• Journal of Institute of Control, Robotics and Systems
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• v.16 no.7
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• pp.617-624
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• 2010

This article describes the system architecture of KUVE (KIST Unmanned Vehicle Electric) and unmanned autonomous navigation of it in KIST. KUVE, which is an electric light-duty vehicle, is equipped with two laser range finders, a vision camera, a differential GPS system, an inertial measurement unit, odometers, and control computers for autonomous navigation. KUVE estimates and tracks the boundary of road such as curb and line using a laser range finder and a vision camera. It follows predetermined trajectory if there is no detectable boundary of road using the DGPS, IMU, and odometers. KUVE has over 80% of success rate of autonomous navigation in KIST.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.10
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• pp.50-62
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• 1996

A parallel looking stereo camera was mainly used as an input sensor for digital image processing, image understanding and the extraction of 3 dimensional information. Theoretical analysis and performance evaluation are dealt in this paper for a convergent looking stereo camera model having a fixation point with the result of crossing optical axes. The quantization error, depth resolution and equidepth map due to digital pixels, and the misalignments effects of pan, tilt and roll angles are analyzed by using rhe relationship between the reference and image coordinate systems. Also horopter, epipolar lines, probability density functions of the depth error, and stereo fusion areas for the two camera models are discussed.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2005.04a
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• pp.241-244
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• 2005

최근 로봇의 개발 경향은 인간과 로봇이 공존하면서 서비스를 제공하는 로봇의 개발이 지속적으로 증가하는 추세이다. 인간은 자신의 성향에 맞게 능동적인 역할 수행하는 서비스 로봇을 요구한다. 하지만 일률적으로 생산된 서비스 로봇은 다양한 사람들의 개성을 모두 충족시키지 못하고 있다. 그래서 사용자의 환경, 상황을 인식하고 사용자의 성향에 맞는 행동을 지능적으로 판단하고 대처할 수 있는 로봇이 요구된다. 본 논문에서는 주변 환경을 평가하고 로봇이 스스로 행동할 수 있는 지능형 알고리즘을 제안하고자 한다. 다수 입력을 통해 제어할 수 있도록 퍼지 룰을 이용하여 추론하였다.

• Proceedings of the KIPE Conference
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• 2019.11a
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• pp.73-75
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• 2019

폐배터리를 조합하여 배터리 팩을 구성 시, 사용환경이 상이한 폐배터리 간의 전압/SOC의 편차가 존재하여 장기간 사용시 과충전/과방전과 같은 안전상을 문제가 발생할 가능성이 크다. 따라서 본 논문에서는 확장 칼만 필터를 기반 센서 융합 방법을 사용하여 폐배터리 팩의 셀 간 SOC 불균형을 추정하는 알고리즘을 제안한다. 검증은 셀간 전압 불균형이 있는 노화된 배터리 팩에 임의의 전류 프로파일을 인가하여 제안된 알고리즘을 검증한다.

• Proceedings of the Korea Information Processing Society Conference
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• 2016.04a
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• pp.865-867
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• 2016

본 논문에서는 섬유근접센서를 이용하여 측정한 맥박을 평가하기 위해 Biopac MP150에서 획득한 Electrocardiography(ECG)와의 관계를 보았다. 섬유근접센서는 요골동맥에서의 맥박을 측정하기 위해 $5{\times}5$ 크기로 설계하였고, 전처리 과정과 필터링을 거쳐 획득한 데이터 값은 ECG 데이터와 Peak Point의 개수를 비교하여 올바른 맥박이 측정되었는지를 판단하였다. 그 결과 섬유근접센서와 MP150에서 측정한 두 데이터의 Peak Point가 모두 동일한 결과를 보였다.

• Proceedings of the Korean Society of Computer Information Conference
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• 2014.07a
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• pp.109-110
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• 2014

본 연구에서는 공공 시설물 관리를 위한 센서 융합 기술을 활용한 M2M 기반의 외부 디바이스 및 내장 미들웨어 시스템을 개발하였다. 시설안전체계의 개선 및 M2M 기반기술을 접목한 기술개발을 통해 시설물 안전수준은 급격히 향상되고. 있다 무인 시설물 관리를 위하여 지속적인 촬영 및 저장방식이 아닌 센서와 영상 데이터를 융합하여 상황인지 방식의 외부 디바이스 및 내장 미들웨어 시스템을 개발하고 정보에 대한 신뢰성을 향상시켜 센서 융합형 외부 디바이스를 활용하여 이벤트 발생시에만 정보 전달을 통해 데이터 전송이 감소되는 효율적인 감시시스템을 개발하였다.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.3
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• pp.33-45
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• 1997

In this paper, we propsoe a new method of th ecommunication system for cooperative behaviors and works in collective autonomous mobile robots. A communication function among the collective robots is essential to intelligent cooperative works. In genral, global communication is effective for small number of robots. However when the number of robot goes on increasing, this becomes difficult to be realized because of limited communication capacity and increasing amount of information to handle. And also the problems such as communciation interfeence and improper message transmission occur. So we propose local communication system based on infrared sensor to realize the cooperative behavior among robots as the solution of above problem. It is possible to prevent overflow of information and exchange of complex information by fusion sign board model which transmits the information to unspecified robots and message passing model which communicate a specific robot. And we formularize optimal communication range by analysis of information propagation mechanism from the proposed comunication system. At last we verify the effectiveness of the proposed communication system from example of cooperative works.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2588-2590
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• 2003

The part of manipulators is normally studied with regularized environmental conditions. however, it is the most difficult that the part of AMR must be studied with uncertainty in the environmental conditions. The part of AMR has skelton, sensor fusion, path planning etc. This paper is the research of the local pass planning that gathers information about external environment using neural network from each sensors and designs the algorithm which can determine which correct direction the robot can find. As the result of the research, AMR has been able to drive similarly as if the expert does and has been able to observe it acting without any control.

• Proceedings of the KIEE Conference
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• 1993.07a
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• pp.383-386
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• 1993

In this paper, we propose a sensory data combination method by a fuzzy number approach for multisensor data fusion. Generally, the weighting of one sensory data with respect to another is derived from measures of the relative reliabilities of the two sensory modules. But the relative weight of two sensory data can be approximately determined through human experiences or insufficient experimental data without difficulty. We represent these relative weight using appropriate fuzzy numbers as well as sensory data itself. Using the relative weight, which is subjective valuation, and a fuzzy-numbered sensor data, the fuzzy weighted average method is used for a representative sensory data. The manipulation and calculation of fuzzy numbers can be carried out using the Zadeh's extension principle which can be approximately implemented by the $\alpha$-cut representation of fuzzy numbers and interval analysis.

• Journal of Sensor Science and Technology
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• v.24 no.5
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• pp.348-352
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• 2015

Thin nickel oxide films formed on uncooled and cooled $SiO_2/Si$ substrates using a radio frequency (RF) magnetron sputter powered by 200 W in a mixed atmosphere of argon and oxygen. Grazing-incidence X-ray diffraction and field emission scanning electron microscopy are used for the structural analysis of nickel oxide films. The electrical conductivity required for better bolometric performance is estimated by means of a four-point probe system. Columnar and (200) preferred orientations are discovered in both films regardless of substrate cooling. Electric resistivity, however, is greatly influenced by the substrate cooling. Oxygen partial pressure increase during the nickel oxide deposition leads to a rapid decrease in resistivity, and the resistivity is higher in the cooled nickel oxide samples. Even when small microstructure variations are applied, lower resistivity in favor of low noise performance is acquired in the uncooled samples.