• Journal of Sensor Science and Technology
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• v.20 no.3
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• pp.178-186
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• 2011

Line tracking is a well defined method of mobile robot navigation. It is simple in concept, technically easy to implement, and already employed in many industrial sites. Among several different line tracking methods, magnetic sensing is widely used in practice. In comparison, vision-based tracking is less popular due mainly to its sensitivity to surrounding conditions such as brightness and floor characteristics although vision is the most powerful robotic sensing capability. In this paper, a vision-based robust path line detection technique is proposed for the navigation of a mobile robot assuming uncontrollable surrounding conditions. The technique proposed has four processing steps; color space transformation, pixel-level line sensing, block-level line sensing, and robot navigation control. This technique effectively uses hue and saturation color values in the line sensing so to be insensitive to the brightness variation. Line finding in block-level makes not only the technique immune from the error of line pixel detection but also the robot control easy. The proposed technique was tested with a real mobile robot and proved its effectiveness.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.05a
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• pp.692-695
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• 2000

This paper is concerned with Accuracy Design of LM Guide System in Machine Tools. Elastic deformation of bearing is calculated by Hertz contact theory and motion error of LM block is analyzed. A new algorithm using block stiffness is proposed fur the analysis of motion accuracy of the table. The best advantage of this algorithm is fast analysis speed because it isn't necessary iteration processes for satisfying equilibrium equation of the table. Motion errors of the table analyzed under artificial form error of rail theoretically and experimentally. Only one of two rails is bent by putting a thickness gauge into horizontal direction. This form error of rail is measured by gap sensor against the other rail. Then, motion errors of the table are predicted by proposed new algorithm theoretically and measured by laser interferometer. Measurements are carried out by changing the preload and thickness. The results show that the table motion errors are reduced from 1/2 to 1/60 times than form error of rail according to its height and width. And the effect of preloading is almost negligible.

• Proceedings of the Korean Vacuum Society Conference
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• 2015.08a
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• pp.189-189
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• 2015

Plasmonics, sensor, field effect transistors, solar cells 등 다양한 적용분야를 가지는 실리콘 구조체는 제작공정에 의해 전기적 및 광학적 특성이 달라지기 때문에 적합한 나노구조 제작방법이 요구되고 있다. 나노구조체 제작방법으로는 Photo lithography, Extreme ultraviolet lithography (EUV), Nano imprinting lithography (NIL), Block copolymer (BCP) 방식의 방법들이 연구되고 있으며, 특히 BCP는 direct self-assembly 특성을 가지고 있으며 가격적인 면에서도 큰 장점을 가진다. 하지만 BCP를 mask로 사용하여 식각공정을 진행할 경우 BCP가 버티지 못하고 변형되어 mask로서의 역할을 하지 못한다. 이러한 문제를 해결하기 위하여 본 논문에서는 BCP와 질화막을 이용한 double mask 방법을 사용하였다. 기판 위에 BCP를 self-assembly 시키고 mask로 사용하여 hole 부분으로 노출된 기판을 Ion gun을 통해 질화 시킨 후에 BCP를 제거한다. 기판 위에 hole 모양의 질화막 표면은 BCP와 다르게 etching 공정 중 변형되지 않는다. 이러한 질화막 표면을 mask로 사용하여 pillar pattern의 실리콘 나노구조체를 제작하였다. 질화막 mask로 사용되는 template은 PS와 PMMA로 구성된 BCP를 사용하였다. 140kg/mol의 polystyrene과 65kg/mol의 PMMA를 톨루엔으로 용해시키고 실리콘 표면 위에 spin coating으로 도포하였다. Spin coat 후 230도에서 40시간 동안 열처리를 진행하여 40nm의 직경을 가진 PS-b-PMMA self-assembled hole morphology를 형성하였다. 질화막 형성 및 etching을 위한 장비로 low-energy Ion beam system을 사용하였다. Reactive Ion beam은 ICP와 3-grid system으로 구성된 Ion gun으로부터 형성된다. Ion gun에 13.56 MHz의 frequency를 갖는 200W 전력을 인가하였다. Plasma로부터 나오는 Ion은 $2{\Phi}$의 직경의 hole을 가지는 3-grid hole로 추출된다. 10~70 voltage 범위의 전위를 plasma source 바로 아래의 1st gird에 인가하고, 플럭스 조절을 위해 -150V의 전위를 2nd grid에 인가한다. 그리고 3rd grid는 접지를 시켰다. chamber내의 질화 및 식각가스 공급은 2mTorr로 유지시켰다. 그리고 기판의 온도는 냉각칠러를 이용하여 -20도로 냉각을 진행하였다. 이와 같은 공정 결과로 100 nm 이상의 높이를 갖는 40 nm직경의 균일한 Silicon pillar pattern을 형성 할 수 있었다.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.47 no.6
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• pp.40-46
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• 2010

It is an important element increasing ship production to manage an accurate position of transporters(TP) and ship blocks in a shipyard. However, most works are presently being performed by judgment of a system manager and skilled workers. This paper introduced about the system for tracking an accurate position of the transporters and the blocks which are main mobile objects in the shipyard, and proposed a method to decide whether or not a loading/unloading state of the blocks, which is one of the most important functions of the tracking system. Three sensors were used in order to implement the method. One is a RFID reader to identify a target block, another is a RFID reader to estimate a position of the TP as it recognizes a underground tag. The other is a ultrasonic sensor to detect an object. Two experiments were carried out in the shipyard. After correcting errors found on the first experiment. we confirmed that the result could be applied to the shipbuilding yard from the final experiment.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.23 no.3
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• pp.323-330
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• 2005

More than ten years after the era of GPS-Photogrammetry which could provide us only three projection center of all six exterior orientation parameters, direct georeferencing with GPS/INS is now becoming a standard method for image orientation. Its main advantage is to skip or reduce the indirect ground control process. This paper describes the experimental test results of integrated sensor orientation with a commercial GPS/IMU system to approve its performance in determination of exterior orientation. For this purpose two different imaging blocks were planned and the area was photographed at a large photo scale of 1:5,000 and a medium photo scale of 1:20,000. From these data set a variety of meaningful results was acquired, i.e., the accuracy. potential of exterior orientation from direct georeferencing and combined block adjustment using these data considering different photo scales and conditions.

