• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.3
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• pp.381-387
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• 2009

This paper is presented simultaneous localization and mapping (SLAM) based on feature map and path-planning using modified genetic algorithm for efficient driving of autonomous vehicle. The biggest problem for autonomous vehicle from now is environment adaptation. There are two cases that its new location is recognized in the new environment and is identified under unknown or new location in the map related kid-napping problem. In this paper, SLAM based on feature map using ultrasonic sensor is proposed to solved the environment adaptation problem in autonomous driving. And a modified genetic algorithm employed to optimize path-planning. We designed and built an autonomous vehicle. The proposed algorithm is applied the autonomous vehicle to show the performance. Experimental result, we verified that fast optimized path-planning and efficient SLAM is possible.

• The Journal of the Korea Contents Association
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• v.8 no.5
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• pp.19-28
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• 2008

In this paper, we implemented an intelligent home service robot system which alerts users to danger by wireless internet platforms for interoperability(WIPI) of a cellular phone. This paper discusses the three parts of the system: robot, middleware and mobile system. First, the robot consists of a gas sensor, a fire detector, ultrasonic sensors, motors, a camera and a Bluetooth module. The robot perceives various danger circumstances. Second, the middleware connects the robot and the mobile system. It monitors the robot and sends emergency notification SMS message to the user's cellular phone if in danger. Third, the mobile system sends commands which control the robot using TCP/IP protocol. The proposed scheme is to control the sensors of the robot part through Atmega 128 processor, and the robot and middleware parts will be installed in the household, and will be controled by mobile part from the outside.

• Journal of the Korean Vacuum Society
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• v.12 no.3
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• pp.151-156
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• 2003

Two capacitance diaphragm gauges(CDG) and two resonance silicon gauges(RSG) were calibrated using an ultrasonic interferometer as a national low vacuum standard in KRISS. The CDG has superior pressure resolution and is rugged as well as resistant to over-pressure because of all-metal inner components. Meanwhile, the RSG is a new type of MEMS sensor that has excellent calibration stability and is resistant to mechanical shocks. The calibration uncertainties were analyzed according to the ISO procedures. Results showed that the maximum difference of the expanded uncertainties was $9\times10^{-3}$Pa at the generated pressure of 100 Pa for the two different types. It is remarkable that the RSG can be used as a transfer standard at low vacuum since their accuracies were found to be within 0.5 %.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.32 no.7
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• pp.37-42
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• 2004

In order to monitor the impact locations in smart structures, multipoint ultrasonic sensors are to be employed. In this study, a multiplexing demodulator with wide dynamic range was proposed to detect the impact locations using FBG sensors, and a stabilization controlling system was also developed for the maintenance of maximum sensitivity of sensors. Two FBG sensors were attached on the bottom side of the aluminum beam specimen and low velocity impact tests were performed to detect the one-dimensional impact locations. As a result, multiplexed in-line FBG sensors could detect the moment of impact precisely, and found the impact locations with the average location error below 0.58mm.

• The Journal of the Korea institute of electronic communication sciences
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• v.13 no.1
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• pp.265-276
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• 2018

Observation and data analysis techniques have been developed for observational blind areas in the lower atmosphere that are difficult to be monitored with fixed equipment on the ground. The vertical data of temperature and relative humidity are remotely collected by the UHF radiosonde installed on UAV and compared with the data measured in the 10 m weather tower. From the validated vertical profile, extrapolated surface temperature and the bulk transfer method were used to estimate the sensible heat flux depending on the atmospheric stability. Compared with the sensible heat flux measured by the 3-dimensional ultrasonic anemometer on the ground, the error of the sensible heat flux estimated was 23% that is less than the range of 30% allowed in the remote sensing. Estimated atmospheric boundary layer height from UAV sensible heat fluxes can provide useful data for air pollution diffusion models in real time and economically.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.29 no.2
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• pp.90-94
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• 2016

In this work, [$Pb(Mg_{1/2}W_{1/2})_{0.03}(Ni_{1/3}Nb_{2/3})_x(Zr_{0.5}Ti_{0.5})_{0.97-x}O_3-BiFeO_3$] (x=0.02 to 0.12) composition ceramics were fabricated by the conventional soild state reaction method and their microstructure and piezoelectric properties were investigated according to PNN substitution. The addition of small amount of $BiFeO_3$, $Li_2CO_3$, and $CaCO_3$ were used in order to decrease the sintering temperature of the ceramics. The XRD (x-ray diffraction patterns) of all ceramics exhibited a perovskite structure. The sinterability of PMW-PNN-PZT-BF ceramics was remarkably improved using liquid phase sintering of $CaCO_3$, $Li_2CO_3$. However, it was identified from of the X-ray diffraction patterns that the secondary phase formed in grain boundaries decreased the piezoelectric properties. According to the substitution of PNN, the crystal structure of ceramics is transformed gradually from a tetragonal to rhombohedral phase. The x=0.10 mol PNN-substituted PMW-PNN-PZT-BF ceramics sintered at $920^{\circ}C$ showed the optimum values of piezoelectric constant($d_{33}$), piezoelectric figure of merit($d_{33{\cdot}}g_{33}$), planar piezoelectric coupling coefficient($k_p$) and density : $d_{33}=566$ [pC/N], $g_{33}=29.28[10^{-3}mV/N]$, $d_{33{\cdot}}g_{33}=16.57[pm^2/N]$, $k_p=0.61$, density=7.82 [$g/cm^3$], suitable for duplex ultrasonic sensor application.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.11 no.6
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• pp.75-82
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• 2002

