• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.24 no.7
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• pp.589-593
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• 2011

[ $SnO_2$ ]nano powders were prepared by solution reduction method using tin chloride($SnCl_2{\cdot}2H_2O$), hydrazine($N_2H_4$) and NaOH. The $SnO_2$ thick films for gas sensors were fabricated by screen printing method on alumina substrates and annealed at $300^{\circ}C$ in air, respectively. XRD patterns of the $SnO_2$ nano powders showed the tetragonal structure with (110) dominant orientation. The particle size of $SnO_2$ nano powders at the ratio of $SnCl_2:N_2H_4$+NaOH= 1:6 was about 60 nm. The sensing characteristics were investigated by measuring the electrical resistance of each sensor in a test box. Sensitivity of $SnO_2$ gas sensor to 5 ppm $CH_4$gas and 5 ppm $CH_3CH_2CH_3$ gas was investigated for various $SnCl_2:N_2H_4$+NaOH proportion. The highest sensitivity to $CH_4$ gas and $CH_3CH_2CH_3$ gas of $SnO_2$ sensors was observed at the $SnCl_2:N_2H_4$+NaOH= 1:8 and $SnCl_2:N_2H_4$+NaOH= 1:6, respectively. Response and recovery times of $SnO_2$ gas sensors prepared by $SnCl_2:N_2H_4$+NaOH= 1:6 was about 40 s and 30 s, respectively.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.23 no.1
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• pp.77-88
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• 2005

Direct Georeferencing (DG) is based on the direct measurement of the projection centers and rotation angle of sensor through loading the GPS and INS in aircraft. The methods can offer us to acquire the exterior orientation parameters with only minimum GCPs, even the ground control process could be completely skipped. In this study, a CCD camera is simultaneously used in GPS/INS, and acquired CCD image through Direct Georeferencing produce digital orthoimage. In this process, methods of combining sensor and digital orthoimage are examined and estimated. For the comparison of the positioning accuracy digital orthoimage through Direct Georeferencing, GCPs determined by GPS surveying are used. Two digital orthoimage are produced; one with a few GCP and the other without them. The produced maps can be used to correct or revised 1:1,000 or 1:5,000 scale maps accordingly.

• Journal of the Korean Association of Geographic Information Studies
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• v.10 no.1
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• pp.1-9
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• 2007

3D data are in great demand for pedestrian navigation recently. For pedestrian navigation, we needs to reconstruct 3D model in detail from people's eye. In order to present spatial features in detail for pedestrian navigation, it is indispensable to develop 3D model not only in outdoor environment but also in indoor environment such as underground shopping complex. However, it is very difficult to acquire 3D data efficiently by mobile mapping without GPS. In this research, 3D shape was acquired by Laser scanner, and texture by CCD(Charge Coupled Device) sensor. Continuous changes position and attitude of sensors were measured by IMU(Inertial Measurement Unit). Moreover, IMU was corrected by relative orientation of CCD images without GPS(Global Positioning System). In conclusion, Reliable, quick, and handy method for acquiring 3D data for indoor environment is proposed by a combination of a digital camera and a laser scanner with IMU.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.4
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• pp.334-343
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• 2001

Polishing a die that has free-form surfaces is a time-consuming and tedious job, and requires a considerable amount of high-precision skill. Some workers tend to gradually avoid the polishing work because of the poor environment caused by dust and noise. In order to reduce the polishing time and cope with the shortage of skilled workers, a user-friendly automatic polishing system was developed in this research. The polishing system with five degrees of freedom is able to keep the polishing tool normal to the die surface. The polishing system is controlled by a PC-NC controller. To easily operate the developed polishing robot system, this study developed an integrated program in the Windows environment. This program consists of four modules: the polishing module, the graphic simulator, the polishing data generation module, and the teaching module. Also, the automatic teaching system was developed to easily obtain teaching data and it consists of a three dimensional joystick and a proximity sensor. The joystick is used to simultaneously drive the polishing system to an arbitrary orientation and the proximity sensor is used to obtain teaching points precisely. Also, to evaluate the stability of the driving program and the teaching system, polishing experiments of a die of saddle shape were carried out.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.50-50
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• 2000

