• Korean Journal of Construction Engineering and Management
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• v.5 no.5 s.21
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• pp.151-162
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• 2004

Current methods for construction site modeling employ large, expensive laser range scanners that produce dense range point clouds of a scene from different perspectives. Days of skilled interpretation and of automatic segmentation may be required to convert the clouds to a finished CAD model. The dynamic nature of the construction environment requires that a real-time local area modeling system be capable of handling a rapidly changing and uncertain work environment. However, in practice, large, simple, and reasonably accurate embodying volumes are adequate feedback to an operator who, for instance, is attempting to place materials in the midst of obstacles with an occluded view. For real-time obstacle avoidance and automated equipment control functions, such volumes also facilitate computational tractability. In this research, a human operator's ability to quickly evaluate and associate objects in a scene is exploited. The operator directs a laser range finder mounted on a pan and tilt unit to collect range points on objects throughout the workspace. These groups of points form sparse range point clouds. These sparse clouds are then used to create geometric primitives for visualization and modeling purposes. Experimental results indicate that these models can be created rapidly and with sufficient accuracy for automated obstacle avoidance and equipment control functions.

• Proceedings of the Korea Institute of Convergence Signal Processing
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• 2000.08a
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• pp.145-148
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• 2000

Nowadays there are lots of researches on robot systems working on danger environments and control led remotely. In this paper, we describe a virtual robot interface system based on Internet In the system, a client can order scanning for range finding, then server detects a 3D profile data from the objects by using robot controlling and a range finder automatically. If one clicks the original position of object and destination on virtual space, the robot moves the object to the new position in real space. The proposed interface system supports advanced virtual 3D interface and makes it possible one to manage the objects remotely more conveniently.

• 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.

• Proceedings of the KSR Conference
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• 2008.06a
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• pp.299-304
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• 2008

Catenary and Pantograph are a power supply devices for electric trains and shall be steadily contacted. Rail catenary must be installed precisely and managed for stable train operations. But external factors such as weathers, nature, etc., or aging affect catenary geometry. Changed catenary height causes high voltage spark or instant electric disconnection. Big spark and disconnection damage pantograph shoe and catenary coating and might interrupt rail operations. To prevent a big scale spark or electric disconnection catenary maintenance shall be required with catenary geometry measurement systems. In this paper, we describe the development of catenary height and stagger measurement system. The catenary height and stagger measurement system uses Acuity company's AR4000 Range Finder for distance measurement and AccuRange Line Scanner for degree measurement. This system reports suspicious overhead line sections with excessive height and stagger variance.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.4
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• pp.686-691
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• 2008

This paper proposes the concept of "virtual sensor data" and its application for real time obstacle avoidance. The virtual sensor data is virtual distance which takes care of the movement of the obstacle as well as that of the robot. In practical application, the virtual sensor data is calculated from the odometry data and the range sensor data. The virtual sensor data can be used in all the methods which use distance data for collision avoidance. Since the virtual sensor data considers the movement of the robot and the obstacle, the methods utilizing the virtual sensor data results in more smooth and safer collision-free motion.

• Restorative Dentistry and Endodontics
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• v.33 no.1
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• pp.20-27
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• 2008

The purpose of this study was to evaluate the consistency of two electronic apex locators in vitro model. Materials consisted of fifty two extracted premolars and two electronic apex locators; Root ZX (J. Morita, Osaka, Japan) and E-Magic Finder Deluxe (S-Denti. Cheonan, Korea). After access preparation, the teeth were embedded in a saline-mixed alginate model. Canal lengths of each tooth were measured at "0.5" and "Apex" mark of the apex locators, respectively so that each tooth had two measurements from 0.5 and Apex points. The file was fixed at final measurement using a glass ionomer cement. The apical 4 mm from the apex was exposed to measure the distance from the file tip to the major apical foramen of each tooth. Average distances and standard deviations were used to evaluate the consistency. Results showed that all measurements of both Root ZX and E-Magic Finder located the major foramen the range of ${\pm}0.5\;mm$ level. Both apex locators showed better consistency at Apex mark than at 0.5 mark. The average distance of file tip-major foramen was - 0.18 mm at 0.5 mark and - 0.07 mm at Apex mark in Root ZX, - 0.25 mm at 0.5 mark and - 0.02 mm at Apex mark in E-Magic Finder. Standard deviation was 0.21 at 0.5 mark and 0.12 at Apex mark in Root ZX, 0.12 at 0.5 mark and 0.09 at Apex mark in E-Magic Finder.

