• 대한임베디드공학회논문지
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• 제15권5호
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• pp.215-225
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• 2020

Light detection and ranging (LiDAR) sensors detect the distance of the surrounding environment and objects. Conventional LiDAR sensors require a certain amount of a power because they detect objects by transmitting lasers at a regular interval depending on a constant resolution. The constant power consumption from operating multiple LiDAR sensors is detrimental to autonomous and electric vehicles using battery power. In this paper, we propose two algorithms that improve the inefficient power consumption during the constant operation of LiDAR sensors. LiDAR sensors with algorithms efficiently reduce the power consumption in two ways: (a) controlling the resolution to vary the laser transmission period (T_P) of a laser diode (LD) depending on the vehicle's speed and (b) reducing the static power consumption using a sleep mode depending on the surrounding environment. A proposed LiDAR sensor with a resolution control algorithm reduces the power consumption of the LD by 6.92% to 32.43% depending on the vehicle's speed, compared to the maximum number of laser transmissions (N_x·max). The sleep mode with a surrounding environment-sensing algorithm reduces the power consumption by 61.09%. The proposed LiDAR sensor has a risk factor for 4-cycles that does not detect objects in the sleep mode, but we consider it to be negligible because it immediately switches to an active mode when a change in surrounding conditions occurs. The proposed LiDAR sensor was tested on a commercial processor chip with the algorithm controlling the resolution according to the vehicle's speed and the surrounding environment.

• 대한의용생체공학회:의공학회지
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• 제30권6호
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• pp.516-520
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• 2009

The purpose of this study is to determine optimal filtering condition and threshold for the detection of gait-cycles for various walkway slopes as well as gait velocities. Ten young healthy subjects with accelerometer system on thigh and ankle walked on a treadmill at 9 conditions (three speeds and three slopes) for 5 minutes. Two direction signals, i.e. anterior-posterior (AP) and superior-inferior (SI) directions, of each sensor (four sensor orientations) were used to detect specific events of gait cycle. Variation of the threshold (from -1G to 1G) and lowpass cutoff frequency (fc) were applied to the event detection and their performance was evaluated according to the error index (EI), which was defined as the combination of the accuracy and false positive rate. Optimal fc and threshold were determined for each slope in terms of the EI. The optimal fc, threshold and their corresponding EI depended much on the walkway slope so that their coefficients of variation (CV) ranged 19~120%. When all data for 3 slopes were used in the identification of optimal conditions for each sensor, the best error indices for all sensor orientations were comparable ranging 1.43~1.76%, but the optimal fc and threshold depended much on the sensor position. The result indicates that the gait-cycle detection robust to walkway slope is possible by threshold method with well-defined filtering condition and threshold.

• 한국진공학회:학술대회논문집
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• 한국진공학회 2011년도 제40회 동계학술대회 초록집
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• pp.66-66
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• 2011

Anodic titanium dioxide (TiO2) nanotubes are very attractive materials for gas sensors due to its large surface to volume ratios. The most widely known method for fabrication of TiO2 nanotubes is anodic oxidation of metallic Ti foil. Since the remaining Ti substrate is a metallic conductor, TiO2 nanotube arrays on Ti are not appropriate for gas sensor applications. Detachment of the TiO2 nanotube arrays from the Ti Substrate or the formation of electrodes onto the TiO2 nanotube arrays have been used to demonstrate gas sensors based on TiO2 nanotubes. But the sensitivity was much lower than those of TiO2 gas sensors based on conventional TiO2 nanoparticle films. In this study, Ti thin films were deposited onto a SiO2/Si substrate by electron beam evaporation. Samples were anodized in ethylene glycol solution and ammonium fluoride (NH4F) with 0.1wt%, 0.2wt%, 0.3wt% and potentials ranging from 30 to 60V respectively. After anodization, the samples were annealed at $600^{\circ}C$ in air for 1 hours, leading to porous TiO2 films with TiO2 nanotubes. With changing temperature and CO concentration, gas sensor performance of the TiO2 nanotube gas sensors were measured, demonstrating the potential advantages of the porous TiO2 films for gas sensor applications. The details on the fabrication and gas sensing performance of TiO2 nanotube sensors will be presented.