• Structural Engineering and Mechanics
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• v.67 no.4
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• pp.359-368
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• 2018

In this paper, a method is presented to identify the physical and modal parameters of multistory shear building based on substructural technique using block pulse generalized operational matrix and genetic algorithm. The substructure approach divides a complete structure into several substructures in order to significantly reduce the number of unknown parameters for each substructure so that identification processes can be independently conducted on each substructure. Block pulse functions are set of orthogonal functions that have been used in recent years as useful tools in signal characterization. Assuming that the input-outputs data of the system are known, their original BP coefficients can be calculated using numerical method. By using generalized BP operational matrices, substructural dynamic vibration equations can be converted into algebraic equations and based on BP coefficient for each story can be estimated. A cost function can be defined for each story based on original and estimated BP coefficients and physical parameters such as mass, stiffness and damping can be obtained by minimizing cost functions with genetic algorithm. Then, the modal parameters can be computed based on physical parameters. This method does not require that all floors are equipped with sensor simultaneously. To prove the validity, numerical simulation of a shear building excited by two different normally distributed random signals is presented. To evaluate the noise effect, measurement random white noise is added to the noise-free structural responses. The results reveal the proposed method can be beneficial in structural identification with less computational expenses and high accuracy.

• The Journal of the Korea Contents Association
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• v.7 no.2
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• pp.92-99
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• 2007

This paper presented a low power design of a 32bit block cypher processor reduced from the original 128bit architecture. The primary purpose of this research is to evaluate physical implementation results rather than theoretical aspects. The data path and diffusion function of the processor were reduced to accommodate the smaller hardware size. As a running example demonstrating the design approach, we employed a modified ARIA algorithm having four S-boxes. The proposed 32bit ARIA processor comprises 13,893 gates which is 68.25% smaller than the original 128bit structure. The design was synthesized and verified based on the standard cell library of the MagnaChip's 0.35um CMOS Process. A transistor level power simulation shows that the power consumption of the proposed processor reduced to 61.4mW, which is 9.7% of the original 128bit design. The low power design of the block cypher Processor would be essential for improving security of battery-less wireless sensor networks or RFID.

• Journal of the Korea Society of Computer and Information
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• v.11 no.2 s.40
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• pp.159-167
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• 2006

Lipreading has been suggested as one of the methods to improve the performance of speech recognition in noisy environment. However, existing methods are developed and implemented only in software. This paper suggests a hardware design for real-time lipreading. For real-time processing and feasible implementation, we decompose the lipreading system into three parts; image acquisition module, feature vector extraction module, and recognition module. Image acquisition module capture input image by using CMOS image sensor. The feature vector extraction module extracts feature vector from the input image by using parallel block matching algorithm. The parallel block matching algorithm is coded and simulated for FPGA circuit. Recognition module uses HMM based recognition algorithm. The recognition algorithm is coded and simulated by using DSP chip. The simulation results show that a real-time lipreading system can be implemented in hardware.

• Journal of Sensor Science and Technology
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• v.22 no.6
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• pp.404-409
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• 2013

We devised calibration procedure for industrial thermometers by a comparison method at the boiling point of nitrogen (${\sim}-196^{\circ}C$). The uncertainty of the calibration was 4 mK (k = 2). As experimentally demonstrated in this work, the effect of the atmospheric pressure on the boiling point of nitrogen can be easily detected by the thermometer. Therefore, when the boiling point of nitrogen is used for calibration of thermometer by comparison, either a reference thermometer must be used to provide the reference temperature or the effect of atmospheric pressure should be carefully considered. The use of a copper block with a large thermal mass soaked into the liquid nitrogen was proven to be more reliable, and the stability of the temperature immersed into the copper block was 1.4 mK. The temperatures at the thermometer wells, evaluated by the crossed-measurement method to compensate for the inaccuracy of the thermometers and the linear drift of the temperature of the copper block, were equivalent within 0.23 mK of standard uncertainty.

• Journal of the Korea institute for structural maintenance and inspection
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• v.26 no.2
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• pp.28-36
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• 2022

As port structures are exposed to various extreme external loads such as wind (typhoons), sea waves, or collision with ships; it is important to evaluate the structural safety periodically. To monitor the port structure, especially the rubber fender, a fender segmentation system using a vision sensor and deep learning method has been proposed in this study. For fender segmentation, a new deep learning network that improves the encoder-decoder framework with the receptive field block convolution module inspired by the eccentric function of the human visual system into the DenseNet format has been proposed. In order to train the network, various fender images such as BP, V, cell, cylindrical, and tire-types have been collected, and the images are augmented by applying four augmentation methods such as elastic distortion, horizontal flip, color jitter, and affine transforms. The proposed algorithm has been trained and verified with the collected various types of fender images, and the performance results showed that the system precisely segmented in real time with high IoU rate (84%) and F1 score (90%) in comparison with the conventional segmentation model, VGG16 with U-net. The trained network has been applied to the real images taken at one port in Republic of Korea, and found that the fenders are segmented with high accuracy even with a small dataset.