• 제어로봇시스템학회:학술대회논문집
• /
• 1986.10a
• /
• pp.383-386
• /
• 1986

In this paper, ultrasonic range finding module for the self-contained robot, INHAE-1, is presented. This system is processed, using Z-80 microprocessor, a much of information on the surrounding condition in real time and is realted a sensor for many side data acqusition with a stepping motor. Also this system can obtain the more correct edge of the obstacle using the standard deviation of the least-square method. In this experiment, it gives more correct information to mobile robot of the blind guidance and improves the orientation of the robot path.

• Proceedings of the KIEE Conference
• /
• 1990.07a
• /
• pp.467-470
• /
• 1990

This thesis presents a simple heuristic algorithm which can be applied. to a quadruped wafting vehicle for increasing the terrain adaptability. The proposed method controls a leg length which is in tranfer phase to maintain initial orientation of the robot body by using FSR type force sensors attached to foot-tips. Also, some basic experiments using the vehicle are performed to demonstrate the effectiveness of the algorithm.

• Proceedings of the KIEE Conference
• /
• 1997.07b
• /
• pp.571-574
• /
• 1997

항법장치의 핵심요소인 가속도센서와 자이로센서는 선형거리추측(Linear position estimation)과 각 변위 추측(orientation estimation)시 출력 데이터에 포함된 오차성분의 적분에 의하여 시간이 증가함에 따라 선형거리 오차와 각 변위 오차가 누적된다. 이에 따라 본 논문에서는 정밀한 항법을 위한 저가의 IMU (Inertial Measurement Unit)를 설계하고, 오차성분의 사전해석을 통하여 정확한 오차모델을 찾는데 그 목적이 있다.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2012.04a
• /
• pp.155-158
• /
• 2012

본 논문에서는 스마트폰에 장착된 여러 가지 센서들의 센서 값을 수집하는 안드로이드 애플리케이션을 소개하고, 실제로 수집한 데이터를 분석한다. 분석을 위하여 일반적인 통계 분석 도구인 R을 사용한다. 분석 결과 어떤 센서 (Azimuth를 비롯한 orientation 센서) 값은 실용성이 있는 수준으로 정확하다는 것을 알 수 있었으나 또 다른 센서는 (밝기 센서 등) 잡음이 매우 심함을 보인다.

• International Journal of Ocean System Engineering
• /
• v.2 no.4
• /
• pp.223-232
• /
• 2012

For the accurate estimation of the position and orientation of a UUV (unmanned underwater vehicle), a low-cost AHRS (attitude heading reference system) was developed using a low-cost IMU (inertial measurement unit) sensor which provides information on the 3D acceleration, 3D turning rate and 3D earth-magnetic field data in the object coordinate system. The main hardware system is composed of an IMU sensor (ADIS16405) and TMS320F28335, which is coded with an extended kalman filter algorithm with a 50-Hz sampling frequency. Through an experimental gimbal device, good estimation performance for the pitch, roll, and yaw angles of the developed AHRS was verified by comparing to those of a commercial AHRS called the MTi system. The experimental results are here presented and analyzed.

• Proceedings of the Korean Institute of Industrial Safety Conference
• /
• 2003.10a
• /
• pp.113-117
• /
• 2003

The reliability of machined fiber reinforced composites (FRC) in high strength applications and the safety in using these components are often critically dependent upon the quality of surface produced by machining since the surface layer may drastically affect the strength and chemical resistance of the material [1,2,3,4]. Current study will discuss the characterization of fiber pull-out in orthogonal cutting of a fiber-matrix composite materials. A sparsely distributed idealized model composite material, namely a glass reinforced polyester (GFRP) was used as workpiece. Analysis method employs a force sensor and the signals from the sensor are processed using AR time series model. The experimental correlation between the fiber pull-out and the AR coefficients is examined first and effects of fiber orientation, cutting parameters and tool geometry on the fiber pull-out are also discussed.

• Journal of Biomedical Engineering Research
• /
• v.28 no.3
• /
• pp.363-368
• /
• 2007

Most surgery illumination systems have been developed as passive systems. However, sometimes it is inconvenient to relocate the position of the illumination system whenever the surgeon changes his pose. To cope with such a problem, this study develops an auto-illumination system that is autonomously tracking the surgeon's movement. A 5-DOF serial type manipulator system that can control (X, Y, Z, Yaw, Pitch) position and secure enough workspace is developed. Using 3 ultrasonic sensors, the surgeon's position and orientation could be located. The measured data aresent to the main control system so that the robot can be auto-tracking the target. Finally, performance of the developed auto-illuminating system was verified through a preliminary experiment in the operating room environment.

• Journal of Astronomy and Space Sciences
• /
• v.31 no.3
• /
• pp.205-214
• /
• 2014

In this study, a star identification algorithm which utilizes pivot patterns instead of apparent magnitude information was developed. The new star identification algorithm consists of two steps of recognition process. In the first step, the brightest star in a sensor image is identified using the orientation of brightness between two stars as recognition information. In the second step, cell indexes are used as new recognition information to identify dimmer stars, which are derived from the brightest star already identified. If we use the cell index information, we can search over limited portion of the star catalogue database, which enables the faster identification of dimmer stars. The new pivot algorithm does not require calibrations on the apparent magnitude of a star but it shows robust characteristics on the errors of apparent magnitude compared to conventional pivot algorithms which require the apparent magnitude information.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.2
• /
• pp.108-115
• /
• 2011

This paper describes a new sensor system for mobile robot motion estimation using stereo infrared light sources and a camera. Visibility is being applied to robotic obstacle avoidance path planning and localization. Using simple visibility computation, the environment is partitioned into many visibility sectors. Based on the recognized edges, the sector a robot belongs to is identified and this greatly reduces the search area for localization. Geometric modeling of the vision system enables the estimation of the characteristic pixel position with respect to the robot movement. Finite difference analysis is used for incremental movement and the error sources are investigated. With two characteristic points in the image such as vertices, the robot position and orientation are successfully estimated.

• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.12
• /
• pp.1169-1174
• /
• 2009

In this paper, a prototype of implementable Sun tracking algorithm for mobile systems powered by alternative energy is proposed. The proposed system uses 2-axis tilt sensor and 3-axis magnetic sensor to measure orientation and posture of the system according to the horizon coordinates system, which are used to compensate tilt effects. Then through astronomical calculation using the present time and position informations obtained from GPS sensors, the calculated azimuth and altitude of the Sun in that location. The position of the Sun is converted to that of the mobile Sun tracking system coordinates and used to control A-axis and C-axis of the system.