• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.30-34
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• 1998

Path Planning is one of the important fields in robot technologies. Local path planning may be done in on-line modes while recognizing an environment of robot by itself. In dynamic environments to obtain fluent information for environments vision system as a sensing equipment is a one of the most necessary devices for safe and effective guidance of robots. If there is a predictor that tells what future sensing outputs will be, robot can respond to anticipated environmental changes in advance. The tracking of obstacles has a deep relationship to the prediction for safe navigation. We tried to deal with active contours, that is snakes, to find out the possibilities of stable tracking of objects in image plane. Snakes are defined based on energy functions, and can be deformed to a certain contour form which would converge to the minimum energy states by the forces produced from energy differences. By using point algorithm we could have more speedy convergence time because the Brent's method gives the solution to find the local minima fast. The snake algorithm may be applied to sequential image frames to track objects in the images by these characteristics of speedy convergence and robust edge detection ability.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.5
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• pp.519-524
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• 2009

This paper describes a new sensor system for 3D environment perception using stereo structured infrared light sources and a camera. Environment and obstacle sensing is the key issue for mobile robot localization and navigation. Laser scanners and infrared scanners cover $180^{\circ}$ and are accurate but too expensive. Those sensors use rotating light beams so that the range measurements are constrained on a plane. 3D measurements are much more useful in many ways for obstacle detection, map building and localization. Stereo vision is very common way of getting the depth information of 3D environment. However, it requires that the correspondence should be clearly identified and it also heavily depends on the light condition of the environment. Instead of using stereo camera, monocular camera and two projected infrared light sources are used in order to reduce the effects of the ambient light while getting 3D depth map. Modeling of the projected light pattern enabled precise estimation of the range. Two successive captures of the image with left and right infrared light projection provide several benefits, which include wider area of depth measurement, higher spatial resolution and the visibility perception.

• Journal of Information Processing Systems
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• v.16 no.1
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• pp.155-170
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• 2020

Passive ranging is a critical part of machine vision measurement. Most of passive ranging methods based on machine vision use binocular technology which need strict hardware conditions and lack of universality. To measure the distance of an object placed on horizontal plane, we present a passive ranging method based on monocular vision system by smartphone. Experimental results show that given the same abscissas, the ordinatesis of the image points linearly related to their actual imaging angles. According to this principle, we first establish a depth extraction model by assuming a linear function and substituting the actual imaging angles and ordinates of the special conjugate points into the linear function. The vertical distance of the target object to the optical axis is then calculated according to imaging principle of camera, and the passive ranging can be derived by depth and vertical distance to the optical axis of target object. Experimental results show that ranging by this method has a higher accuracy compare with others based on binocular vision system. The mean relative error of the depth measurement is 0.937% when the distance is within 3 m. When it is 3-10 m, the mean relative error is 1.71%. Compared with other methods based on monocular vision system, the method does not need to calibrate before ranging and avoids the error caused by data fitting.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.17 no.4
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• pp.50-56
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• 2003

It is well known that a partial-discharge(PD) in insulation oil is the source of various physical and chemical phenomena, such as heat, light, gas, chemical transformation, electric current, electromagnetic radiation and ultrasonics. The PD can be detected by measuring one of these changes. Although some techniques are employed in this purpose, several obstacles interfere with an on-line measurement. Ultrasonic-wave detection is a useful method for the diagnosis of the transformer-insulation condition. Conventionally, ulyrasonic waves are detected by Piezo-electric transducer, but we use optical method that has many advantages. In this paper, we constructed a Mach-Zehnder interferometer with optical fiber and investigated the principle of operation. Test arrangement is based on the needle-plane electrode system in oil and applied AC high voltage. Ultrasonic waves were detected and analyzed with wavelet transform.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2007.06a
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• pp.517-518
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• 2007

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 Nonlinear trail are included in this paper.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.1
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• pp.89-97
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• 2001

