• 제어로봇시스템학회논문지
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• 제11권1호
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• pp.67-76
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• 2005

In this paper, An analysis on the intelligence system for a biped walking robot(BWR) was made and its results were applied to the BWR. Various sensors were applied to the developed BWR for autonomous and intelligent walk in unknown environments. To measure the distance between the object and BWR, ultrasonic sensor and infrared-rays sensor were used. To identity surrounding environments, vision system was used. Gyro sensor was used to control the posture of BWR. Also, piezoelectricity sensor was used to identity the pressure of foot landing on the surface. Sensors applied to the robot have measurement errors according to noises or walking environments. To improve the function of these sensors, influences of noise or sensing errors were minimized using a sensor fusion scheme. A gait test using the sensor fusion system was performed, and its results are presented.

• 대한임베디드공학회논문지
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• 제7권3호
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• pp.143-150
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• 2012

In this paper, we introduce an intelligent quadruped walking robot that can perform stable walking and a couple of intelligent behaviors. The developed robot has two sets of ultrasonic sensors and six sets of infrared sensors and can perform obstacle avoidance by detecting obstacles and estimating the distances and directions of those obstacles. The robot also has a stereo camera and can paly soccer by detecting a ball and estimating the 3 dimensional coordinates of the ball. In performing those intelligent behaviors, the robot needs to have the capability of generating its walking patterns, solving the inverse kinematics problem, and interfacing several sensors in realtime. Therefore we designed a hierarchical controller that consists of a main controller and an auxiliary controller. The main controller is a 32-bit DSP that can perform fast floating-point opertaion and the auxiliary one is a 8-bit micro-controller. We showed that the developed quadruped walking robot successfully perform those intelligent behaviors through experiments.

• 센서학회지
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• 제10권2호
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• pp.86-90
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• 2001

A pyroelectric senior using P(VDF/TrFE) film for sensing materials has been fabricated and evaluated with other commercial pyroelectric sensors that use ceramic materials for sensing. The device was mounted in a TO-5 housing to detect infrared light of $5.5{\sim}14\;{\mu}m$ wavelength. The NEP (noise equivalent power) and specific detectivity $D^*$ of the device were $2.13{\times}10^{-8}\;W$ and $9.37{\times}10^6\;cm/w$ respectively under emission energy of $13\;{\mu}W/cm^2$ respectively. These result shows a better characteristics than other commercial pyroelectric sensors NEP $8.08{\times}10^{-7}\;W$ and $D^*$ $2.47{\times}10^5\;cm/w$.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.71.1-71
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• 2001

In this paper, an improved method of environment map building and a region search algorithm for mobile robot are presented. For the environment map building of mobile robot, measurement data of ultrasonic sensors and certainty grid representation is usually used. In this case, inaccuracies due to the uncertainty of ultrasonic data are included in the map. In order to solve this problem, an environment map building method using a Bayesian model was proposed previously[5]. In this study, we present an improved method of probability map building that uses infrared sensors and shift division Gaussian probability distribution with the existing Bayesian update method using ultrasonic sensors. Also, a region search algorithm for ...

• 센서학회지
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• 제28권3호
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• pp.152-156
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• 2019

An ultraviolet (UV) image sensor is an extremely important optoelectronic device used in scientific and medical applications because it can detect images that cannot be obtained using visible or infrared image sensors. Because photodetectors and transistors are based on different materials, conventional UV imaging devices, which have a hybrid-type structure, require additional complex processes such as a backside etching of a GaN epi-wafer and a wafer-to-wafer bonding for the fabrication of the image sensors. In this study, we developed a monolithic GaN UV passive pixel sensor (PPS) by integrating a GaN-based Schottky-barrier type transistor and a GaN UV photodetector on a wafer. Both individual devices show good electrical and photoresponse characteristics, and the fabricated UV PPS was successfully operated under UV irradiation conditions with a high on/off extinction ratio of as high as $10^3$. This integration technique of a single pixel sensor will be a breakthrough for the development of GaN-based optoelectronic integrated circuits.