• 센서학회지
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• 제32권3호
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• pp.169-173
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• 2023

With the increasing concern of global warming caused by greenhouse gases owing to the recent industrial development, there is a growing need for advanced technology to control these emissions. Among the various greenhouse gases, nitrogen dioxide (NO₂) is a major contributor to global warming and is mainly released from sources, such as automobile exhaust and factories. Although semiconductor-type NO₂ gas sensors, such as SnO₂, have been extensively studied, they often require high operating temperatures and complicated manufacturing processes, while lacking selectivity, resulting in inaccurate measurements of NO₂ gas levels. To address these limitations, a novel sensor using PbS quantum dots (QDs) was developed, which operates at low temperatures and exhibits high selectivity toward NO₂ gas owing to its strong oxidation reaction. Furthermore, the use of P3HT conductive polymer improved the thin film quality, reactivity, and reaction rate of the sensor. The sensor demonstrated the ability to accurately measure NO₂ gas concentrations ranging from 500 to 100 ppm, with a 5.1 times higher sensitivity, 1.5 times higher response rate, and 1.15 times higher recovery rate compared with sensors without P3HT.

• International Journal of Aeronautical and Space Sciences
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• 제11권4호
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• pp.338-344
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• 2010

This paper discusses the development of the control system of a mini quadrotor in Konkuk University for indoor applications. The attitude control system consists of a stability augmentation system, which acts as the inner loop control, and a modern control approach based on modeling will be implemented as the outer loop. The inner loop control was experimentally satisfied by a proportional-derivative controller; this was used to support the flight test in order to validate the modeling. This paper introduces the mathematical model for the simulation and design of the optimal control on the outer loop control. To perform the experimental tests, basic electronic hardware was developed using simple configurations; a microcontroller used as the embedded controller, a low-cost 100 Hz inertial sensors used for the inertial sensing, infra-red sensors were employed for horizontal ranging, an ultrasonic sensor was used for ground ranging and a high performance propeller system built on an quadrotor airframe was also employed. The results acquired from this compilation of hardware produced an automatic hovering ability of the system with ground control system support for the monitoring and fail-safe system.

• 한국분무공학회지
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• 제17권1호
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• pp.14-19
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• 2012

The present study conducts experimental investigation on spreading and deposition characteristics of a $4.3{\mu}l$ de-ionized (DI) water droplet impacting upon aluminum (Al 6061) flat and textured surfaces. The micro-textured surface consisted the micro-hole arrays (hole diameter: $125{\mu}m$, hole depth: $125{\mu}m$) fabricated by the conventional micro-computer numerical control (${\mu}$-CNC) milling machine process. We examined the surface effect of texture area fraction ${\varphi}_s$ ranging from 0 to 0.57 and impact velocity of droplet ranging from 0.40 m/s to 1.45 m/s on spreading and deposition characteristics from captured images. We used a high-speed camera to capture sequential images for investigate spreading characteristics and the image sensor to capture image of final equilibrium deposition droplet for analyze spreading diameter and contact angle. We found that the deposition droplet on textured surfaces have different wetting states. When the impact velocity is low, the non-wetting state partially exists, whereas over 0.64 m/s of impact velocity, totally wetting state is more prominent due to the increase kinetic energy of impinging droplet.

• ETRI Journal
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• 제43권4호
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• pp.603-616
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• 2021

Over the last few years, autonomous vehicles have progressed very rapidly. The odometry technique that estimates displacement from consecutive sensor inputs is an essential technique for autonomous driving. In this article, we propose a fast, robust, and accurate odometry technique. The proposed technique is light detection and ranging (LiDAR)-based direct odometry, which uses a spherical range image (SRI) that projects a three-dimensional point cloud onto a two-dimensional spherical image plane. Direct odometry is developed in a vision-based method, and a fast execution speed can be expected. However, applying LiDAR data is difficult because of the sparsity. To solve this problem, we propose an SRI generation method and mathematical analysis, two key point sampling methods using SRI to increase precision and robustness, and a fast optimization method. The proposed technique was tested with the KITTI dataset and real environments. Evaluation results yielded a translation error of 0.69%, a rotation error of 0.0031°/m in the KITTI training dataset, and an execution time of 17 ms. The results demonstrated high precision comparable with state-of-the-art and remarkably higher speed than conventional techniques.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제14권1호
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• pp.131-147
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• 2020

