• Journal of Institute of Control, Robotics and Systems
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• v.15 no.8
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• pp.845-850
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• 2009

Localization which estimates a robot's position and orientation in a given environment is very important for mobile robot navigation. Although low-cost sensors are preferred for practical service robots, they suffer from the inaccurate and insufficient range information. This paper proposes a novel approach to increasing the success rate of low-cost sensor-based localization. In this paper, both the previous and the current data obtained from the IR sensors are used for localization in order to utilize as much environment information as possible without increasing the number of sensors. The sensor model used in the monte carlo localization (MCL) is modified so that the accumulated range information may be used to increase the accuracy in estimating the current robot pose. The experimental results show that the proposed method can robustly estimate the robot's pose in indoor environments with several similar places.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.257-258
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• 2006

This paper presents the displacement sensor based on astigmatic method that has a small measurement range. The sensor has the characteristic that the measuring range is changed easily by exchanging a objective lens or distance between a objective lens and a collimator lens. The measuring range and resolution is evaluated by a laser interferometer.

• International Journal of Aeronautical and Space Sciences
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• v.6 no.2
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• pp.97-109
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• 2005

In this paper, the critical requirement for obstacle awareness and avoidance is assessed with the compliance of the equivalent level of safety regulation, and then the collision avoidance sensor system is presented with the key design parameters for the requirement of the smart unmanned aerial vehicle in low-altitude flight. Based on the assessment of various sensors, small-sized radar sensor is selected for the suitable candidate due to the real-time range and range-rate acquisition capability of the stationary and moving aircraft even under all-weather environments. Through the performance analysis for the system requirement, the conceptual design result of radar sensor model is proposed with the range detection probability and collision avoidance mode is established based on the time-to-collision, which is analyzed by collision scenario.

• Journal of Magnetics
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• v.14 no.3
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• pp.129-131
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• 2009

A time-coded giant magnetoimpedance (GMI) magnetic field sensor was investigated and designed. The successfully constructed and tested laboratory model demonstrated a sensitivity of 5 ${\mu}s/{\mu}T$ in the field range of $\pm200{\mu}T$. The sensing element in the form of an amorphous thin wire, 100 mm in diameter $\times50$ mm long, was fit into a small field modulation coil of 60 mm length. At a magnetic field modulation in the range of hundreds of Hz, the change in time interval of two adjacent GMI voltage peaks was linearly related to the external magnetic field to be measured. This mechanism improved the sensor linearity to better than 0.3% in the measuring range of $\pm200{\mu}T$.

• Current Optics and Photonics
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• v.2 no.6
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• pp.519-524
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• 2018

We propose a transverse load sensor with reconfigurable measurement accuracy based on a microwave photonic filter in the $K_u$ band, incorporating a polarization-maintaining fiber Bragg grating. A prototype sensor with a reconfigurable measurement accuracy tuning range from 6.09 to 9.56 GHz/(N/mm), and corresponding minimal detectable load range from 0.0167 to 0.0263 N/mm, is experimentally demonstrated. The results illustrate that up to 40% manufacturing error in the grating length can be dynamically calibrated to the same corresponding measurement accuracy for the proposed transverse load sensor, by controlling the semiconductor optical amplifier's injection current in the range of 154 to 419 mA.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.11
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• pp.1102-1107
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• 2009

An ultrasonic sensor has been widely used as a range sensor for its low cost and capability of detecting some obstacles, such as glasses and black surfaces, which are not well detected by a laser scanner and an IR sensor. Although low-cost sensors are preferred for practical service robots, they suffer from the inaccurate and insufficient range information. This paper proposes a novel approach to obstacle avoidance using low-cost anisotropic ultrasonic sensors with wide beam angle. In this paper, obstacles can be detected by the proposed sensor configuration which consists of one transmitter and three receivers. Because even wide obstacles are represented by a point, which corresponds to the intersection of range data from each receiver of the anisotropic sensor, a robot cannot avoid wide obstacles successfully. This paper exploits the probabilistic mapping technique to avoid collision with various types of obstacles. The experimental results show that the proposed method can robustly avoid obstacles in most indoor environments.

