• The Journal of Korea Robotics Society
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• v.4 no.2
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• pp.121-129
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• 2009

This paper presents a goal-directed reactive obstacle avoidance method based on lane method. The reactive collision avoidance is necessarily required for a robot to navigate autonomously in dynamic environments. Many methods are suggested to implement this concept and one of them is the lane method. The lane method divides the environment into lanes and then chooses the best lane to follow. The proposed method does not use the discrete lane but chooses a line closest to the original target line without collision when an obstacle is detected, thus it has a merit in the aspect of running time and it is more proper for narrow corridor environment. If an obstacle disturbs the movement of a robot by blocking a target path, a robot generates a temporary target line, which is parallel to an original target line and tangential to an obstacle circle, to avoid a collision with an obstacle and changes to and follows that line until an obstacle is removed. After an obstacle is clear, a robot returns to an original target line and proceeds to the goal point. Obstacleis recognized by laser range finder sensor and represented by a circle. Our method has been implemented and tested in a corridor environment and experimental results show that our method can work reliably.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.174-179
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• 2003

Through the simultaneous localization and map building (SLAM) technique, a robot can create maps about its unknown environment while it continuously localizes its position. Grid maps and feature maps have been widely used for SLAM together with application of probability methods and POMDP (partially observed Markov decision process). But this approach based on grid maps suffers from enormous computational burden. Topological maps, however, have drawn more attention these days because they are compact, provide natural interfaces, and are easily applicable to path planning in comparison with grid maps. Some topological SLAM techniques like GVG (generalized Voronoi diagram) were introduced, but it enables the robot to decide only whether the current position is part of GVG branch or not in the GVG algorithm. In this paper, therefore, to overcome these problems, we present a method for updating a global topological map from the local topological maps. These local topological maps are created through a labeled Voronoi diagram algorithm from the local grid map built based on the sensor information at the current robot position. And the nodes of a local topological map can be utilized as the features of the environment because it is robust in light of visibility problem. The geometric information of the feature is applied to the extended Kalman filter and the SLAM in the indoor environment is accomplished. A series of simulations have been conducted using a two-wheeled mobile robot equipped with a laser scanner. It is shown that the proposed scheme can be applied relatively well.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2017.04a
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• pp.141-141
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• 2017

장미과(Rosaceae)에 속하는 딸기(Fragaria ananassa Duch.)는 비타민 C가 풍부하고 독특한 향기를 갖는 과채류로서 겨울에서 봄까지의 기간 동안 대부분 생식으로 소비되고 있다. 국내에서 재배되는 품종으로는 설향, 매향, 장희 등이 있으며 품종에 따라 성분과 함량이 다양하지만 일반적으로 유기산이 많아서 신맛과 단맛이 조화로운 특징이 있다. 소비자들이 딸기를 구입할 때 딸기가 포장된 상자에 모양이 일정하고 붉은 색상이 선명한 딸기에 호감을 갖게 된다. 딸기는 품종에 따라 기준이 되는 모양이 다르기 때문에 숙련된 선별사에 의해서 대부분 육안으로 선별되고 있는 실정이다. 하지만 개인적인 선별 능력의 차이와 주관적인 판단으로 인해 규격을 벗어난 딸기가 혼입되어 전체적인 품질 등급을 떨어뜨리는 경우가 종종 발생하기도 한다. 따라서 본 연구에서는 품종별로 기준이 되는 표준 형상과 비정상적인 모양의 기형 딸기를 객관적으로 판별하여 선별할 수 있는 영상 시스템을 구축하기 위해 수행되었으며 표준이 되는 딸기의 3차원 형상을 구축하기 위해 2차원 레이저 변위 센서를 이용하여 딸기의 입체 영상을 구축하고자 하였다. 실험을 위해 사용된 딸기는 시중에서 구입한 설향 품종이었으며 2차원 레이저 변위 센서는 라인 스캔 방식으로 1회 프로파일 스캔에 1,280개의 데이터 포인터를 획득할 수 있으며 분해능은 0.095~0.17 mm이었다. 상부에 부착된 2차원 레이저 변위 센서와 하부에 놓인 딸기의 거리는 100 mm였다. 획득한 딸기의 2차원 영상은 높이 차이를 이용하여 색상 농도로 표현하였으며 이 영상을 다시 3차원 영상으로 구축하였다.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.24 no.1
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• pp.21-28
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• 2000

