• Journal of Sensor Science and Technology
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• v.13 no.2
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• pp.133-138
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• 2004

Today, the obstacle detection system has massive size and restrictive detection range. To solve these problems, this paper proposes the capacitance variation detector using the variated capacitance value as a result of the obstacle approaching. If obstacle approaches, the capacitance value of capacitance sensor is increased and the operating frequency of oscillator is decreased. Then this changed frequency appears to the output of the mixer that operate down conversion. The capacitance variation detector is produced by Hynix$0.35{\mu}$ CMOS process. In experiment result, the frequency of final output is 6.81 MHz at no obstacle and 31.45 MHz at approaching obstacle. In conclusion, proposed capacitance variation detector has small size, low power consumption and easiness to set up anywhere. So it is expected to substitute the obstacle detector.

• Proceedings of the KIEE Conference
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• 2003.10b
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• pp.286-288
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• 2003

Accidents at level crossing where railways and roads cross cause many casualties because of collision of cars etc and it also has a risk of the 2nd accident of trains. it is the most vulnerable point in the railway safety. Fundamental solution for accidents at level crossing is making the crossings cubic. but it can't be easily progressed because of environmental and financial difficulties. every kind of anti-accident measures are being strived for. one of the strived results is level crossing obstacle detector which automatically detects obstacles like defected cars etc in the middle of level crossing and transmits the information of obstacles to the approaching train. However present level crossing obstacle auto detector needs high expenses to be installed and has difficulties that lenses of beam transmitter, beam receiver should be cleaned in snowing winter. this document reviews level crossing obstacle auto detector using ultrasonic sensor to measure these difficulties.

• IEMEK Journal of Embedded Systems and Applications
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• v.6 no.5
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• pp.281-286
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• 2011

FMCW Radar sensor is commonly used for an automobile collision avoidance system for rider's safe. Systems using FMCW radar, however, would be one of expensive solutions for just simple rear obstacle detection purpose due to its high cost. In this letter, a short range rear obstacle detector using novel 24GHz AM radar sensor is presented. It can be implemented at significantly lower cost than FMCW radar for practical commercialization. The proposed AM radar sensor module is fabricated in a single aluminum housing to reduce the overall size while using single power supply voltage of 12V with 1200mA current for automotive applications. The measured detection range is up to 210cm with 10cm of distance resolution, which is suitable for a parking assistance system for automobiles.

• Journal of Advanced Marine Engineering and Technology
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• v.37 no.7
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• pp.737-742
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• 2013

Recently, unmanned aircrafts for safe measurement in hazardous locations have been developed. In a method of operation of unmanned aircraft vehicles (UAV), there are two methods of manual control and automatic control. Small UAVs are used for low altitude surveillance flights where unknown obstacles can be encountered. Obstacle avoidance is one of the most challenging tasks which the UAV has to perform with high level of accuracy. In this study, we used a laser range finder as an obstacle detector in automatic navigation of unmanned aircraft to patrol the destination automatically. We proposed a system to avoid obstacles automatically by measuring the angle and distance of the obstacle using the laser range finder.

• The Journal of Korea Robotics Society
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• v.3 no.3
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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.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.7
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• pp.1444-1450
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• 2011

An analysis of the causes of railroad crossing accidents reveals that most train collision accidents that occur when safety crossing devices are functioning normally occur because vehicles either experience engine failure on the tracks or because drivers were not notified of the coming train, in which case they get trapped on the tracks when the crossing barriers descend. To prevent such an accident, obstacle detection device by using laser beams detecting the presence of obstacle and crossing bar direction controller by moving direction detection sensor using the Earth's magnetic field detection technology are used in the railroad crossing. Despite using the obstacles detector and crossing bar direction controller in the railroad crossing, the equipments for the railroad crossing does not prevent accidents completely. Therefore, this research has studied new method that can detect obstacles through image analyze and alternate existing equipments. There will be excellent effect to be preventing railroad crossing accident by developing a reliable and new obstacle detecting device.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.5
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• pp.463-468
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• 2010

An obstacle avoidance method for a mobile robot is proposed in this paper. Our research was focused on the obstacles that can be found indoors since a robot is usually used within a building. It is necessary that the robot maintain the desired direction after successfully avoiding the obstacles to achieve a good autonomous navigation performance for the specified project mission. Sensors such as laser, ultrasound, and PSD (Position Sensitive Detector) can be used to detect and analyze the obstacles. A PSD sensor was used to detect and measure the height and width of the obstacles on the floor. The PSD sensor was carefully calibrated before measuring the obstacles to achieve better accuracy. Data obtained from the repeated experiments were used to plot an error graph which was fitted to a polynomial curve. The polynomial equation was used to navigate the robot. We also obtained a direction-error model of the robot after avoiding the obstacles. The prototypes for the obstacle and direction-error were modeled using a neural network whose inputs are the obstacle height, robot speed, direction of the wheels, and the error in direction. A mobile robot operated by a notebook computer was setup and the proposed algorithm was used to navigate the robot and avoid the obstacles. The results showed that our algorithm performed very well during the experiments.

• IEMEK Journal of Embedded Systems and Applications
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• v.3 no.3
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• pp.136-142
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• 2008

Mobile robots can offer services like intelligent monitoring in an indoor environment using network connection with remote users. In this paper, we designed and developed a networked security robot system with various sensors, such as flame detector, gas detector, sound monitoring module, and temperature sensor, etc. The robot can be accessed through a web service and the user can check the status of the environment. Using ADAMS software, we defined the motor specification for a worst-case condition of climbing over a obstacle. We applied the robot system in monitoring office condition.

• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.4
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• pp.237-243
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• 2014

In this paper we present an real-time obstacle avoidance technique of autonomous mobile robot with steering system and implementation of user interface for mobile devices with Android platform. The direction of autonomous robot is determined by virtual force field concept, which is based on the distance information acquired from 5 ultrasonic sensors. It is converted to virtual repulsive force around the autonomous robot which is inversely proportional to the distance. The steering system with PD(proportional and derivative) controller moves the mobile robot to the determined target direction. We also use PSD(position sensitive detector) sensors to supplement ultrasonic sensors around dead angle area. The mobile robot communicates with Android mobile device and PC via Ethernet. The video information from CMOS camera mounted on the mobile robot is transmitted to Android mobile device and PC. And the user can control the mobile robot manually by transmitting commands on the user interface to it via Ethernet.

• Journal of the Korea Convergence Society
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• v.8 no.12
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• pp.23-29
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• 2017

This paper introduces the mold technology for the development of ultra-compact package of less than 1mm, and also analyze the error pattern of the results using this mold technology. The existing ultra-small mold structure was one-piece, which caused the surface of EDM to be rough and increase the error rate. This has been an obstacle to further reducing the size of the mold. On the other hand, the proposed mold technology tries to overcome the limitation of the one-piece type by using the prefabricated type method. This paper also classify defect patterns in the results of the proposed mold structure and analyze the occurrence probability of each pattern to use as a basic data to develop a detector.