• Journal of Sensor Science and Technology
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• v.19 no.3
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• pp.221-229
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• 2010

In recent studies, many methods have been studied for mobile robot using magnetic markers on its pathway. This is not influenced by the weather conditions, and makes possible to develop controller with low level processors and simple algorithms. However, the interval between magnets is restricted by the magnetic field intensity and it is impossible to get road information ahead. This paper suggests a method of widening markers and expressing the road information ahead using magnetic markers, and explains a sensor arrangement considering suggested methods. Also, magnetic field analysis was done to investigate the effects of widening magnetic markers with various environments. A small mobile robot was made to figure out the performance of suggested methods, and driving experiments were performed on the straight and curved road with magnetic markers. The results show that the robot moved the prearranged pathway with 0.5 cm lateral displacements and stopped at a stop line using magnetic information on the road.

• Progress in Medical Physics
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• v.30 no.4
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• pp.89-93
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• 2019

Purpose: This study aims to develop new markers based on silicone rubber and urethane rubber to enhance visibility in low magnetic field magnetic resonance (MR) imaging. Methods: Four types of markers were fabricated using two different base materials. Two of the markers were composed of two different types of silicone rubber: DragonSkin™ 10 MEDIUM and BodyDouble™ SILK. The other two markers were composed of types of urethane rubber: PMC™ 780 DRY and VytaFlex™ 20. Silicone oil (KF-96 1000cs) was added to the fabricated markers. The allocated amount of oil was 20% of the weight (wt%) of each respective marker. The MR images of the markers, with and without the silicone oil, were acquired using MRIdian with a low magnetic field of 0.35 T. The signal intensities of each MR image for the markers were analyzed using ImageJ software and the visibility for each was compared. Results: The highest signal intensity was observed in VytaFlex™ 20 (279.67±3.57). Large differences in the signal intensities (e.g., 627% in relative difference between BodyDouble™ SILK and VytaFlex™ 20) among the markers were observed. However, the maximum difference between the signal intensities of the markers with the silicone oil showed only a 62% relative difference between PMC™ 780 DRY and DragonSkin™ 10 MEDIUM. An increase in the signal intensity of the markers with the silicone oil was observed in all markers. Conclusions: New markers were successfully fabricated. Among the markers, DragonSkin™ 10 MEDIUM with silicone oil showed the highest MR signal intensity.

• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.5
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• pp.581-586
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• 2006

In this paper, describes ground detection method for removal earth field of magnet guidance system Magnetic guidance system is magnetic markers are installed just under the surface of roadway pavement and the magnetic fields generated these markers are detected by magnetic field sensor mounted of vehicles. vehicle is know lot lateral distance using magnetic field. But sensor is together measuring the magnetic field and earth field. It is operate error. Thus in this paper, proposed new method removing earth field or development experiment device via show the for practical and excellence.

• Journal of Sensor Science and Technology
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• v.14 no.6
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• pp.409-414
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• 2005

For an intelligent vehicle driving which uses magnetic markers and magnetic sensors, we can get every kind of road information while moving the vehicle if we use the code that is encoded with N, S pole direction of markers. If we make it an only aim to move the vehicle, it becomes easy to control the vehicle the more we put markers close. By the way, to recognize the direction of a marker pole it is much better that the markers have no effect each other. To get road informations and move the vehicle autonomously we propose the methods of arranging magnetic sensors and algorithm of recognizing the position of the vehicle with those sensors. We verified the effectiveness of the methods with computer simulation.

• Proceedings of the KSR Conference
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• 2009.05a
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• pp.452-456
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• 2009

This paper presents a method for precisely localizing and parking of bimodal trams. In order to gam an automatically driving system for bimodal trams, precise up-to-date localization, velocity recognition, distance to next station and precise parking location estimation functions are required. This paper proposes a system consisting of control device, steering device, sensor input equipment, driving system, tachometer, vehicle-side sensors, magnetic markers and magnetic sensors. The tram recognizes the precise location via magnetic markers containing information. Parking position and precise distance calculation is embodied by a tachometer. The vehicle-side sensors are used to assure safe station approaching and parking magnetic markers provide improvement of precision while tram parking. This paper provides a system realizing localization and precise parking and afterwards the automatic drive test results are reported and analyzed.