Although commercial PIV systems have been widely used for the non-intrusive velocity field measurement of fluid flows, they are still under development and have considerable room for improvement. In this study, a single-frame double-exposure PIV system using a high-resolution CCD camera was developed. A pulsed Nd:Yag laser and high-resolution CCD camera were synchronized by a home-made control circuit. In order to resolve the directional ambiguity problem encountered in the single-frame PIV technique, the second particle image was genuinely shifted in the CCD sensor array during the time interval dt. The velocity vector field was determined by calculating the displacement vector at each interrogation window using cross-correlation with 50% overlapping. In order to check the effect of spatial resolution of CCD camera on the accuracy of PIV velocity field measurement, the developed PIV system with three different resolution modes of the CCD camera (512 ${\times}$ 512, lK ${\times}$ IK, 2K ${\times}$ 2K) was applied to a turbulent flow which simulate the Zn plating process of a steel strip. The experimental model consists of a snout and a moving belt. Aluminum flakes about $1{\mu}m$ diameter were used as scattering particles for the liquid flow in the zinc pot and the gas flow above the zinc surface was seeded with atomized olive oil with an average diameter of 1-$3{\mu}m$. Velocity field measurements were carried out at the strip speed $V_s$=1.0 m/s. The 2K ${\times}$ 2K high-resolution PIV technique was significantly superior compared to the smaller pixel resolution PIV system. For the cases of 512 ${\times}$ 512 and 1K ${\times}$ 1K pixel resolution PIV system, it was difficult to get accurate flow structure of viscous flow near the wall and small vortex structure in the region of large velocity gradient.

• Journal of Biomedical Engineering Research
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• v.24 no.2
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• pp.83-89
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• 2003

The gas electron multiplier placed in the drift volume of conventional gas detectors, is a conceptually simple device for producing a large gas gain by concentrating the drift electric field over a very short distance to the point that electron avalanching occurs(〉 10$^4$ V/cm), greatly increasing the number of drifting electrons. This device consists of a thin insulating foil of several tens of urn in thickness. covered on each side with a thin metal layer(Cu), with tiny holes, usually 100 ${\mu}{\textrm}{m}$ or less in diameter. and with a spacing of 100-200 ${\mu}{\textrm}{m}$ through the entire foil. perforated by using chemical etching or high-powered laser beam technique In this study, we have investigated its operating properties with various experimental conditions, and demonstrated the possibility of using this device as a digital X-ray imaging sensor, by acquiring X-ray images based on the scintillation properties of the gas electron multiplier with standard CCD camera.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.3
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• pp.479-486
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• 2002

In this study, the progressive inelastic deformation, so called, thermal ratchet phenomenon which can occur in high temperature structures of liquid metal reactor was simulated with thermal ratchet structural test facility and 316L stainless steel test cylinder. The thermal ratchet deformation at the reactor baffle cylinder of the liquid metal reactor can occur due to the moving temperature distribution along the axial direction as the sodium free surface moves up and down under the cyclic heat-up and cool-down transients. The ratchet deformation was measured with the laser displacement sensor and LVDTs after cooling the structural specimen which is heated up to 55$0^{\circ}C$ with steep temperature gradients along the axial direction. The temperature distribution of the test cylinder along the axial direction was measured with 28 channels of thermocouples and was used for the ratchet analysis. The thermal ratchet deformation was analyzed with the constitutive equation of nonlinear combined hardening model which was implemented as ABAQUS user subroutine and the analysis results were compared with those of the test. Thermal ratchet load was applied 9 times and the residual displacement after 9 cycles of thermal load was measured to be 1.79mm. The ratcheting deformation shapes obtained by the analysis with the combined hardening model were in reasonable agreement with those of the structural tests.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.6
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• pp.1919-1932
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• 1991