A microgyroscope, which vibrates in two orthogonal axes on the substrate plane, is designed and fabricated. The shuttle mass of the vibrating gyroscope consists of two parts. The one is outer shuttle mass which vibrates in driving mode guided by four folded springs attached to anchors. And the other is inner shuttle mass which vibrates in driving mode as the outer frame does and also can vibrate in sensing mode guided by four folded springs attached to the outer shuttle mass. Due to the directions of vibrating mode, it is possible to fabricate the gyroscope with simplified process by using polysilicon on insulator structure. Fabrication processes of the microgyroscope are composed of anisotropic silicon etching by RIE, gas-phase etching (GPE) of the buried sacrificial oxide layer, metal electrode formation. An eletromechanical model of the vibrating microgyroscope was modeled and bandwidth characteristics of the gyroscope operates at DC 4V and AC 0.1V in a vacuum chamber of 100mtorr. The detection circuit consists of a discrete sense amplifier and a noise canceling circuit. Using the evaluated electromechanical model, an operating condition for high performance of the gyroscope is obtained.

• ETRI Journal
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• v.43 no.3
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• pp.459-470
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• 2021

This paper presents a low-cost prototype for monitoring online the maximum power produced by a domestic photovoltaic (PV) system using Internet of Things (IoT) technology. The most common tracking algorithms (P&O, InCond, HC, VSS InCond, and FL) were first simulated using MATLAB/Simulink and then implemented in a low-cost microcontroller (Arduino). The current, voltage, load current, load voltage, power at the maximum power point, duty cycle, module temperature, and in-plane solar irradiance are monitored. Using IoT technology, users can check in real time the change in power produced by their installation anywhere and anytime without additional effort or cost. The designed prototype is suitable for domestic PV applications, particularly at remote sites. It can also help users check online whether any abnormality has happened in their system based simply on the variation in the produced maximum power. Experimental results show that the system performs well. Moreover, the prototype is easy to implement, low in cost, saves time, and minimizes human effort. The developed monitoring system could be extended by integrating fault detection and diagnosis algorithms.

• Journal of IKEEE
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• v.23 no.3
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• pp.793-799
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• 2019

In this study, the diffusion process and the thermal energy distribution gradient of the sensor were confirmed by using the finite element analysis program (COMSOL) of the mesh method to analyze the thermal diffusion in the wearable fabric (Nylon) + MWCNT gas sensor. To analyze the diffusion process of thermal energy, the structure of the gas sensor was modeled in a two dimension plane. The proposed modeling was presented with the characteristic value for the component of the sensor, and the gas sensor designed using the mesh finite element method (FEM) was proposed and analyzed by suggesting the one-way partial differential equation in the governing equation to know the degree of thermal energy diffusion and the thermal energy gradient. In addition, the temperature gradient 10[K/mm] of the anode-cathode electrode layer and the gas detection unit was investigated by suggesting the heat velocity transfer equation.

• Journal of the Korean Society of Environmental Restoration Technology
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• v.25 no.2
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• pp.85-92
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• 2022

The amphibian breeding habitat is confirmed by mating call. In some cases, the researcher directly identifies the amphibian individual, but in order to designate the habitat, it is necessary to map the mating call region of the amphibian population. Until now, it has been a popular methodology for researchers to hear mating calls and outline their breeding habitats. To improve this subjective methodology, we developed a technique for mapping mating call regions using Unmanned Aerial Vehicle (UAV). The technology uses a UAV, fitted with a sound recorder to record ground mating calls as it flies over an amphibian habitat. The core technology is to synchronize the recorded sound pressure with the flight log of the UAV and predict the sound pressure in a two-dimensional plane with probability density. For a demonstration study of this technology, artificial mating call was generated by a potable speaker on the ground and recorded by a UAV. Then, the recorded sound data was processed with an algorithm developed by us to map mating calls. As a result of the study, the correlation coefficient between the artificial mating call on the ground and the mating call map measured by the UAV was R=0.77. This correlation coefficient proves that our UAV recording system is sufficiently capable of detecting amphibian mating call regions.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2022.05a
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• pp.44-46
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• 2022

Various object recognition using artificial intelligence basically shows planar results. It is based on classifying objects or identifying what objects are on the image. However, the original object has a three-dimensional shape, not a plane, and although the perception to obtain only simple results from the image does not matter, there is a lot of information that is insufficient when used in various fields. In this paper, checks the method of generating data in various fields of objects and whether it is meaningful by utilizing the characteristics of Layer that generates intermediate results with respect to image generation based on the GAN algorithm. It solves some of the problems in the hardware and collection process for generating existing multi-faceted data, and confirms that it can be utilized after data generation on several limited objects.