• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.87-90
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• 1987

This paper gives the Sonic Range Finder(SRF) Array which detects the unknown obstacles on the mobile robot's path. This SRF Array gives mobile robot's circumstance information wider, processes and transfers them to the locomotion module to construct the modify path. In this system, 8 pairs of the 40 KHz ultrasonic sensors constitute the SRF Array, including a pair of reference sensors to correct the errors, 4051 analog multiplexer and demultiplexer swtch the sensor with time and 8031-on chip micro computer controls processes the data and communication the others.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38C no.4
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• pp.351-358
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• 2013

We propose a correction method of nonlinear frequency sweep in an FMCW(Frequency Modulated Continuous Wave) laser range finder. FMCW laser range finder requires linear frequency sweep for high resolution, and nonlinear frequency sweep makes the system performance degrade. In general, VCO(Voltage Controlled Oscillator) which is a component used for frequency modulation in FMCW method has nonlinear property. To correct the nonlinear frequency sweep, we utilize an auxiliary delay structure for generating trigger signal of ADC(Analog to Digital Converter). Because the trigger signal has same rate of change with the beat signal, the nonlinearity of the beat signal can be corrected. the experimental results show that the proposed method effectively eliminates the nonlinear frequency sweep problem and enhances the system performance.

• Proceedings of the Korean Nuclear Society Conference
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• 1996.05a
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• pp.399-404
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• 1996

We developed a non-contact shape measuring device using computer image processing technology. We present a method of calibrating a CCD video camera and a laser range finder which is the most important step toward making an accurate shape measuring system. An artificial neural network is used for the calibration. Our measurement system is composed of a semiconductor laser. a CCD video camera, a personal computer, and a linear motion table. We think that the developed system could be used for measuring the change in shape of the spent nuclear fuel rod before and after irradiation which is one of the most important tasks for developing a better nuclear fuel. A radiation shield is suggested for the possible utilization of the range finder in radioactive environment.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.10
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• pp.59-70
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• 1997

Until now, considerable progress has been made in the application of range finding techanique performing direct 3-D measurement from the object. However, ther are few use of the method in the area of the application of material handing. We present a range finding vision system consisting of static and dynamic range finders to automate a reclaimer used for material handling. A static range finder detects range data of the front part of the piles of material, and a height map is obtained from the proposed image processing algorithm. The height map is used to calculate the optimal job path as features for required information for material handling function. A dynamic range finder attached on the side of the arm of the reclaimer detects the change of the local properties of the material with the handling function, which is used for avoiding collision and detecting the ending point for changing direction. the developed vision systm was applied to a 1/20 simulator and the results of test show that it is appropriate to use for automating the material handling.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1996.06c
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• pp.591-597
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• 1996

To straighten the path that farm machinery follows in paddy fields, it is necessary to measure and evaluate the tracks that these machines leave behind. However, there are no known methods for making such measurements and evaluations since it is difficult to accurately trace the paths that the machine make in paddy fields. Therefore, a measuring system has been developed which can accurately recored the path of a farm machinery in a field by measuring the horizontal straight-line distance from the side of the field to the machine. This system consists of a track subsystem on the machine and a range finder system. A measuring appraratus is installed on a flatcar which runs on rails over 50 m long at the side of the filed. The track subsystem uses a CCD camera to track the movement of the machine in the field which is following a lengthwise path. The range finder subsystem measures the distance that the measuring apparatus has traveled on the rails and the distance from the app ratus to the machine in the field. This system makes it possible to record the path that the machine travels. Even though differences in traveling distance arise between the measuring apparatus and the farm machine, these differences are detected by image processing , which allows the machine in the field to be located accurately. The short(0.05 second) time required for image processing is enough to follow an object . In the present study, this system was able to measure the path that a moving tractor makes. Even though a lag of up to 0.4 meters occurred, this system did not miss its target during operation of the track subsystem. Thus the path measuring system developed here is able to record vehicle paths automatically by following the movement of vehicles in the field and measuring the distance to them. It is expected to come into use in such applications as unmanned moving vehicle tests.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.106-109
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• 2004

In this project, we have developed the eye-safe LRF system of 1.54 ${\mu}{\textrm}{m}$ wavelength using OPO. The maximum measured distance was 3.7km in outdoor experiment. We used Nd：YAG (1064nm) as a laser medium. It was applied BBO to construct the system. We also developed a time-counter for the range finder using a method of TOF (time of flight). The counter-clock used at the time counter was 320MHz making resolution within $\pm$1m. Start and stop signals were detected by two channel systems using PIN and APD. The LRF's repetition rate was 4 times per minute. The energy was measured to be over 9mJ. And, pulse-duration was 23ns. Resolution was $\pm$2m at the distance measurement using a target.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.724-728
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• 2005

This paper represents a development of a range finder sensor module for indoor 2-D mapping and modified Hough transformation for map building. A range finder sensor module has been developed by using optic PSD (Position Sensitive Detector) sensor array at a low price. While PSD sensor is cost effective and light weighting, it has switching noise and white noise. To remove these noises, we propose a heuristic filter. For line-based map building, also we proposed advanced Hough transformation and navigation algorithm. Some experiments were illustrated for the validity of the developed system.

• Journal of electromagnetic engineering and science
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• v.7 no.4
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• pp.161-168
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• 2007

A fast correlative vector direction finding(CVDF) system using active dipole antenna array for mobile direction finding(DF) applications is presented. To develop the CVDF system, the main elements such as active dipole antenna, multi-channel direction finder, and search receiver are designed and analyzed. The active antenna is designed as composite structure to improve the filed strength sensitivity over the wide frequency range, and the multi-channel direction finder and search receiver are designed using DDS-based PLL with settling time of below 35 us to achieve short signal processing time. This system provides the capabilities of the high DF sensitivity over the wide frequency range and allows for high probability of intercept and accurate angle of arrival(AOA) estimation for agile signals. The design and performance analysis according to the external noise and modulation schemes of the CVDF system with five-element circular array are presented in detail.

• The Journal of Korea Robotics Society
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• v.6 no.1
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• pp.86-96
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• 2011

The human-following is one of the significant procedure in human-friendly navigation of mobile robots. There are many approaches of human-following technology. Many approaches have adopted various multiple sensors such as vision system and Laser Range Finder (LRF). In this paper, we propose detection and tracking approaches for human legs by the use of a single LRF. We extract four simple attributes of human legs. To define the boundary of extracted attributes mathematically, we used a Support Vector Data Description (SVDD) scheme. We establish an efficient leg-tracking scheme by exploiting a human walking model to achieve robust tracking under occlusions. The proposed approaches were successfully verified through various experiments.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.317-318
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• 2007

One of the important factors of the autonomous mobile robot is to build a map for surround environment and estimate its localization. This paper suggests a sensor fusion method of laser range finder and monocular vision sensor for the simultaneous localization and map building. The robot observes the comer points in the environment as features using the laser range finder, and extracts the SIFT algorithm with the monocular vision sensor. We verify the improved localization performance of the mobile robot from the experiment.