Experimental studies are conducted to investigate the Flow-Induced Vibration mechanism for cantilever plate model with the angle of attack (.alpha.=10.deg., 20.deg., 30.deg.). Research is divided into two parts. First, the flow fields around two dimensional flat plate model are investigated using LDV system. Second, the vortex shedding frequency and response spectra of cantilever plate are obtained experimentally using gap sensor and hot wire anemometer. Finite element method program was used in order to predict the flow field and pressure field around thin flat plate. And some predicted results were compared with the experimental data. The aspect ration of test model is d/t=25 (d; width, t; thickness). From the measurement of the flow field it was found that in the case of small inclined (.alpha.=10.deg., 20.deg.) relatively, the separated boundary layer at sharp leading edge developed smoothly downstream. With increasing the angle of attack of the plate, stagnation region was appeared on the back side of the plate and separated boundary layer was extended downstream. These trends are a good agreement with the computational results. It was found by analysis of response spectra of cantilever plate that the influences of vortex shedding frequency were important at the large of attack (.alpha.=30.deg.), and two peak values appear in entire test model at 24Hz, 150Hz.

• International Journal of Aeronautical and Space Sciences
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• v.12 no.2
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• pp.175-178
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• 2011

An optical fiber-based beam width measurement technique is presented. The proposed system can be applied to the optical fiber industry in applications such as lensed fiber, optical fiber based laser beam source, and fiber optic sensor. The measurement system is composed of optical fiber, which is used as a transceiver, and a single grating panel which consists of a multi-reflection area with an even non-reflection area. The grating panel is used to vary the reflected light. When the widths of the reflection area and non-reflection area are larger than the optical beam width, the reflected light is varied at the interface between the reflection area and the non-reflection area by the movement of the grating panel. Experiments were conducted in order to verify the feasibility of the proposed technique. Multi-mode fiber combined with a collimator was selected as an emitter and a receiver, and the beam width measurement system was contrived. Subsequently, the proposed method and the system were verified by comparing the experimental results with the results of the conventional charge-coupled device technique.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1733-1736
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• 2005

Many studies have been carried out to produce 3D features in the size range between $10{\mu}m\~10,000{\mu}m$, called Meso-scale. If these miniaturized systems have high relative accuracy and good volumetric utilization, it is possible to manufacture more complex and accurate shapes with various materials as well as there are advantages of reducing energy, space and resources. Due to imperfect components and misalignment in assembly, it is necessary to assess the accuracy of the miniaturized system itself to obtain high relative accuracy. Laser interferometers are widely used to measure geometric errors called as quasi-static errors. For miniaturized system, however, it is difficult to install the required accessories such as optics and the measuring range is limited because of the size of the system and also this method is very expensive. Moreover, it is impossible to measure each error component simultaneously. A new system to measure simultaneously multiple geometric errors is proposed using capacitance sensors. Each error was measured using capacitance sensors and a measurement algorithm was mathematically derived. The experiments show that the proposed measurement system can be used effectively to assess the accuracy of miniaturized system at a low cost.

• Korean Journal of Materials Research
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• v.23 no.9
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• pp.477-482
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• 2013

We investigated the detection properties of nitrogen monoxide (NO) gas using transparent p-type $CuAlO_2$ thin film gas sensors. The $CuAlO_2$ film was fabricated on an indium tin oxide (ITO)/glass substrate by pulsed laser deposition (PLD), and then the transparent p-type $CuAlO_2$ active layer was formed by annealing. Structural and optical characterizations revealed that the transparent p-type $CuAlO_2$ layer with a thickness of around 200 nm had a non-crystalline structure, showing a quite flat surface and a high transparency above 65 % in the range of visible light. From the NO gas sensing measurements, it was found that the transparent p-type $CuAlO_2$ thin film gas sensors exhibited the maximum sensitivity to NO gas in dry air at an operating temperature of $180^{\circ}C$. We also found that these $CuAlO_2$ thin film gas sensors showed reversible and reliable electrical resistance-response to NO gas in the operating temperature range. These results indicate that the transparent p-type semiconductor $CuAlO_2$ thin films are very promising for application as sensing materials for gas sensors, in particular, various types of transparent p-n junction gas sensors. Also, these transparent p-type semiconductor $CuAlO_2$ thin films could be combined with an n-type oxide semiconductor to fabricate p-n heterojunction oxide semiconductor gas sensors.