• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.8
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• pp.1605-1614
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• 2009

The technique of simultaneous localization and mapping is the most important research topic in mobile robotics. In the process of building a map in its available memory, the robot memorizes environmental information on the plane of grid or topology. Several approaches about this technique have been presented so far, but most of them use mapping technique as either grid-based map or topology-based map. In this paper we propose a frame of solving the SLAM problem of linking map covering, map building, localizing, path finding and obstacle avoiding in an automatic way. Some algorithms integrating grid and topology map are considered and this make the SLAM performance faster and more stable. The proposed scheme uses an occupancy grid map in representing the environment and then formulate topological information in path finding by A${\ast}$ algorithm. The mapping process is shown and the shortest path is decided on grid based map. Then topological information such as direction, distance is calculated on simulator program then transmitted to robot hardware devices. The localization process and the dynamic obstacle avoidance can be accomplished by topological information on grid map. While mapping and moving, pose of the robot is adjusted for correct localization by implementing additional pixel based image layer and tracking some features. A laser range finer and electronic compass systems are implemented on the mobile robot and DC geared motor wheels are individually controlled by the adaptive PD control method. Simulations and experimental results show its performance and efficiency of the proposed scheme are increased.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.8
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• pp.3617-3624
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• 2013

Screen inspection system applied vision and laser scan technology which detect foreign materials caused fuel rod to be damaged, and which inspect fuel rod damage, bowing, distortion and grid damages, was developed to secure reliability and reproductivity of inspection method for nuclear fuel assembly during outage. In further, datum of inspection results will be continuously monitored and given understand the pattern of bowing and distorting for fuel assembly in reactor. Understanding of the pattern will be key technical information to avoid grid demage might be happened during refueling outage and provides important data base for safe operation of nuclear power plant in Korea and world wide.

• Molecules and Cells
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• v.43 no.3
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• pp.298-303
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• 2020

Cryo-electron microscopy (cryo-EM) is now the first choice to determine the high-resolution structures of huge protein complexes. Grids with two-dimensional arrays of holes covered with a carbon film are typically used in cryo-EM. Although semi-automatic plungers are available, notable trial-and-error is still required to obtain a suitable grid specimen. Herein, we introduce a new method to obtain thin ice specimens using real-time measurement of the liquid amounts in cryo-EM grids. The grids for cryo-EM strongly diffracted laser light, and the diffraction intensity of each spot was measurable in real-time. The measured diffraction patterns represented the states of the liquid in the holes due to the curvature of the liquid around them. Using the diffraction patterns, the optimal time point for freezing the grids for cryo-EM was obtained in real-time. This development will help researchers rapidly determine high-resolution protein structures using the limited resource of cryo-EM instrument access.

• KOREAN JOURNAL OF PACKAGING SCIENCE & TECHNOLOGY
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• v.29 no.2
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• pp.111-118
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• 2023

In this study, the feasibility of laser patterning on the surface of food packaging polymer film was confirmed, and the surface patterning process conditions of femtosecond laser were established. In addition, it was proved that the surface properties of the film can be changed and controlled through the fabrication of various patterned films on the surface of food packaging films such as HDPE, PP, and PET. Various patterned surfaces, including large-scale circular patterns induced by a single femtosecond laser pulse, roughness patterns achieved by overlapping single pulses by 30%, straight line patterns, roughness patterns obtained by overlapping straight line patterns, and grid patterns formed by intersecting straight line patterns were fabricated. The characteristics of the patterned HDPE, PP, and PET films, based on the surface pattern structure and size, were analyzed using SEM, AFM, and contact angle measurements. Compared to the surface of each control film without femtosecond laser patterning, the contact angles of the surfaces of large-area circular patterning HDPE and PP films, large-area roughness patterning HDPE and PP films by overlapping 30% of single pulses, and large-area roughness patterning PET film by overlapping rectilinear patterning were in the range of 27.1-37.5 degree. This indicated that the HDPE, PP, and PET films became more hydrophilic after patterning. On the other hand, the HDPE film patterned with a large-scale grid pattern exhibited a contact angle of 120.4 degree, indicating that the HDPE film became more hydrophobic after patterning. Therefore, films that have been changed to hydrophilic surfaces through patterning can be used in anti-fouling applications where proteins, cells, viruses, and other food materials do not adhere or are easily detached. In addition, if a superhydrophobic surface of 150 degrees or more is fabricated through more precise lattice patterning in the future, it will be possible to use it for superhydrophobic surface applications such as self-cleaning.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.13 no.5
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• pp.35-49
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• 2014