In this paper, a new measuring system is :proposed which can measure the fine 6-DOF displacement of rigid bodies. Its measurement principle is based on detection of laser beam reflected from a specially fabricated mirror that looks like a triangular pyramid having an equilateral cross-sectional shape. The mirror has three lateral reflective surfaces inclined 45$^{\circ}$ to its bottom surface. We call this mirror 3-facet mirror. The 3-facet mirror is mounted on the object whose 6-DOF displacement is to be measured. The measurement is operated by a laser-based optical system composed of a 3-facet mirror, a laser source, three position-sensitive detectors(PSD). In the sensor system, three PSDs are located at three corner points of a triangular formation, which is an equilateral triangular formation tying parallel to the reference plane. The sensitive areas of three PSDs are oriented toward the center point of the triangular formation. The object whose 6-DOF displacement is to be measured is situated at the center with the 3-facet mirror on its top surface. A laser beam is emitted from the laser source located at the upright position and vertically incident on the top of the 3-fatcet mirror. Since each reflective facet faces toward each PSD, the laser beam is reflected at the 3-facet mirror and splits into three sub-beams, each of which is reflected from the three facets and finally arrives at three PSDs, respectively. Since each PSD is a 2-dimensional sensor, we can acquire the information on the 6-DOF displacement of the 3-facet mirror. From this principle, we can get 6-DOF displacement of any object simply by mounting the 3-facet mirror on the object. In this paper, we model the relationship between the 6-DOF displacement of the object and the outputs of three PSDs. And, a series of simulations are performed to demonstrate the effectiveness of the proposed method. The simulation results show that the proposed sensing system can be an effective means of obtaining 3-dimensional position and orientation of arbitrary objects.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2008.06a
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• pp.81-81
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• 2008

Applications of CdS films in this study are to exhibit a high conductivity when they are exposed at light with visible wavelength and sequentially to show a low conductivity in dark state. For this purpose, CdS films should have a high photosensitivity, still maintaining a high conductivity at a visible light. In this study, CdS films were prepared at room temperature on glass substrates by rf magnetron sputtering. In order to increase the photo-conductivity in visible light, various defect levels should be located within the CdS band gap. In order to nucleate the defect sites within the CdS band gap, CdS films were deposited on glass substrates at room temperature using various $H_2$/(Ar+$H_2$) flow ratios by an rf magnetron sputtering. Through the investigation of the structural and photoconductive properties of CdS films by an addition of hydrogen, the relationship between photo- and dark-resistance in CdS films was investigated in detail. 200-nm-thick CdS films for photoconductive sensor applications were prepared at various $H_2$/(Ar+$H_2$) flow ratios on glass substrates at room temperature by rf magnetron sputtering. Sulfur concentration in CdS films crystallized at room temperature with (002) preferred orientation depends directly on the hydrogen atmosphere and the surface roughness of the films gradually increases with increasing hydrogen atmosphere. Films deposited at 8% of $H_2$/(Ar+$H_2$) exhibit an abrupt decrease of dark- and photo-resistance, showing a low photo-sensitivity ($R_{dark}/R_{photo}$). Onthe other hand, films deposited at a hydrogen atmosphere of 42% exhibit a photo-sensitivity of $5\times10^3$, maintaining a photo-resistance of an approximately $2\times10^4\Omega$/square. The dark- and photo-resistance values of CdS films were related with a composition, surface roughness, and defect sites within the band gap.

• Journal of Sensor Science and Technology
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• v.32 no.2
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• pp.110-117
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• 2023

Reconstructing underwater geometry in real time with forward-looking sonar is critical for applications such as localization, mapping, and path planning. Geometrical data must be repeatedly calculated and overwritten in real time because the reliability of the acoustic data is affected by various factors. Moreover, scattering of signal data during the coordinate conversion process may lead to geometrical errors, which lowers the accuracy of the information obtained by the sensor system. In this study, we propose a three-step data processing method with low computational cost for real-time operation. First, the number of data points to be interpolated is determined with respect to the distance between each point and the size of the data grid in a Cartesian coordinate system. Then, the data are processed with a nonlinear interpolation so that they exhibit linear properties in the coordinate system. Finally, the data are transformed based on variations in the position and orientation of the sonar over time. The results of an evaluation of our proposed approach in a simulation show that the nonlinear interpolation operation constructed a continuous underwater geometry dataset with low geometrical error.