RFID (Radio Frequency Identification) identifies a specific object by radio signals. As the tag provides a unique ID for the purpose of identification, RFID technology effectively solves the ambiguity and occlusion problem that challenges the laser or camera-based approach. This paper proposes an approach to track a moving object based on the integration of RFID and laser ranging information using a particle filter. To be precise, we split laser scan points into different clusters which contain the potential moving objects and calculate the radial velocity of each cluster. The velocity information is compared with the radial velocity estimated from RFID phase difference. In order to achieve the positioning of the moving object, we select a number of K best matching clusters to update the weights of the particle filter. To further improve the positioning accuracy, we incorporate RFID signal strength information into the particle filter using a pre-trained sensor model. The proposed approach is tested on a SCITOS service robot under different types of tags and various human velocities. The results show that fusion of signal strength and laser ranging information has significantly increased the positioning accuracy when compared to radial velocity matching-based or signal strength-based approaches. The proposed approach provides a solution for human machine interaction and object tracking, which has potential applications in many fields for example supermarkets, libraries, shopping malls, and exhibitions.

• 센서학회지
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• 제29권1호
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• pp.14-18
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• 2020

This study investigates the nitrogen dioxide (NO₂) sensing characteristics of an Si MOSFET gas sensor with a tungsten trioxide (WO₃) sensing layer deposited using the sputtering method. The Si MOSFET gas sensor consists of a horizontal floating gate (FG) interdigitated with a control gate (CG). The WO₃ sensing layer is deposited on the interdigitated CG-FG of a field effect transistor(FET)-type gas sensor platform. The sensing layer is deposited with different thicknesses of the film ranging from 100 nm to 1 ㎛ by changing the deposition times during the sputtering process. The sensing characteristics of the fabricated gas sensor are measured at different NO₂ concentrations and operating temperatures. The response of the gas sensor increases as the NO₂ concentration and operating temperature increase. However, the gas sensor has an optimal performance at 180℃ considering both response and recovery speed. The response of the gas sensor increases significantly from 24% to 138% as the thickness of the sensing layer increases from 100 nm to 1 ㎛. The sputtered WO₃ film consists of a dense part and a porous part. As reported in previous work, the area of the porous part of the film increases as the thickness of the film increases. This increased porous part promotes the reaction of the sensing layer with the NO₂ gas. Consequently, the response of the gas sensor increases as the thickness of the sputtered WO₃ film increases.

• 전자공학회논문지
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• 제49권10호
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• pp.60-68
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• 2012

무선 센서 네트워크의 응용분야가 확장됨에 따라 대용량 측정 데이터의 전송에 대하여 에너지 효율성과 실시간성이 요구되고 있다. 본 논문에서는 센서 노드의 수집 데이터가 갖는 시간적 상관관계를 이용하여 센서 노드의 데이터 전송량을 감소시킴으로써, 에너지 효율성을 높이고 통신 지연을 단축시킬 수 있는 적응적 데이터 제한기법을 제안한다. 센서 노드에서는 적응적 데이터 제한기법을 이용하여 전송하는 측정값의 개수를 줄이고, 싱크 노드에서는 선형 보간법을 통하여 누락된 데이터를 복원한다. 제안하는 기법은 전송량 감소효과가 높아지더라도 데이터 품질의 큰 저하 없이 측정된 신호의 특성을 복원할 수 있다. 이 기법은 센서 데이터를 일정 구간으로 나누고, 그 구간 안에서 신호의 복잡도에 따라 싱크 노드로 전송하는 측정값의 개수를 다르게 한다. 측정 윈도우 내에서 신호의 복잡도는 기울기 변화량의 절대값이 임계치를 벗어나는 측정점의 개수를 기준으로 하였다. 제안하는 기법의 유효성을 확인하기 위해 4개의 샘플 데이터에 대하여 시뮬레이션을 통한 성능평가를 수행하였으며, 그 결과 3종의 샘플에서 6.8% 왜곡율에서 전송되는 측정값의 개수가 90%감소하는 효과를 얻었다.