• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.824-827
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• 1996

Most autonomous mobile robots view things only in front of them. As a result, they may collide against objects moving from the side or behind. To overcome the problem we have built an Active Omni-directional Range Sensor that can obtain omnidirectional depth data by a laser conic plane and a conic mirror. In the navigation of the mobile robot, the proposed sensor system makes a laser conic plane by rotating the laser point source at high speed and achieves two dimensional depth map, in real time, once an image capture. The experimental results show that the proposed sensor system provides the best potential for navigation of the mobile robot in uncertain environment.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 심포지엄 논문집 정보 및 제어부문
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• pp.339-341
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• 2006

This paper proposes a method of container position measurement using automatic landing system that is estimated by a laser range finder. In the most of container position measurement methods, CCD cameras or laser scanners have been used to get the source data. However those sensors are not only weak for disturbances, for examples, the light, fog, and rain, but also the system cost is high. When the spreader arrives the goal position, it is still swung by inertia or by wind effect. In this paper, the spreader swung data have been used to find the container position. The laser range finder is equipped in the front side of spreader. It can measure distance and relative position between spreader and container. This laser range finder can be rotated as desired by a motor. And a tilt sensor is equipped on the spreader to measure spreader sway. We estimate the relative position information between the spreader and a container using the laser range finder and tilt sensor through the geometrical analysis.

• 한국자동차공학회논문집
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• 제18권2호
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• pp.48-55
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• 2010

We have development the steering angle sensor using not only detecting parts but also integrating technique with semiconductors for automobile applications. The performance design and analysis of the steering angle sensor for intelligent vehicles is complicated due to variety of parameters. In this study, the performance characteristics of the angle sensor were analyzed using test rig. By means of magnetic induction technique, these new the steering angle sensors showed excellent magnetic characteristics. The detection range of steering angle sensor obtained was ${\pm}800^{\circ}$, the maximum non-linearity is 0.744% Full Span and the temperature range was $-40^{\circ}C{\sim}+125^{\circ}C$. With this conclusive, the inductive angle sensor was quite satisfactory for many applications in intelligent vehicles.

• 한국정밀공학회지
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• 제16권1호통권94호
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• pp.253-264
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• 1999

Most autonomous mobile robots view only things in front of them, and as a result, they may collide with objects moving from the side or behind. To overcome this problem. an Active Omni-directional Range Sensor System has been built that can obtain an omni-directional range data through the use of a laser conic plane and a conic mirror. Also, mobile robot has to know its current location and heading angle by itself as accurately as possible to successfully navigate in real environments. To achieve this capability, we propose a self-localization algorithm of a mobile robot using an active omni-directional range sensor in an unknown environment. The proposed algorithm estimates the current position and head angle of a mobile robot by a registration of the range data obtained at two positions, current and previous. To show the effectiveness of the proposed algorithm, a series of simulations was conducted and the results show that the proposed algorithm is very efficient, and can be utilized for self-localization of a mobile robot in an unknown environment.

• 대한전기학회논문지
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• 제39권4호
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• pp.386-392
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• 1990

This paper discribes a sonar-based certainty grid, the probabilistic representation of the uncertain and incomplete sensor knowledge, for autonomous mobile robot navigation. We use sonar sensor range data to build a map of the robot's surroundings. This range data provides information about the location of the objects which may exist in front of the sensor. From this information, we can compute the probability of being occupied and that of being empty for each cell. In this paper, a new method using Bayesian formula is introduced, which enables us to overcome some difficulties of the Ad-Hoc formula that has been the only way of updating the grids. This new formula can be applied to other kinds of sensors as well as sonar sensor. The validity of this formula in the real world is verified through simulation and experiment. This paper also shows that a wide angle sensor such as sonar sensor can be used effectively to identify the empty area, and the simultaneous use of multiple sensors and fusion in a certainty grid can improve the quality of the map.