• Korean Journal of Remote Sensing
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• v.38 no.6_1
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• pp.1445-1462
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• 2022

Compact Advanced Satellite 500-4 (CAS500-4), which is scheduled to be launched in 2025, is a mid-resolution satellite with a 5 m resolution developed for wide-area agriculture and forest observation. To utilize satellite images, it is important to establish a precision sensor model and establish accurate geometric information. Previous research reported that a precision sensor model could be automatically established through the process of matching ground control point (GCP) chips and satellite images. Therefore, to improve the geometric accuracy of satellite images, it is necessary to improve the GCP chip matching performance. This paper proposes an improved GCP chip matching scheme for improved precision sensor modeling of mid-resolution satellite images. When using high-resolution GCP chips for matching against mid-resolution satellite images, there are two major issues: handling the resolution difference between GCP chips and satellite images and finding the optimal quantity of GCP chips. To solve these issues, this study compared and analyzed chip matching performances according to various satellite image upsampling factors and various number of chips. RapidEye images with a resolution of 5m were used as mid-resolution satellite images. GCP chips were prepared from aerial orthographic images with a resolution of 0.25 m and satellite orthogonal images with a resolution of 0.5 m. Accuracy analysis was performed using manually extracted reference points. Experiment results show that upsampling factor of two and three significantly improved sensor model accuracy. They also show that the accuracy was maintained with reduced number of GCP chips of around 100. The results of the study confirmed the possibility of applying high-resolution GCP chips for automated precision sensor modeling of mid-resolution satellite images with improved accuracy. It is expected that the results of this study can be used to establish a precise sensor model for CAS500-4.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1615-1620
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• 2003

Kinematic calibration is a process whereby the actual values of geometric parameters are estimated so as to minimize the error in absolute positioning. Measuring all components of Cartesian posture, particularly the orientation, can be difficult. With partial pose measurements, all parameters may not be identifiable. This paper proposes a new device that can identify all kinematic parameters with partial pose measurements. Study is performed for a six degree-of-freedom fully parallel Hexa Slide manipulator. The device, however, is general and can be used for other parallel manipulators. The proposed device consists of a link with U joints on both sides and is equipped with a rotary sensor and a biaxial inclinometer. When attached between the base and the mobile platform, the device restricts the end-effector's motion to five degree-of-freedom and can measure position of the end-effector and one of its rotations. Numerical analyses of the identification Jacobian reveal that all parameters are identifiable. Computer simulations show that the identification is robust for the errors in the initial guess and the measurement noise. Intrinsic inaccuracies of the device can significantly deteriorate the calibration results. A measurement procedure is proposed and formulations of cost functions are discussed to prevent propagation of the inaccuracies to the calibration results.

• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.47-51
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• 2005

Using satellite images, an optimal solution to water motion has been presented in this study. Since temperature patterns are suitable tracers in water motion, Sea Surface Temperature (SST) images of Caspian Sea taken by MODIS sensor on board Terra satellite have been used in this study. Two daily SST images with 24 hours time interval are used as input data. Computation of templates correspondence between pairs of images is crucial within motion algorithms using non-rigid body objects. Image matching methods have been applied to estimate water body motion within the two SST images. The least squares matching technique, as a flexible technique for most data matching problems, offers an optimal spatial solution for the motion estimation. The algorithm allows for simultaneous local radiometric correction and local geometrical image orientation estimation. Actually, the correspondence between the two image templates is modeled both geometrically and radiometrically. Geometric component of the model includes six geometric transformation parameters and radiometric component of the model includes two radiometric transformation parameters. Using the algorithm, the parameters are automatically corrected, optimized and assessed iteratively by the least squares algorithm. The method used in this study, has presented more efficient and robust solution compared to the traditional motion estimation schemes.