• Proceedings of the KIEE Conference
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• 1987.07b
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• pp.1256-1259
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• 1987

This paper gives a new SRF (Sonic Range Finder) Array formation on the mobile robot. This SRF Array formation obtaine the mobile robot's environmental informations wider and faster than the other systems and detects the obstacles in the robot's path. It is processed and controlled by 8031, on-chip micro-computer. SRF Array sensors are drived by the LM1812 transceiver and selected by the 8-channel channel multiplexer. In this paper, it detects the obstacles in wider range and gives them to the MAIN to design the shortest modify path.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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• pp.465-470
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• 2015

This paper proposes a robust 3D mapping system for a UAV (Unmanned Aerial Vehicle) that carries a LRF (Laser Range Finder) using the sinusoidal trajectory algorithm. In the case of previous 3D mapping research, the UAV usually takes off vertically and flights up and down while the LRF is measuring horizontally. In such cases, the measuring range is limited and it takes a long time to do mapping. By using the sinusoidal trajectory algorithm proposed in this research, the 3D mapping can be time-efficient and the measuring range can be widened. The 3D mapping experiments have been done to evaluate the performance of the sinusoidal trajectory algorithm by scanning indoor walls.

• Journal of Korean Society of Environmental Engineers
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• v.31 no.11
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• pp.1033-1040
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• 2009

One thing to note in cyclone operation and design is to minimize the pressure drop with the enhancement of the efficiency of dust collection. This can be facilitated by the detailed resolution of complex fluid flow occurring inside a cyclone. To this end, the main objective of this study was to obtain the detailed fluid dynamics by the development of a reliable computation method and thereby to figure out the physics of dust collection mechanism for more extreme environment caused by high temperature and pressure condition. First of all, the computer program developed was evaluated against experimental result. That is, the numerical calculation predicts well the data of experimental pressure drop as a function of flow rate for the elevated pressure and temperature condition employed in this study. The increase of pressure and temperature generally affects significantly the collection efficiency of fine particle but the effect of pressure and temperature appears contrary each other. Therefore, the decrease of collection efficiency caused by the high operating temperature mainly due to the decrease of gaseous density can be remedied by increase of operating pressure. After the evaluation of the program, a series of parametric investigations are performed in terms of major cyclone design or operating parameters such as tangential velocity and vortex finder diameter for dusts of a certain range of particle diameters, etc. As expected, tangential velocity plays the most important effect on the collection efficiency. And the efficiency was not affected significantly by the change of the length of vortex finder but the diameter of vortex finder plays an important role for the enhancement of collection efficiency.

• Convergence Security Journal
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• v.8 no.4
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• pp.161-166
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• 2008

This paper proposes a new approach to align 3D data sets by using curvatures of feature surface. We use the Gaussian curvatures and the covariance matrix which imply the physical characteristics of the model to achieve registration of unaligned 3D data sets. First, the physical characteristics of local area are obtained by the Gaussian curvature. And the camera position of 3D range finder system is calculated from by using the projection matrix between 3D data set and 2D image. Then, the physical characteristics of whole area are obtained by the covariance matrix of the model. The corresponding points can be found in the overlapping region with the cross-projection method and it concentrates by removed points of self-occlusion. By the repeatedly the process discussed above, we finally find corrected points of overlapping region and get the optimized registration result.