• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.4
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• pp.237-243
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• 2014

In this paper we present an real-time obstacle avoidance technique of autonomous mobile robot with steering system and implementation of user interface for mobile devices with Android platform. The direction of autonomous robot is determined by virtual force field concept, which is based on the distance information acquired from 5 ultrasonic sensors. It is converted to virtual repulsive force around the autonomous robot which is inversely proportional to the distance. The steering system with PD(proportional and derivative) controller moves the mobile robot to the determined target direction. We also use PSD(position sensitive detector) sensors to supplement ultrasonic sensors around dead angle area. The mobile robot communicates with Android mobile device and PC via Ethernet. The video information from CMOS camera mounted on the mobile robot is transmitted to Android mobile device and PC. And the user can control the mobile robot manually by transmitting commands on the user interface to it via Ethernet.

• Nuclear Engineering and Technology
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• v.53 no.8
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• pp.2640-2645
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• 2021

We report the development of a gamma-ray imaging device, named Large-Area Hybrid Gamma Imager (LAHGI), featuring high imaging sensitivity and good imaging resolution over a broad energy range. A hybrid collimation method, which combines mechanical and electronic collimation, is employed for a stable imaging performance based on large-area scintillation detectors for high imaging sensitivity. The system comprises two monolithic position-sensitive NaI(Tl) scintillation detectors with a crystal area of 27 × 27 cm² and a tungsten coded aperture mask with a modified uniformly redundant array (MURA) pattern. The performance of the system was evaluated under several source conditions. The system showed good imaging resolution (i.e., 6.0-8.9° FWHM) for the entire energy range of 59.5-1330 keV considered in the present study. It also showed very high imaging sensitivity, successfully imaging a 253 µCi ¹³⁷Cs source located 15 m away in 1 min; this performance is notable considering that the dose rate at the front surface of the system, due to the existence of the ¹³⁷Cs source, was only 0.003 µSv/h, which corresponds to ~3% of the background level.

• The Korean Journal of Nuclear Medicine
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• v.32 no.4
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• pp.365-373
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• 1998

Purpose: The conventional gamma camera is not ideal for scintimammography because of its large detector size (${\sim}500mm$ in width) causing high cost and low image quality. We are developing a small gamma camera dedicated for breast imaging. Materials and Methods: The small gamma camera system consists of a NaI (T1) crystal ($60 mm{\times}60 mm{\times}6 mm$) coupled with a Hamamatsu R3941 Position Sensitive Photomultiplier Tube (PSPMT), a resister chain circuit, preamplifiers, nuclear instrument modules, an analog to digital converter and a personal computer for control and display. The PSPMT was read out using a standard resistive charge division which multiplexes the 34 cross wire anode channels into 4 signals ($X^+,\;X^-,\;Y^+,\;Y^-$). Those signals were individually amplified by four preamplifiers and then, shaped and amplified by amplifiers. The signals were discriminated ana digitized via triggering signal and used to localize the position of an event by applying the Anger logic. Results: The intrinsic sensitivity of the system was approximately 8,000 counts/sec/${\mu}Ci$. High quality flood and hole mask images were obtained. Breast phantom containing $2{\sim}7 mm$ diameter spheres was successfully imaged with a parallel hole collimator The image displayed accurate size and activity distribution over the imaging field of view Conclusion: We have succesfully developed a small gamma camera using NaI(T1)-PSPMT and nuclear Instrument modules. The small gamma camera developed in this study might improve the diagnostic accuracy of scintimammography by optimally imaging the breast.

• 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.

• Smart Structures and Systems
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• v.13 no.6
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• pp.1015-1039
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• 2014

The widening project on Freeway No.1 in Taiwan has a total length of roughly 14 kilometers, and includes three special bridges, namely a 216 m long-span bridge crossing the original freeway, an F-bent double decked bridge in a co-constructed section, and a steel and prestressed concrete composite bridge. This study employed in-situ monitoring in conjunction with numerical modeling to establish a real-time monitoring system for the three bridges. In order to determine the initial static and dynamic behavior of the real bridges, forced vibration experiments, in-situ static load experiments, and dynamic load experiments were first carried out on the newly-constructed bridges before they went into use. Structural models of the bridges were then established using the finite element method, and in-situ vehicle load weight, arrangement, and speed were taken into consideration when performing comparisons employing data obtained from experimental measurements. The results showed consistency between the analytical simulations and experimental data. After determining a bridge's initial state, the proposed in-situ monitoring system, which is employed in conjunction with the established finite element model, can be utilized to assess the safety of a bridge's members, providing useful reference information to bridge management agencies.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1417-1422
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• 2005

Among the sensors mainly used for displacement measurement, there are a linear CCD(Charge Coupled Device) and a PSD(Position Sensitive Detector) as a non-contact type. Their structures are different very much, which means that the signal processing of both sensors should be applied in the different ways. Most of the displacement measurement systems to get the 3-D shape profile of an object using a linear CCD are a computer-based system. It means that all of algorithms and mathematical operations are performed through a computer program to measure the displacement. However, in this paper, the developed system has microprocessor and other digital components that make the system measure the displacement of an object without a computer. The thing different from the previous system is that AVR microprocessor and FPGA(Field Programmable Gate Array) technology, and a comparator is used to play the role of an A/D(Analog to Digital) converter. Furthermore, an ATC(Automatic Threshold Control) algorithm is applied to find the highest pixel data that has the real displacement information. According to the size of the light circle incident on the surface of the CCD, the threshold value to remove the noise and useless data is changed by the operation of AVR microprocessor. The total system consists of FPGA, AVR microprocessor, and the comparator. The developed system has the improvement and shows the better performance than the system not using the ATC algorithm for displacement measurement.

