• Journal of Institute of Control, Robotics and Systems
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• v.5 no.4
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• pp.437-445
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• 1999

Most autonomous mobile robots view only things in front of then, and as a result, they may collide with objects moving from the side or behind. To overcome this problem, an active omni-directional range sensor system has been built that can obtain an omni-directional depth map through the use of a laser conic plane and a conic mirror. In the navigation of the mobile robot, the proposed sensor system produces a laser conic plane by rotating the laser point source at high speed: this creates a two-dimensional depth map, in real time, once an image is captured. The results obtained from experiment show that the proposed sensor system is very efficient, and can be utilized for navigation of mobile robot in an unknown environment.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.824-827
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• 1996

Most autonomous mobile robots view things only in front of them. As a result, they may collide against objects moving from the side or behind. To overcome the problem we have built an Active Omni-directional Range Sensor that can obtain omnidirectional depth data by a laser conic plane and a conic mirror. In the navigation of the mobile robot, the proposed sensor system makes a laser conic plane by rotating the laser point source at high speed and achieves two dimensional depth map, in real time, once an image capture. The experimental results show that the proposed sensor system provides the best potential for navigation of the mobile robot in uncertain environment.

• The Journal of the Acoustical Society of Korea
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• v.14 no.2E
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• pp.73-86
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• 1995

The transducer section of the forward-looking ultrasound imaging catheter (FLUIC) consists of a circular piezoelectric element as a vibrator and a conical acoustic mirror as a perfect reflector. A small diameter piezoelectric transducer element is mounted on the side of a catheter's rotating shaft. The unique design of FLUIC provides the capability to form a two-dimensional image of a cross-section of vessel in front of the catheter, which is lacking in the present generation of intravascular ultrasound (IVUS) transducers, as well as a conventional side view image. The mirror configuration for the transducer section of the FLUIC is designed using an approximated ray tracing techniques. The diffraction transfer function approach [1] developed for the field prediction from primary sources is generalized and extended to predict the secondary diffraction characterstics from an acoustic mirror. The extended model is verified by simulation and experiment through a simple plane reflector and employed to analyzed the field characteristics of a FLUIC.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.31 no.11
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• pp.904-911
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• 2007

A measurement technique fur void fraction has been proposed using a time-resolved two-phase PIV system and the bubble dynamics has been investigated in gas-liquid two-phase flows. For the three-dimensional evaluation of the bubble information, both the images from the front and side views are simultaneously recorded into a high speed CCD camera by reflecting the side view image on a $45^{\circ}$ oriented mirror to be juxtaposed with the front view image. Then, a stereo-matching technique is applied to calculate the void fraction, bubble size and shape. To obtain the rising bubble velocities, the 2-frame PTV method was adopted. The present technique is applied to freely rising bubby flows in stagnant liquid. The results show that the increase of bubble flow rate gives rise to the increase of bubble size and rising velocity at first. If it goes over a certain level, the rising velocity becomes constant and the horizontal velocity grows bigger instead due to the obstruction of other bubbles.

• Journal of computational fluids engineering
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• v.4 no.3
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• pp.1-11
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• 1999

This paper describes the flow field analysis of an automobile with crosswind effects of 15°, 30° 45° and 60° of yaw angles. The governing equations of the 3-D incompressible Navier-Stokes equations are solved by the iterative time marching scheme. The Chimera grid technique has been applied to efficiently simulate the flow around the side-view mirror. The computated surface pressure coefficients have been compared with experimental results and a good agreement has been achieved. The A- and C-pillar vortex and other flow phenomena around the ground vehicle are evidently shown. The variation of aerodynamic coefficients of drag, lift, side force and moments with respect to yaw angle is systematically studied.

• Transactions of the Korean Society of Automotive Engineers
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• v.20 no.4
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• pp.92-102
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• 2012

The process of the wind noise analysis around an OSRVM is developed and is verified by simulating unsteady flow field past a generic OSRVM mounted on the flat plate at the Reynolds number of $Re_D=5.2{\times}10^5$ based on the mirror diameter. The transient flow field past a generic OSRVM is simulated with various turbulence models, namely DES-SA, LES Constant SGS, and LES Dynamic SGS. The sound radiation is predicted using the Ffowcs- Williams and Hawkings analogy. For the present simulation, the 6.35million cells are generated. Time averaged pressure coefficients at 34 locations on the surface of the generic OSRVM are compared with the available experimental data. Also, 12 Sound Pressure Levels located on the surrounding mirror are compared with the available experimental data. Both of them show good agreements with experimental data.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.2
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• pp.164-170
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• 2013

The latest vehicle yields a superior safety and reduction of driving burden by monitoring the driving state of vehicle and its environment with various sensors. To detect other vehicles and objects of the rear left and right-side blind spot area of driver, provide the information about a existence of objects inside the blind spot, and give a signal to avoid collision, this study proposes the intelligent outside rear-view mirror system. This study proposes SILS system with PreScan and Matlab/Simulink to verify practical applicability of developed BSDS. PreScan yields realistic driving environments and road conditions and vehicle model dynamics and collision warning is controlled by Matlab/Simulink.

• Transactions of the Korean Society of Automotive Engineers
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• v.17 no.2
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• pp.34-41
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• 2009

The latest vehicle yields a superior safety and reduction of driving burden by monitoring the driving state of vehicle and its environment with various sensors. To detect other vehicles and objects of the rear left and right-side blind spot area of driver, provide the information about a existence of objects inside the blind spot, and give a signal to avoid collision, this study proposes the intelligent outside rear-view mirror system. This task has substantially complicated several factors. For example, the size, geometry and features of the various vehicles which might enter the monitored zone is varied widely and therefore present various reflective characteristics. This study proposes the optimal specification and configuration of optical system and IR array sensor of blind spot detection system, and shows the results of the performance evaluation of developed system.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.1 s.94
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• pp.253-264
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• 1999

Most autonomous mobile robots view only things in front of them, and as a result, they may collide with objects moving from the side or behind. To overcome this problem. an Active Omni-directional Range Sensor System has been built that can obtain an omni-directional range data through the use of a laser conic plane and a conic mirror. Also, mobile robot has to know its current location and heading angle by itself as accurately as possible to successfully navigate in real environments. To achieve this capability, we propose a self-localization algorithm of a mobile robot using an active omni-directional range sensor in an unknown environment. The proposed algorithm estimates the current position and head angle of a mobile robot by a registration of the range data obtained at two positions, current and previous. To show the effectiveness of the proposed algorithm, a series of simulations was conducted and the results show that the proposed algorithm is very efficient, and can be utilized for self-localization of a mobile robot in an unknown environment.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.3
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• pp.636-644
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• 2010

A method for the detection of on-road succeeding vehicles using visual characteristic features like horizontal edges, shadow, symmetry and intensity is proposed. The proposed method uses the prominent horizontal edges along with the shadow under the vehicle to generate an initial estimate of the vehicle-road surface contact. Fast symmetry detection, utilizing the edge pixels, is then performed to detect the presence of vertically symmetric object, possibly vehicle, in the region above the initially estimated vehicle-road surface contact. A window defined by the horizontal and the vertical line obtained from above along with local perspective information provides a narrow region for the final search of the vehicle. A bounding box around the vehicle is extracted from the horizontal edges, symmetry histogram and a proposed squared difference of intensity measure. Experiments have been performed on natural traffic scenes obtained from a camera mounted on the side view mirror of a host vehicle demonstrate good and reliable performance of the proposed method.