• Korean Journal of Remote Sensing
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• v.38 no.6_3
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• pp.1827-1836
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• 2022

Disasters that occur unexpectedly are difficult to predict. In addition, the scale and damage are increasing compared to the past. Sometimes one disaster can develop into another disaster. Among the four stages of disaster management, search and rescue are carried out in the response stage when an emergency occurs. Therefore, personnel such as firefighters who are put into the scene are put in at a lot of risk. In this respect, in the initial response process at the disaster site, robots are a technology with high potential to reduce damage to human life and property. In addition, Light Detection And Ranging (LiDAR) can acquire a relatively wide range of 3D information using a laser. Due to its high accuracy and precision, it is a very useful sensor when considering the characteristics of a disaster site. Therefore, in this study, development and experiments were conducted so that the robot could perform real-time monitoring at the disaster site. Multi-sensor module was developed by combining LiDAR, Inertial Measurement Unit (IMU) sensor, and computing board. Then, this module was mounted on the robot, and a customized Simultaneous Localization and Mapping (SLAM) algorithm was developed. A method for stably mounting a multi-sensor module to a robot to maintain optimal accuracy at disaster sites was studied. And to check the performance of the module, SLAM was tested inside the disaster building, and various SLAM algorithms and distance comparisons were performed. As a result, PackSLAM developed in this study showed lower error compared to other algorithms, showing the possibility of application in disaster sites. In the future, in order to further enhance usability at disaster sites, various experiments will be conducted by establishing a rough terrain environment with many obstacles.

• Journal of Korean Ophthalmic Optics Society
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• v.8 no.1
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• pp.35-39
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• 2003

The display technology on the retina is the key role in inspecting the condition of the patients. 2-dimensional retina image is widely used in the eye examination as of today. Recently, 3-dimensional retina image ones have been introduced to this area, but the quality of the image is not fully satisfied to the operator. For the purpose of developing 3-D retina imaging instrument, the optimization of a 3-D retina imaging system using Code-V tool was investigated in this thesis. He-Ne laser having the wavelength 632.8 nm was used to make a power source to detect the retina. Several lenses and mirrors installed on sledge which were developed to perform focus control on 3-D device were designed to make a beam focusing and direct line. Polygon scanner having 24 mirror facets and galvanometer making tilting movement were utilized to make a 2-D laser plane. Also, design of eye ball had been fulfilled to see the focus of the 2-D plane. Reflected ray from retina detected on the sensor array with the same path. All cognitive components were optimized for aberration correction in order to focus on retina. Results of optimization were compared to those of initial designed optics system. On the basis of above results, the result of third aberration has been corrected to stable values to the optical system. MTF evaluating the resolution of an image has been closely correlated to the diffraction limit and PSF indicating the strength distribution of an image has shown the SR value as 0.9998 having high performance. The possibility of new and powerful 3-D retina image instrument was verified by simulating each component of the instrument by Code-V.

• Journal of Sensor Science and Technology
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• v.7 no.1
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• pp.67-72
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• 1998

The crystallized CuPc and PbTe films are formed by thermal evaporation and pulsed ArF excimer laser ablation. Structural and electrical properties of thin film is observed by XRD and current-voltage(I-V) curves. From XRD analysis, both PbTe and CuPc thin films show a-axis oriented structure. For the measurement of photovoltaic effect, the transverse current-voltage curve of CuPc/Si, PbTe/Si and PbTe/CuPc/Si junctions have been analyzed in the dark and under illumination. The PbTe/CuPc/Si junction exthibits a strong photovoltaic characteristics with short circuit current($J_{sc}$) of $25.46\;mA/cm^{2}$ and open-circuit voltage($V_{oc}$) of 170 mV. Quantum efficiency and power conversion efficiency are calculated to be 15.4% and $3.46{\times}10^{-2}$, respectively. Based on the results of QE and ${\eta}$, the photocurrent process of PbTe/CuPc/Si junction can be explained as following three effective steps; photocarrier generation in the CuPc layer, carrier separation at PbTe/CuPc interface, and finally a transportation of electrons through the PbTe layer.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.26 no.3
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• pp.227-239
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• 2008

