for high speed motion tracking in games.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.46 no.3
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• pp.219-229
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• 2018

This paper proposes Kalman Filter-based relative navigation algorithms for proximity tasks such as rendezvous/docking/cluster-operation of spacecraft using PSD Sensors and Infrared Beacon Modules. Numerical simulations are performed for comparative analysis of the performance of each relative-navigation technique. Based on the operation principle and optical modeling of the PSD Sensor and the Infrared Beacon Module used in the relative navigation algorithm, a measurement model for the Kalman filter is constructed. The Extended Kalman Filter(EKF) and the Unscented Kalman Filter(UKF) are used as probabilistic relative navigation based on measurement fusion to utilize kinematics and dynamics information on translational and rotation motions of satellites. Relative position and relative attitude estimation performance of two filters is compared. Especially, through the simulation of various scenarios, performance changes are also investigated depending on the number of PSD Sensors and IR Beacons in target and chaser satellites.