• Journal of Institute of Control, Robotics and Systems
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• v.16 no.5
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• pp.420-427
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• 2010

This paper describes a localization method based on Monte Carlo Localization approach for a mobile robot. The method uses range data which are measured from ultrasound transmitting beacons whose locations are given a priori. The ultrasound receiver on-board a robot detects the range from the beacons. The method requires several beacons, theoretically over three. The method proposes a sensor model for the range sensing based on statistical analysis of the sensor output. The experiment uses commercialized beacons and detector which are used for trilateration localization. The performance of the proposed method is verified through real implementation. Especially, it is shown that the performance of the localization degrades as the sensor update rate decreases compared with the MCL algorithm update rate. Though the method requires exact location of the beacons, it doesn't require geometrical map information of the environment. Also, it is applicable to estimation of the location of both the beacons and robot simultaneously.

• Bulletin of the Korean Chemical Society
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• v.34 no.8
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• pp.2261-2266
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• 2013

This paper describes the synthesis and water sensing properties of a fluorescent photoinduced electron transfer (PET) sensor (5) with an extended operating sensing range. The 1,8-naphthalimide derivative (5) attached with a piperazine group and a carboxylic group was synthesized and applied as a fluorescent water sensor in water-miscible organic solvents. The fluorescence intensity of the dye 5 increased with increasing water content up to 80% (v/v) and the fluorescence intensities were enhanced 45-, 67- and 122-fold in aqueous EtOH, DMF and DMSO solutions, respectively. In aqueous acetone solution, the enhancement of the fluorescence intensities was somewhat lower (30-fold) but the response range was wider (0-90%, v/v).

• IEMEK Journal of Embedded Systems and Applications
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• v.6 no.5
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• pp.281-286
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• 2011

FMCW Radar sensor is commonly used for an automobile collision avoidance system for rider's safe. Systems using FMCW radar, however, would be one of expensive solutions for just simple rear obstacle detection purpose due to its high cost. In this letter, a short range rear obstacle detector using novel 24GHz AM radar sensor is presented. It can be implemented at significantly lower cost than FMCW radar for practical commercialization. The proposed AM radar sensor module is fabricated in a single aluminum housing to reduce the overall size while using single power supply voltage of 12V with 1200mA current for automotive applications. The measured detection range is up to 210cm with 10cm of distance resolution, which is suitable for a parking assistance system for automobiles.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.1 s.94
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• pp.253-264
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• 1999

Most autonomous mobile robots view only things in front of them, and as a result, they may collide with objects moving from the side or behind. To overcome this problem. an Active Omni-directional Range Sensor System has been built that can obtain an omni-directional range data through the use of a laser conic plane and a conic mirror. Also, mobile robot has to know its current location and heading angle by itself as accurately as possible to successfully navigate in real environments. To achieve this capability, we propose a self-localization algorithm of a mobile robot using an active omni-directional range sensor in an unknown environment. The proposed algorithm estimates the current position and head angle of a mobile robot by a registration of the range data obtained at two positions, current and previous. To show the effectiveness of the proposed algorithm, a series of simulations was conducted and the results show that the proposed algorithm is very efficient, and can be utilized for self-localization of a mobile robot in an unknown environment.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.91.3-91
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• 2001

A sensor fusion scheme for mobile robot environment recognition that incorporates range data and contour data is proposed. Ultrasonic sensor provides coarse spatial description but guarantees open space with no obstacle within sonic cone with relatively high belief. Laser structured light system provides detailed contour description of environment but prone to light noise and is easily affected by surface reflectivity. Overall fusion process is composed of two stages: Noise elimination and belief updates. Dempster Shafer´s evidential reasoning is applied at each stage. Open space estimation from sonar range measurements brings elimination of noisy lines from laser sensor. Comparing actual sonar data to the simulated sonar data enables ...

• Proceedings of the IEEK Conference
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• 2002.06b
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• pp.137-140
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• 2002

This paper is proposed a 8-bit anolog to digital converter for CMOS image sensor. A anolog to digital converter for CMOS image sensor is required function to control gain. Proposed anolog to digital converter is used frequency divider to control gain. At 3.3 Volt power supply, total static power dissipation is 8mW and programmable gain control range is 30dB. The gain control range can be easily increased with insertion of additional flip-flop at divided-by-N frequency divider circuit.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.595-597
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• 2004

In this paper range measurement systems using ultrasonic and visual sensors are designed. By varying the focus of a camera, the range to a target pattern is computed. Pour different methods are tested for the focusing-based range measurement. The best result is obtained when counting edge pixels found by Laplacian operator. Higher accuracy can be obtained by fusing the measurement of camera focusing with that of ultrasonic sensor. The system designed is experimented within the range of 300-450mm.

• Journal of Sensor Science and Technology
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• v.21 no.6
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• pp.413-419
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• 2012

A dynamic range extension technique is proposed based on a 3-transistor active pixel sensor (APS) with gate/body-tied p-channel metal oxide semiconductor field effect transistor (PMOSFET)-type photodetector using a feedback structure. The new APS consists of a pseudo 3-transistor APS and an additional gate/body-tied PMOSFET-type photodetector, and to extend the dynamic range, an NMOSFET switch is proposed. An additional detector and an NMOSFET switch are integrated into the APS to provide negative feedback. The proposed APS and pseudo 3-transistor APS were designed and fabricated using a $0.35-{\mu}m$ 2-poly 4-metal standard complementary metal oxide semiconductor (CMOS) process. Afterwards, their optical responses were measured and characterized. Although the proposed pixel size increased in comparison with the pseudo 3-transistor APS, the proposed pixel had a significantly extended dynamic range of 98 dB compared to a pseudo 3-transistor APS, which had a dynamic range of 28 dB. We present a proposed pixel that can be switched between two operating modes depending on the transfer gate voltage. The proposed pixel can be switched between two operating modes depending on the transfer gate voltage: normal mode and WDR mode. We also present an imaging system using the proposed APS.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.48 no.2
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• pp.106-116
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• 2011

USN(Ubiquitous Sensor Network) environment permits us to access whatever information we want, whenever we want. The technologies to provide a basement to these environments premise an accurate location establishment. Especially, ITS(Intelligent Transportation Systems) is easily constructed by applying USN technology. Localization can be categorized as either Range-based or Range-free. Range-based is known to be not suitable for the localization based on sensor network, because of the irregularity of radio propagation and the additional device requirement. The other side, Range-free is much appropriated for the resource constrained sensor network because it can actively locate by means of the communication radio. But, generally the location accuracy of Range-free is low. Especially, it is very low in a low-density environment. So, these two methods have both merits and demerits. Therefore, it requires a new method to be able to improve tracking accuracy by combining the two methods. This paper proposes the tracking scheme based on range-hybrid, which can markedly enhance tracking accuracy by effectively using the information of surrounding nodes and the RSSI(Received Signal Strength Indication) that does not require additional hardware. Additionally, we present a method, which can improve the accuracy of vehicle tracking by adopting the prediction mechanism. Simulation results show that our method outperforms other methods in the transportation simulation environment.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.6
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• pp.744-748
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• 2007

In this paper, a new localization method of indoor mobile robot using multi IR(infrared) range sensors is proposed. Each IR range sensor detects the edge of obstacles and wall using the acquired range data. The environment map is built by the merging process of the detected edge data of each sensor. The performance of proposed system is verified by the comparison of the real environment and the detected map in experiments.