• Journal of Sensor Science and Technology
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• v.15 no.5
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• pp.328-333
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• 2006

Magnetic Flux Leakage (MFL) methods are widely employed for the nondestructive evaluation (NDE) of gas pipelines. In the application of MFL pipeline inspection technology, corrosion anomalies are detected and identified via their leakage filed due to changes in wall thickness. The gas industry is keenly interested in automating the interpretation process, because a large amount of data to be analyzed is generated for in-line inspection. This paper presents a novel approach to the tasks of data segmentation, feature extraction and depth estimation from gas pipelines. Also, we will show that the proposed method successfully identifying artificial defects.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.9
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• pp.922-931
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• 2011

An efficient calibration algorithm for mobile robot localization using infrared range finder is proposed. A calibration is important to guarantee the performance of other algorithms which use sensor data because it is pre-process. We experimentally found that the infrared range finder PBS-03JN has error characteristics depending on both distance and scan angle. After obtaining 2-D grid error characteristic data on distance and scan angle, we proposed a simple and efficient calibration algorithm with a 2-D piecewise linear function set. The performance of our proposed calibration algorithm is verified by experiments and simulation.

• Journal of the Korea Society of Computer and Information
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• v.21 no.3
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• pp.9-15
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• 2016

In this paper, DC-PLC typed one-wire controller was designed and manufactured especially for In-vehicle safe devices. One-wire by DC-PLC scheme is to be used as a power supply and ground to process the sensor data and to operate the vehicle actuators. To avoid complicate wires, we use the conventional wires without installing extra communication lines. The data collected from the sensors are transmitted to the main controller, processed by programming, and run the actuators corresponding to the commands sending to vehicle control board. The proposed method shows that only One-wire without requiring several wires make In-vehicle control devices simple and reduce the damage due to the loss of the wiring.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2010.06a
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• pp.95-95
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• 2010

Because of the environmental matters the importance of the city railroad is as time goes by increasing. The case of obstacle of the power equipment which supplies electric power to city railroad will occur social and economical enormous loss. Thus, I studied on the preventing method in advance which makes it possible for us to maintain facilities efficiently. The main check points of the power facilities are voltage, current, humidity, partial discharge, move current. These points are gathered by sensor and transmitting to data acquisition device. These data are used to check equipment status in real time. In this paper I described in brief test process and results of the detection system.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.118.5-118
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• 2002

To apply induction hardening method to a press die having 3-D free surface, the induction hardening tool moves on a press die above 1～2mm gap with constant velocity. Since the induction hardening process requires its own hardening path for each die, a direct teaching method which generates working path directly guided by operators is more suitable than an offline method using CAD/CAM data. The direct teaching apparatus in this work includes a teaching tool with a force/torque sensor and data processing computer to finally generate robot's Induction hardening program , in direct teaching operation, an operator teaches working path maintaining contact with surface of press die by holding...

• ETRI Journal
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• v.39 no.2
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• pp.181-190
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• 2017

The movements of the human body are difficult to capture owing to the complexity of the three-dimensional skeleton model and occlusion problems. In this paper, we propose a motion capture system that tracks dynamic human motions in real time. Without using external markers, the proposed system adopts multiple depth sensors (Microsoft Kinect) to overcome the occlusion and body rotation problems. To combine the joint data retrieved from the multiple sensors, our calibration process samples a point cloud from depth images and unifies the coordinate systems in point clouds into a single coordinate system via the iterative closest point method. Using noisy skeletal data from sensors, a posture reconstruction method is introduced to estimate the optimal joint positions for consistent motion generation. Based on the high tracking accuracy of the proposed system, we demonstrate that our system is applicable to various motion-based training programs in dance and Taekwondo.

• IEMEK Journal of Embedded Systems and Applications
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• v.2 no.2
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• pp.107-115
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• 2007

In general, wireless sensor networks composed of many nodes which are located in ad. hoc environment and send the gathered data to sink node support only one way traffic. In those cases, it is not possible to send commands to nodes to react for exceptional events because the networks can not deliver downward data and the nodes run in pre-assigned fixed schedule. This paper expands the WSLP to bidirectional WSLP and implements a fire monitoring system on it, and shows the feasibility of bidirectional USN by demonstrating the usability of the process of reaction to a fire in the implemented fire monitoring system.

• Proceedings of the KSR Conference
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• 2010.06a
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• pp.1930-1936
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• 2010

Because of the environmental matters the importance of the city railroad is as time goes by increasing. The case of obstacle of the power equipment which supplies electric power to city railroad will occur social and economical enormous loss. Thus, I studied on the preventing method in advance which makes it possible for us to maintain facilities efficiently. The main check points of the power facilities are voltage, current, humidity, partial discharge, move current. These points are gathered by sensor and transmitting to data acquisition device. These data are used to check equipment status in real time. In this paper I described in brief test process and results of the detection system.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2008.04a
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• pp.396-399
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• 2008

Kalman Filter is an efficient recursive filter that estimates the state of a dynamic system from a series of incomplete and noisy measurement. The filter is very powerful in the field of autonomous and assisted navigation. In this paper, we carry out comparative stduy to validate the performance of the application of Kalman Filter. We will build personal localization system based on Cricket mote, our system can present the real-time position of person when the man with PDA moves around. The proposed system is composed of cricket sensor networks, PDA and host computer. There is one listener attached to the PDA. The PDA will get the distance data from the listener synchronously. It will calculate the position of the person in the coordinate of the Cricket system with the trilateration method. Furthermore, it sends the real-time position information to the host computer by Bluetooth. The host computer will use Kalman Filter to process data and get the final estimated track of the person.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.3
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• pp.273-283
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• 2008

This article describes a cooperative localization technique of multiple robots sharing position information of each robot. In case of conventional methods such as EKF, they need to linearization process. Consequently, they are not able to guarantee that their result is range containing true value. In this paper, we propose a method to merge the data of redundant sensors based on constraints propagation techniques on intervals. The proposed method has a merit guaranteeing true value. Especially, we apply the constraints propagation technique fusing wheel encoders, a gyro, and an inexpensive GPS receiver. In addition, we utilize the correlation between GPS data in common workspace to improve localization performance for multiple robots. Simulation results show that proposed method improve considerably localization performance of multiple robots.