• 로봇학회논문지
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• 제3권3호
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• pp.186-193
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• 2008

We propose a novel real-time obstacle avoidance method for rescue robots. This method, named the ELA(Emergency Level Around), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward safe position. In the ELA, we consider two sensor modules, PSD(Position Sensitive Detector) infrared sensors taking charge of obstacle detection in short distance and LMS(Laser Measurement System) in long distance respectively. Hence if a robot recognizes an obstacle ahead by PSD infrared sensors first, and judges impossibility to overcome the obstacle based on driving mode decision process, the order of priority is transferred to LMS which collects data of radial distance centered on the robot to avoid the confronted obstacle. After gathering radial information, the ELA algorithm estimates emergency level around a robot and generates a polar histogram based on the emergency level to judge where the optimal free space is. Finally, steering angle is determined to guarantee rotation to randomly direction as well as robot width for safe avoidance. Simulation results from wandering in closed local area which includes various obstacles and different conditions demonstrate the power of the ELA.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2003년도 춘계전력전자학술대회 논문집(1)
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• pp.439-445
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• 2003

Since 1960s. container shipping volume has increased dramatically and continuous on a trend of rapid growth, and so the number of containers handled at the port increases. In order to improve yard crane operating efficiency, the precise position measurement of the yard crane is important. This paper describes the method to measure the absolute position of yard crane using the output pulse of an encoder and infrared sensors. The crane position is calculated by counting the output pulse of an incremental encoder, which is mounted on the wheel in the crane. By the way, the wheel slippage on rail may cause some errors in crane position information obtained from encoder pulses, and the errors in the crane position information are compensated with infrared sensors. The performance of proposed method is verified on experimental results with the simulator of yard crane, the size of which is about 1/10 with the real crane.

• 전자공학회논문지 IE
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• 제44권1호
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• pp.6-9
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• 2007

본 연구는 마이크로 스펙트로미터 적외선 센서용으로 thermopile 소자 구조를 이용하여 설계, 제작되어 특성을 평가하였다. MEMS 공정기술을 이용하여 열적 고립 구조를 갖는 Low-stress SiNx 멤브레인상에서 마이크로 thermopile 적외선 센서를 제작하고 특성을 평가하였다. 마이크로 thermopile 적외선 센서를 측정한 결과 열전대 길이, 개수, 멤브레인 넓이에 기전력이 비례하여 출력되고 열전대 물질의 선폭에는 반비례하는 것으로 나타났다. 5가지 요소를 독립적으로 변화시켜 측정한 결과 마이크로 thermopile 적외선 센서는 멤브레인 넓이가 다른 요소에 비해 더 큰 영향을 미쳤다. 이러한 결과로 미루어 본 연구에서 제작된 마이크로 thermopile 적외선 센서는 마이크로 스펙트로미터용 적외선 센서로서 활용이 가능할 것으로 생각되었다.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2016년도 춘계학술대회
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• pp.579-580
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• 2016

RFID를 이용한 물류 관리 시스템은 RFID 태그를 분실할 경우 RFID 기술을 이용할 수 없어 물류의 위치를 파악할 수 없다. 본 논문에서는 이러한 문제를 해결하기 위해 RFID 및 적외선 센서를 이용한 멀티 센서 기반 물류 관리 시스템을 제안한다. 제안한 시스템은 RFID를 이용하여 금형의 위치를 파악하며, 금형 보관대에 적외선 센서를 설치하여 금형이 해당 위치에 존재하는지 재확인함으로써 관리자는 금형의 존재 여부 및 위치를 파악할 수 있다.

• 비파괴검사학회지
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• 제35권3호
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• pp.200-205
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• 2015

현대의 컴팩트 반도체 소자들은 정확한 품질검사를 위해 비파괴, 고분해능의 검사 장비가 요구되고 있다. 검사 장비 중 고분해능 적외선 대물렌즈와 적외선 센서로 구성된 초정밀 열영상 현미경은 반도체 내부의 결함에서 발생되는 국소적 열원의 위치와 깊이 정보를 얻는데 유용하게 활용되고 있다. 본 연구에서는 위 상잠금기법이 적용된 적외선열영상 현미경을 이용하여 다층구조로 된 반도체 소자 내부 열원의 위치와 깊이 정보에 대해 분석하였다. 시편은 내부에 3개의 열원을 포함한 TSV(through silicon via technology) 기반 4단 적층구조로서 측정 표면으로부터 열원의 깊이는 $240{\mu}m$이다. 본 실험에서는 위상잠금기법을 통해 시편 내부열원의 위치와 깊이를 정확히 찾을 수 있는 초점면 위치, 노출시간 그리고 위상잠금주파수 등 최적의 조건을 찾고 그 조건에서 적외선 대물렌즈와 시편의 거리 변화에 따른 위상 변이와 깊이 정보에 대한 영향을 알아보았다. 이와 같은 반도체 내부결함에 의한 열원의 위치와 깊이 분석에 대한 연구는 품질검사용 열영상 분석장비 개발에 큰 도움을 줄 것으로 예상한다.