This paper proposes the on-road object detection and classification algorithm by using a detection system consisting of only laser scanners. Each sensor data acquired by the laser scanner is fused with a grid map and the measurement error and spot spaces are corrected using a labeling method and dilation operation. Fuzzy method which uses the object information (length, width) as input parameters can classify the objects such as a pedestrian, bicycle and vehicle. In this way, the accuracy of the detection system is increased. Through experiments for some scenarios in the real road environment, the performance of the proposed detection and classification system for the actual objects is demonstrated through the comparison with the actual information acquired by GPS-RTK.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.5
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• pp.450-456
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• 2006

Monte Carlo localization is known to be one of the most reliable methods for pose estimation of a mobile robot. Although MCL is capable of estimating the robot pose even for a completely unknown initial pose in the known environment, it takes considerable time to give an initial pose estimate because the number of random samples is usually very large especially for a large-scale environment. For practical implementation of MCL, therefore, a reduction in sample size is desirable. This paper presents a novel approach to reducing the number of samples used in the particle filter for efficient implementation of MCL. To this end, the topological information generated through the thinning technique, which is commonly used in image processing, is employed. The global topological map is first created from the given grid map for the environment. The robot then scans the local environment using a laser rangefinder and generates a local topological map. The robot then navigates only on this local topological edge, which is likely to be similar to the one obtained off-line from the given grid map. Random samples are drawn near the topological edge instead of being taken with uniform distribution all over the environment, since the robot traverses along the edge. Experimental results using the proposed method show that the number of samples can be reduced considerably, and the time required for robot pose estimation can also be substantially decreased without adverse effects on the performance of MCL.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.27-29
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• 2004

This paper presents a sensor model design based on Monte Carlo Localization method. First, we define the measurement error of each sample using a map matching method by 2-D laser scanners and a pre-constructed grid-map of the environment. Second, samples are assigned probabilities due to matching errors from the gaussian probability density function considered of the sample's convergence. Simulation using real environment data shows good localization results by the designed sensor model.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1591-1596
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• 2005

In this paper, we designed the aspheric lens by mathematical methods which are solved by refractive index. Based on these mathematical method, we manufactured the aspheric lens. Because of the usefulness of manufacturing, we used the acryl as the material. And we used a high speed machine to manufacture the aspheric lens. Also it sits in judgment the aberration of spherical distribution by using the grid fringe. Asource of laser produced by laser sheet generator passed the optical system of the aspheric lens. Though a character is to verify that the accuracy of the aspheric lens by experiment of the straight character.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.11
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• pp.1170-1174
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• 2014

This paper suggests using the ICP (Iterative Closet Point) algorithm to compensate a two-dimensional map. ICP algorithm is a typical algorithm method using matching distance data. When building a two-dimensional map, using data through the value of a laser scanner, it occurred warping and distortion of a two-dimensional map because of the difference of distance from the value of the sensor. It uses the ICP algorithm in order to reduce any error of line. It validated the proposed method through experiment involving matching a two-dimensional map based reference data and measured the two-dimensional map.

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.6
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• pp.14-22
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• 2014

An autonomous vehicle requires a technology of generating maps by recognizing surrounding environment. The recognition of the vehicle's environment can be achieved by using distance information from a 2D laser scanner and color information from a camera. Such sensor information is used to generate 2D or 3D maps. A 2D map is used mostly for generating routs, because it contains information only about a section. In contrast, a 3D map involves height values also, and therefore can be used not only for generating routs but also for finding out vehicle accessible space. Nevertheless, an autonomous vehicle using 3D maps has difficulty in recognizing environment in real time. Accordingly, this paper proposes the technology for generating 2D maps that guarantee real-time recognition. The proposed technology uses only the color information obtained by removing height values from 3D maps generated based on the fusion of 2D laser scanner and camera data.