Processing LiDAR (Light Detection And Ranging) data obtained from ALS (Airborne Laser Scanning) systems mainly involves organization and segmentation of the data for 3D object modeling and mapping purposes. The ALS systems are viable and becoming more mature technology in various applications. ALS technology requires complex integration of optics, opto-mechanics and electronics in the multi-sensor components, Le. data captured from GPS, INS and laser scanner. In this study, digital image processing techniques mainly were implemented to gray level coded image of the LiDAR data for building extraction and superstructures segmentation. One of the advantages to use gray level image is easy to apply various existing digital image processing algorithms. Gridding and quantization of the raw LiDAR data into limited gray level might introduce smoothing effect and loss of the detail information. However, smoothed surface data that are more suitable for surface patch segmentation and modeling could be obtained by the quantization of the height values. The building boundaries were precisely extracted by the robust edge detection operator and regularized with shape constraints. As for segmentation of the roof structures, basically region growing based and gap filling segmentation methods were implemented. The results present that various image processing methods are applicable to extract buildings and to segment surface patches of the superstructures on the roofs. Finally, conceptual methodology for extracting characteristic information to reconstruct roof shapes was proposed. Statistical and geometric properties were utilized to segment and model superstructures. The simulation results show that segmentation of the roof surface patches and modeling were possible with the proposed method.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.3
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• pp.587-593
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• 2019

The field of geospatial information is rapidly changing due to the development of sensor and data processing technology that can acquire location information. And demand is increasing in various related industries and social activities. The construction and utilization of three dimensional geospatial information that is easy to understand and easy to understand can be an essential element to improve the quality and reliability of related services. In recent years, 3D laser scanners are widely used as 3D geospatial information construction technology. However, 3D laser scanners may cause shadow areas where data acquisition is not possible when objects are large in size or complex in shape. In this study, 3D model of an object has been created by acquiring oblique images using an unmanned aerial vehicle and processing the data. The study area was selected, oblique images were acquired using an unmanned aerial vehicle, and point cloud type 3D model with 0.02 m spacing was created through data processing. The accuracy of the 3D model was 0.19m and the average was 0.11m. In the future, if accuracy is evaluated according to shooting and data processing methods, and 3D model construction and accuracy evaluation and analysis according to camera types are performed, the accuracy of the 3D model will be improved. In the point cloud type 3D model, Cross section generation, drawing of objects, and so on, it is possible to improve work efficiency of spatial information service and related work.

• Journal of Astronomy and Space Sciences
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• v.29 no.4
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• pp.381-387
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• 2012

The planetary exploration rover executes various missions after moving to the target point in an unknown environment in the shortest distance. Such missions include the researches for geological and climatic conditions as well as the existence of water or living creatures. If there is any obstacle on the way, it is detected by such sensors as ultrasonic sensor, infrared light sensor, stereo vision, and laser ranger finder. After the obtained data is transferred to the main controller of the rover, decisions can be made to either overcome or avoid the obstacle on the way based on the operating algorithm of the rover. All the planetary exploration rovers which have been developed until now receive the information of the height or width of the obstacle from such sensors before analyzing it in order to find out whether it is possible to overcome the obstacle or not. If it is decided to be better to overcome the obstacle in terms of the operating safety and the electric consumption of the rover, it is generally made to overcome it. Therefore, for the purpose of carrying out the planetary exploration task, it is necessary to design the proper suspension system of the rover which enables it to safely overcome any obstacle on the way on the surface in any unknown environment. This study focuses on the design of the new double 4-bar linkage type of suspension system applied to the Korea Aerospace Research Institute rover (a tentatively name) that is currently in the process of development by our institute in order to develop the planetary exploration rover which absolutely requires the capacity of overcoming any obstacle. Throughout this study, the negative moment which harms the capacity of the rover for overcoming an obstacle was induced through the dynamical modeling process for the rocker-bogie applied to the Mars exploration rover of the US and the improved version of rocker-bogie as well as the suggested double 4-bar linkage type of suspension system. Also, based on the height of the obstacle, a simulation was carried out for the negative moment of the suspension system before the excellence of the suspension system suggested through the comparison of responding characteristics was proved.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.26 no.3
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• pp.263-273
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• 2008