• Journal of IKEEE
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• v.2 no.1 s.2
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• pp.53-60
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• 1998

We develope a high repetition rate, short distance, optical range finder for surface roughness measurements of large structures, such as a highway road, etc. For range measurement based on a triangulation principle, we use a light emitting diode and an one dimensional Position sensitive photodetector for a light source and an angle detector of the reflected light at the object, respectively. The range finder has automatic power control and electrical background noise rejection capabilities which enable it to overcome variations of an object reflectance and to eliminate time-varying, as well as constant, background light noises. Our experimental results show less than ${\pm}1.5mm$ of measurement errors regardless of an object reflectance, for $22{\sim}38cm$ object ranges which are determined by considering the installation of the range finder and the depth of surface roughness.

• Journal of Radiation Protection and Research
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• v.29 no.4
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• pp.257-261
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• 2004

A coded-aperture gamma camera was developed to increase the sensitivity of a pin hole camera made with a pixellated CsI(Tl) scintillator and a position-sensitive photomultiplier tube. The modified round-hole uniformly redundant array of pixel size $13{\times}11$ was chosen as a coded mask considering the detector spatial resolution. The performance of the coded-aperture camera was compared with the pin hole camera using various forms of Tc-99m source to see the improvement of signal-to-noise ratio or the improvement of the sensitivity. The image quality is much improved despite of a slight degradation of the spatial resolution. Though the camera and the test were made for low energy case, but the concept of the coded-aperture gamma camera could be effectively used for the radioactive environmental monitoring and other applications.

• Restorative Dentistry and Endodontics
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• v.26 no.2
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• pp.134-140
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• 2001

The polymerization shrinkage of composite resins is an important drawback although the composites have many advantages-more esthetic and conservative than metallic restoratives etc. The purposes of this research were to develop a new measurement method and to manufacture an instrument that can measure the initial dynamic volumetric shrinkage of composite resins during polymerization. The instrument was basically an electromagnetic balance that constructed with a force transducer using position sensitive photo detector(PSPD) and a negative feedback servo amplifier of proportional-derivative(PD) controller. The volumetric change of composites during polymerization was detected continuously as buoyancy change in distilled water by means of Archimedes's principle. It was converted to continuous electrical voltage signal in real time. The signal was properly conditioned and filtered and then it was stored in computer by a data acquisition(DAQ) board. By using this electronic instrument. the dynamic patterns of the polymerization shrinkage of eight commercial(Z-100, DenFil, AeliteFil, Z-250, P-60, SureFil, Synergy compact, and Tetric ceram) composite resins were measured and compared. The results were as follows. 1. From this project of developing instrument, the ability has been achieved that can acquire and process data of electrical signal transformed from various physical phenomenon by using temperature, displacement. photo. and force transducer. As a consequence, the instrumentation and measurement system used to analyze the physical characteristics of various dental materials in dental research field can be designed, manufactured and implemented in lab. 2. This instrument has some advantages. It was insensible to temperature change and could measure true dynamic volumetric shrinkage in real time without complicated process. It showed accuracy and high precision results with small standard deviation. 3. The polymerization shrinkage of composites was significantly different between brands and ranged from 2.47％ to 3.89％, The order of polymerization shrinkage was as follows, in order of increasing shrinkage, SureFil, P60, Z250, Z100, Synergy compact. DenFil, Tetric ceram, and AeliteFil. 4. The polymerization shrinkage rate per unit time, dVol％/dt, showed that the instrument can provide an indirect research method for polymerization reaction kinetics.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.5
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• pp.463-468
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• 2010

An obstacle avoidance method for a mobile robot is proposed in this paper. Our research was focused on the obstacles that can be found indoors since a robot is usually used within a building. It is necessary that the robot maintain the desired direction after successfully avoiding the obstacles to achieve a good autonomous navigation performance for the specified project mission. Sensors such as laser, ultrasound, and PSD (Position Sensitive Detector) can be used to detect and analyze the obstacles. A PSD sensor was used to detect and measure the height and width of the obstacles on the floor. The PSD sensor was carefully calibrated before measuring the obstacles to achieve better accuracy. Data obtained from the repeated experiments were used to plot an error graph which was fitted to a polynomial curve. The polynomial equation was used to navigate the robot. We also obtained a direction-error model of the robot after avoiding the obstacles. The prototypes for the obstacle and direction-error were modeled using a neural network whose inputs are the obstacle height, robot speed, direction of the wheels, and the error in direction. A mobile robot operated by a notebook computer was setup and the proposed algorithm was used to navigate the robot and avoid the obstacles. The results showed that our algorithm performed very well during the experiments.