• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
• /
• pp.30-34
• /
• 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.

• 제어로봇시스템학회논문지
• /
• 제15권5호
• /
• pp.519-524
• /
• 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
• /
• 제16권1호
• /
• pp.155-170
• /
• 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.

• 조명전기설비학회논문지
• /
• 제17권4호
• /
• pp.50-56
• /
• 2003

본 논문에서는 유입변압기 진단을 목적으로 부분방전시 발생하는 여러 가지 물리적 화학적 현상중 초음파를 검출하기 위하여 광섬유 Mach-Zehnder 간섭계를 구성하였다. 구성된 광섬유 센서의 초음파 검출 평가 실험을 실시하고, 절연유 중에 배치한 침-평판전극에 교류 고전압을 인가하여 방전시 발생하는 초음파를 측정하고 퓨리에 변환 및 wavelet 변환을 이용한 데이터 분석 결과를 나타냈다.

• 한국전기전자재료학회:학술대회논문집
• /
• 한국전기전자재료학회 2007년도 하계학술대회 논문집 Vol.8
• /
• pp.517-518
• /
• 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.

• 한국정밀공학회지
• /
• 제18권1호
• /
• pp.89-97
• /
• 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
• /
• 제43권3호
• /
• pp.459-470
• /
• 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.

• 전기전자학회논문지
• /
• 제23권3호
• /
• pp.793-799
• /
• 2019

본 연구에서는 웨어러블 Fabric(Nylon) + MWCNT 가스센서 내부에서 열확산을 해석하기 위해서 요소해석 프로그램(comsol)을 이용하여 센서 내부에서의 열용량의 확산 과정과 열용량 분포 경도를 확인하였다. 열용량의 확산과정을 해석하기 위해서 가스센서의 구조체에 대하여 이차원으로 모델링을 진행하였으며, 제시된 모델링에 대해서 센서 구성 부분에 대한 특성값을 제시하여 메시 요소법(FEM)을 이용하여 설계된 웨어러블 가스센서에 대해서 열용량이 확산되는 정도와 열용량 경도를 구하기 위해서 지배방정식으로 1계 편미분방정식을 제안하여 해석하였으며, 열속도 전달식을 제안하여 전극층과 가스 검출부의 10[K/mm] 온도 경도를 구하였다.

• 한국환경복원기술학회지
• /
• 제25권2호
• /
• pp.85-92
• /
• 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.

• 한국정보통신학회:학술대회논문집
• /
• 한국정보통신학회 2022년도 춘계학술대회
• /
• pp.44-46
• /
• 2022

인공지능을 사용하는 다양한 객체 인식은 기본적으로 평면적인 결과를 보여준다. 물체를 분류하거나 이미지상에 있는 객체가 무엇인지를 확인하는 것을 기초로 한다. 하지만, 원래의 물체는 평면이 아닌 입체적 형태를 가지고 있으며 이미지에서 단순 결과만을 얻기 위한 인식은 상관없지만, 다양한 분야에 활용한다면 부족한 정보가 많다. 본 논문에서는 GAN 알고리즘을 기반으로 한 이미지 생성과 관련하여 중간 결과를 생성하는 Layer의 특성을 활용하여 물체의 다방면의 데이터 생성 방법과 그것이 유의미한지를 확인한다. 기존의 다방면 데이터를 생성하기 위한 하드웨어 및 수집과정에서의 문제점을 일부 해결하고, 몇몇 제한적인 객체에서의 데이터 생성 후 활용이 가능함을 확인한다.