• Journal of Sensor Science and Technology
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• v.12 no.5
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• pp.211-217
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• 2003

This paper is proposed that roadway recognition performance improvement for autonomous vehicle using magnetic markers that are embedded along the road center and the sensors mounted on a vehicle, and which changing of magnetic field that is measured along with vehicle driving. For Retrenchment of equipment cost, interval of markers is more expensive than existing method. In order to this, This paper is proposed that interval of markers is founded using magnetic field analysis, and which arrangement method of six magnetic sensors and control method of neural network. This paper is carried out magnetic field analysis, the acquiring of the training patterns, the training of the neural network and composition of steering control, and is verified that roadway recognition performance can improve using computer simulation with proposed methods.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1802-1803
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• 2011

The Korea Railroad Research Institute (KRRI) is developing the Bimodal-tram. The vehicle has a navigation control system (NCS) for automatic driving. The vehicle has to follow a reference path in automatic mode. NCS uses magnetic markers to calculate the vehicle position. The vehicle lane is marked with permanent magnets that are buried in the road. In this purpose, we show the characteristics and the configuration of NCS.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.4
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• pp.817-819
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• 2007

The purpose of this work is to develop a measurement system of the pendulum test with minimal restriction of experimental environment and little influence of noise. In this work, we developed a vision system without any line between markers and a camera. The system performance is little influenced by the experimental environment, if light are sufficient to recognize markers. For the validation of the system, we compared knee joint angle trajectories measured by the developed system and by the magnetic sensor system during the nominal pendulum test and the maximum speed voluntary knee joint rotation. The joint angle trajectories of the developed system during both tests matched well with those of the magnetic system. Therefore, we suggest the vision system as an alternative to the previous systems with limited practicality for the pendulum test.

• 한국초전도학회:학술대회논문집
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• v.10
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• pp.7-7
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• 2000

A high $T_c$ SQUID system is developed for the application to biological immunoassay. In this application, magnetic nanoparticles are used as magnetic markers to perform immunoassay, i.e., to detect binding reaction between an antigen and its antibody. The antibody is labeled with ${\gamma}-Fe_2O_3\;(or\;Fe_3O_4)$ nanoparticles, and the binding reaction can be magnetically detected by measuring the magnetic field from the nanoparticles. Design and set up of the system is described. The system consists of (1) SQUID magnetometer or gradiometer made of 30-deg. bicrystal junctions, (2) field and compensation coils to apply the magnetic field of about 1 mT, (3) special Dewar to realize a 2 mm-distance between the SQUID and the sample, (4) two layers of cylindrical shielding to reduce the extemal magnetic noise to about 1/100, and (5) an electric slider to move the sample with a speed of 10 mm/sec. The sensitivity of the system is studied in terms of detectable magnetic flux. For the measurement bandwidth from 0.2 Hz to 10 Hz, minimum-detectable amplitude of the magnetic flux is $0.8\;m\;{\Phi}_o$ and $0.25\;m{\Phi}_o$ for the magnetometer and the gradiometer, respectively, when the magnetic field of 1 mT is applied. The difference between them is due to the residual environmental noise, and the applied magnetic field does not increase the system noise. The corresponding weight of the magnetic markers is 1 ng and 310 pg, respectively. An experiment is also conducted to measure antigen-antibody reaction with the present system. It is shown that the sensitivity of the present system is 10 times better than that of the conventional method using an optical marker. A one order of magnitude improvement of sensitivity will be realized by the sophistication of the present system.

• Journal of Sensor Science and Technology
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• v.22 no.2
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• pp.111-117
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• 2013

The autonomous driving method using magnetic sensors recognizes the position by measuring magnetic fields in autonomous robots or vehicles after installing magnetic markers in a moving path. The Position estimate method using magnetic sensors has an advantage of being affected less by variation of driving environment such as oil, water and dust due to the use of magnetic field. It also has the advantages that we can use the magnet as an indicator and there is no consideration for power and communication environment. In this paper, we propose an efficient sensor system for an autonomous driving vehicle supplemented for existing disadvantage. In order to efficiently eliminate geomagnetism, we analyze the components of the horizontal and vertical magnetic field. We propose an algorithm for position estimation and geomagnetic elimination to ease analysis, and also propose an initialization method for sensor applied in the vehicle. We measured and analyzed the developed system in various environments, and we verify the advantages of proposed methods.