Design for a quiet operation of fluid power system requires the understanding of noise and vibration characteristics of the system. It's not easy to analyze noise problem in hydraulic cylinder used in typical actuator Because they've got complex fluid dynamics. One of the fundamental problems associated with the hydraulic system is the pulsating flow in pipe lines, which can be tackled by the analysis under simplifying assumptions. The present study focuses on theoretic analysis and experimental study on the dynamics of laminar pulsating flow in a circular pipe. We analyze the propagation characteristics of the pressure pulse within a hydraulic pipe line taking into account the pulsating flow frequency variation. We also measure instantaneous pressure pulses within pipe line to identify the transfer functions. We conduct series of experiments to investigate the propagation characteristics of pressure pulse for various pressure of pulsating flow. The working fluid of the present study is ISO VG46 and the temperature ranges from 20 to $60^{\circ}$ with normal pressure at 4000kPa. The flow rate is measured by using an ultrasonic flow meter. Pressures at fixed upstream and downstream positions are measured concurrently. The electric signals of the pressure sensor are stored and analyzed using a system analyzer(PKE 983 series). The frequency is varied in the range of 10~500Hz. The Reynolds number is kept below 2,000. In the present study, boundary condition was varied by installing a surge tank and an orifice at the end of pipe. Experimental and theoretical results were compared each other under various boundary conditions.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37C no.12
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• pp.1271-1280
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• 2012

In the recent parking assistant systems, finding out the distance to the object behind a car is often performed by the range sensors such as ultrasonic sensors, radars. However, the installation of additional sensors on the used vehicle could be difficult and require extra cost. On the other hand, the motion stereo technique that extracts distance information using only an image sensor was also proposed. However, In the stereo rectification step, the motion stereo requires good features and exacts matching result. In this paper, we propose a fast algorithm that extracts the accurate distance information for the parallel parking situation using the consecutive images that is acquired by a rear-view camera. The proposed algorithm uses the quadrangle transform of the image, the horizontal line integral projection, and the blocking-based correlation measurement. In the experiment with the magna parallel test sequence, the result shows that the line-accurate distance measurement with the image sequence from the rear-view camera is possible.

• Journal of Biomedical Engineering Research
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• v.35 no.5
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• pp.119-124
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• 2014

A Ventricular assist device (VAD) is one of the most efficient treatments to raise the survivability of the end stage heart failure patient. However, some of LVAD patients have died for the failures and improper control of LVAD. To detect critical dangers in LVAD, the monitoring methods of LVAD outflow have been requested, because it can be affected by patient's hemodynamic states and abnormal conditions of LVAD. In the case of an external pulsatile LVAD, the air movement through the air line can be used to estimate LVAD outflow. In this study, the air movement in the air-line of the extracorporeal pulsatile LVAD was measured with a differential pressure sensor between different points. The precise estimation of air movement could be achieved by additional measurement of air pressure. In a series of in-vitro experiments, the LVAD outflow were changed according to the afterload of LVAD and the differential pressure of LVAD didn't have close correlation with the LVAD outflow that were measured with an ultrasonic flowmeter at the same time. However, new precise estimation with the data from differential pressure and one point pressure in the air-line showed higher correlations with LVAD outflow.

• Journal of Biomedical Engineering Research
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• v.40 no.6
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• pp.250-259
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• 2019

Ophthalmic Laser System is widely used in Selective Laser Trabeculoplasty of Open Angle Glaucoma and Ocular Hypertension. Versatile ophthalmic laser system is a medical device with technology that checks the condition of the treatment area by irradiating a continuous laser pulse on the treatment area, and monitoring the microbubble reaction caused by the temperature increase of the melanosome through the ultrasonic signal and the optical signal sensor. It performs selective laser treatment without damaging the photoreceptor by controlling the wavelength of the laser when microbubbles are detected. This study aims to suggest a guideline for evaluating safety, performance and clinical effectiveness of Versatile Ophthalmic Laser System in accordance with the growing technology. International Standards, Regulations, and Clinical Trial Protocols were investigated and analyzed for this study. As a result of this study, the safety, performance and clinical effectiveness test guideline for Versatile Ophthalmic Laser System were proposed. This guideline will ensure the safety and efficacy of Medical device, and furthermore it is expected to be able to promote the development of technology development by supporting a clinical trial plan.