• 센서학회지
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• 제26권2호
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• pp.85-90
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• 2017

A wide dynamic range (WDR) CMOS image sensor (CIS) was developed with a specialized readout architecture for realizing high-sensitivity (HS) and low-sensitivity (LS) reading modes. The proposed pixel is basically a three-transistor (3T) active pixel sensor (APS) structure with an additional transistor. In the developed WDR CIS, only one mode between the HS mode for relatively weak light intensity and the LS mode for the strong light intensity is activated by an external controlling signal, and then the selected signal is read through each column-parallel readout circuit. The LS mode is implemented with the column capacitors and a feedback structure for adjusting column capacitor size. In particular, the feedback circuit makes it possible to change the column node capacitance automatically by using the incident light intensity. As a result, the proposed CIS achieved a wide dynamic range of 94 dB by synthesizing output signals from both modes. The prototype CIS is implemented with $0.18-{\mu}m$ 1-poly 6-metal (1P6M) standard CMOS technology, and the number of effective pixels is 176 (H) ${\times}$ 144 (V).

• 전기학회논문지P
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• 제57권4호
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• pp.400-403
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• 2008

In this work, an individual trespassing detector using a PIR sensor to detect infrared rays only between the range of $9.4{\sim}10.4{\mu}m$ radiated from the body is proposed. This detector using FIR sensor detects not insect or object but human body, It doesn't restrict the inhabitant's behavior because the filter of pm sensor is designed to have face angle and the detector only detects the window area. The existing wide angle filter, RIR sensor, detects $30^{\circ}$ angle while the face angle filter sensor on this paper detects $11^{\circ}$ angle with 3cm of face angle filter from 2m of detecting distance. In case of interruption of electric power, 250mAh of lithium-ion battery has worked for 10 hours consuming 22mA in normal state. Meanwhile, in case of interruption of electric power, 250mAh of battery has worked for 4 hours consuming 60mA in trespassing detecting state. Projector, receptor, controller and alarm are put on one PCB in order to make it convenient to install without any special installation skill.

• 한국화재소방학회논문지
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• 제23권6호
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• pp.75-81
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• 2009

화재감지 데이터 전송에 있어서 기존의 유선기반의 전송선로보다 설치에 용이하고 다양한 정보수집에 효율성이 높은 무선기반의 USN망이 대안으로 제시되고 있다. 그러나 USN망 구축에 사용되는 센서노드의 무선전송거리 및 정보의 신뢰성에 대해서는 문제점이 대두되고 있다. 본 연구에서는 국제적 표준규격 지그비 프로토콜을 사용하여 센서노드를 구현하였다. 제안한 센서노드 사이에 전송거리 및 수신된 정보의 신뢰성을 검증하고자 테스트 전압 3V와 5V를 센서노드 입력단자에 인가하고, 실내에서 10m씩 거리를 증가시켜 실험한 결과 최대 유효전송거리가 90m 내외임을 확인하였다. 또한, Mesh Routing 중계센서노드를 사용했을 때 전송거리에는 제한이 없었다. 제안한 센서노드로 USN망을 구축하고 실제 화재감지센서를 센서노드 입력단자에 연결하여 전송하였을 때 센서에서 직접측정 한 데이터와 USN망으로 전송하여 수집된 화재감지데이터가 잘 일치하였다. 따라서 제안한 센서노드의 화재감지정보 전송용 USN망 구축에 있어서 전송거리 및 정보의 신뢰성이 확인 되었다.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 2001년도 가을 학술발표회 논문집
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• pp.391-396
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• 2001

In order to estimate thermal cracking in mass concrete and to decide the removal time of the forms outside the concrete structures in wintertime, temperature measurement is indispensible. Until now, the measurement system employs thermocouple type. In this paper, we introduce economical and accurate NTC(Negative Temperature Coefficient) ceramic type measurement system. In principle, NTC ceramic type sensor is very sensitive in the range -20~15$0^{\circ}C$. In this range, the signal change is so large that the sensor needs less amplification than thermocouple. Therefore, not only the sensor itself is inexpensive but also the system is too. In this experiments the temperature of the NTC system are identical to those of thermocouple. In conclusion, inexpensive NTC thermistor system is very adequate to the temperature measurement during concrete curing.

• 정보통신설비학회논문지
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• 제8권3호
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• pp.152-156
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• 2009

This paper designs and implements wake up module for WBAN/USN sensor node which is using dynamic reference voltage demodulation circuit. When a comparator is used in a system for detecting received voltage level, comparator must have a reference voltage. However, the reference voltage is fixed, the system can communicate only a few range because received voltage level is changing widely due to distance of the wireless sensor nodes. Therefore, the proposed wake up module employs a dynamic reference voltage demodulation circuit for increasing communication range.