• Bulletin of the Korean Chemical Society
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• v.26 no.1
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• pp.38-42
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• 2005

Bis(2-methylbenzaldehyde)butane-2,3-dihydrazone(TDSB) was used as new N-N Schiff's base which plays the role of an excellent ion carrier in the construction of a La(III) membrane sensor. The best performance was obtained with a membrane containing, 30% poly(vinyl chloride), 60% benzyl acetate, 6% TDSB and 4% sodium tetraphenyl borate. This sensor reveals a very good selectivity towards La(III) ions over a wide variety of cations, including alkali, alkaline earth, transition and heavy metal ions. The proposed electrode exhibits a Nernstian behavior (with slope of 19.8 mV per decade) over a wide concentration range (1.0 ${\times}$ 10$^{-5}$-1.0 ${\times}$ 10$^{-1}$ M). The detection limit of the sensor is 7.0 ${\times}$ 10$^{-6}$ M. It has a very short response time, in the whole concentration range ($\sim$5 s), and can be used for at least twelve weeks in the pH range of 3.0-9.4. The proposed sensor was successfully applied as an indicator electrode for the potentiometric titration of a La(III) solution, with EDTA. It was also successfully applied in the determination of fluoride ions in three mouth wash preparations.

• International conference on construction engineering and project management
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• 2005.10a
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• pp.539-543
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• 2005

The research presented in this paper enables real-time 3D modeling to help make construction processes ultimately faster, more predictable and safer. Initial research efforts used an emerging sensor technology and proved its usefulness in the acquisition of range information for the detection and efficient representation of static and moving objects. Based on the time-of-flight principle, the sensor acquires range and intensity information of each image pixel within the entire sensor's field-of-view in real-time with frequencies of up to 30 Hz. However, real-time working range data processing algorithms need to be developed to rapidly process range information into meaningful 3D computer models. This research ultimately focuses on the application of safer heavy equipment operation. The paper compares (a) a previous research effort in convex hull modeling using sparse range point clouds from a single laser beam range finder, to (b) high-frame rate update Flash LADAR (Laser Detection and Ranging) scanning for complete scene modeling. The presented research will demonstrate if the FlashLADAR technology can play an important role in real-time modeling of infrastructure assets in the near future.

• IEIE Transactions on Smart Processing and Computing
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• v.5 no.1
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• pp.10-16
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• 2016

In this paper, a design for a fully digital voltage sensor using a 32-nm fin-type field-effect transistor (FinFET) is presented. A new characteristic of the double gate p-type FinFET (p-FinFET) is examined and proven appropriate for sensing voltage variations. On the basis of this characteristic, a novel technique for designing low-power voltage-to-time converters is presented. Then, we develop a digital voltage sensor with a voltage range of 0.7 to 1.1V at a 50-mV resolution. The performance of the proposed sensor is evaluated under a range of voltages and process variations using Simulation Program with Integrated Circuit Emphasis (SPICE) simulations, and the sensor is proven capable of operating under ultra-low power consumption, high linearity, and fairly high-frequency conditions (i.e., 100 MHz).

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.497-502
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• 2002

This paper describes a design methodology of a tri-axial silicon-based farce sensor with square membrane by using micromachining technology (MEMS). The sensor has a maximum farce range of 5 N and a minimum force range of 0.1N in the three-axis directions. A simple beam theory was adopted to design the shape of the micro-force sensor. Also the optimal positions of piezoresistors were determined by the strain distribution obtained from the commercial finite element analysis program, ANSYS. The Wheatstone bridge circuits were designed to consider the sensitivity of the force sensor and its temperature compensation. Finally the process for microfabrication was designed using micromachining technology.