The precision of sensors' position is particularly important in the application of road extraction or digital map generation. In general, the various ranging solution systems such as GPS, Total Station, and Laser Ranger have been employed for the position of the sensor. Basically, the ranging solution system has problems that the signal may be blocked or degraded by various environmental circumstances and has low temporal resolution. To overcome those limitations a IMU/range integrated system could be introduced. In this paper, after pointing out the limitation of extended Kalman filter which has been used for workhorse in navigation and geodetic community, the two sampling based nonlinear filters which are sigma point Kalman filter using nonlinear transformation and carefully chosen sigma points and particle filter using the non-gaussian assumption are implemented and compared with extended Kalman filter in a simulation test. For the ranging solution system, the GPS and Total station was selected and the three levels of IMUs(IMU400C, HG1700, LN100) are chosen for the simulation. For all ranging solution system and IMUs the sampling based nonlinear filter yield improved position result and it is more noticeable that the superiority of nonlinear filter in low temporal resolution such as 5 sec. Therefore, it is recommended to apply non-linear filter to determine the sensor's position with low degree position sensors.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.25 no.1
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• pp.19-30
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• 2007

Modeling 3D buildings is an essential process to revive the real world into a computer. There are two ways to create a 3D building model. The first method is to use the building layer of 1:1000 digital maps based on high density point data gained from airborne laser surveying. The second method is to use LiDAR point data with digital images achieved with LiDAR. In this research we tested one sheet area of 1:1000 digital map with both methods to process a 3D building model. We have developed a process, analyzed quantitatively and evaluated the efficiency, accuracy, and reality. The resulted differed depending on the buildings shape. The first method was effective on simple buildings, and the second method was effective on complicated buildings. Also, we evaluated the accuracy of the produced model. Comparing the 3D building based on LiDAR data and digital image with digital maps, the horizontal accuracy was within ${\pm}50cm$. From the above we derived a conclusion that 3D building modeling is more effective when it is based on LiDAR data and digital maps. Using produced 3D building modeling data, we will be utilized as digital contents in various fields like 3D GIS, U-City, telematics, navigation, virtual reality and games etc.

• Journal of the Microelectronics and Packaging Society
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• v.27 no.4
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• pp.107-111
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• 2020

Recently, as an aging society progresses, a lot of interest in health and diagnosis is increasing, As the field of various bio-imaging systems for guided surgery capable of accurate diagnosis has emerged as important, a Fluorescence imaging system capable of accurate measurement and real-time confirmation has emerged as an important field. Fluorescence images currently being used are mainly in the NIR-I band, but many studies are in progress in the NIR-II band in order to improve resolution and confirm fluorescence deeply and accurately. In this paper, the difference between NIR-I and NIR-II, optical characteristics, and SBR (signal to background ration) of a fluorescent imaging system, was investigated using the finite element (FEM) method. After confirming, it was confirmed that the SBR was 16.2 times higher in the NIR-II area than in the NIR-I by making the skin phantom and measuring the fluorescence. It is confirmed that the enhancement in SBR of the Fluorescence imaging system is more effective in the NIR-II region than in the NIR-I region and expected to be used in application fields such as guided surgery, bio-sensor and also device which can detect the defect of optical devices.

• Korean Journal of Materials Research
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• v.18 no.12
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• pp.655-659
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• 2008

The NO gas sensing properties of ZnO-carbon nanotube (ZnO-CNT) composites fabricated by the coaxial coating of single-walled CNTs with ZnO were investigated using pulsed laser deposition. Upon examination, the morphology and crystallinity of the ZnO-CNT composites showed that CNTs were uniformly coated with polycrystalline ZnO with a grain size as small as 5-10 nm. Gas sensing measurements clearly indicated a remarkable enhancement of the sensitivity of ZnO-CNT composites for NO gas compared to that of ZnO films while maintaining the strong sensing stability of the composites, properties that CNT-based sensing materials do not have. The enhanced gas sensing properties of the ZnO-CNT composites are attributed to an increase in the surface adsorption area of the ZnO layer via the coating by CNTs of a high surface-to-volume ratio structure. These results suggest that the ZnO-CNT composite is a promising template for novel solid-state semiconducting gas sensors.