• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.2
• /
• pp.218-222
• /
• 2014

In this paper, we introduce an autonomous calibration method for a 2D laser displacement sensor (e.g. laser vision sensor and laser range finder) by matching a single point on a flat structure. Many arc welding robots install a 2D laser displacement sensor to expand their application by recognizing their environment (e.g. base metal and seam). In such systems, sensing data should be transformed to the robot's coordinates, and the geometric relation (i.e. rotation and translation) between the robot's coordinates and sensor coordinates should be known for the transformation. Calibration means the inference process of geometric relation between the sensor and robot. Generally, the matching of more than 3 points is required to infer the geometric relation. However, we introduce a novel method to calibrate using only 1 point matching and use a specific flat structure (i.e. circular hole) which enables us to find the geometric relation with a single point matching. We make the rotation component of the calibration results as a constant to use only a single point by moving a robot to a specific pose. The flat structure can be installed easily in a manufacturing site, because the structure does not have a volume (i.e. almost 2D structure). The calibration process is fully autonomous and does not need any manual operation. A robot which installed the sensor moves to the specific pose by sensing features of the circular hole such as length of chord and center position of the chord. We show the precision of the proposed method by performing repetitive experiments in various situations. Furthermore, we applied the result of the proposed method to sensor based seam tracking with a robot, and report the difference of the robot's TCP (Tool Center Point) trajectory. This experiment shows that the proposed method ensures precision.

• Fire Science and Engineering
• /
• v.32 no.6
• /
• pp.34-39
• /
• 2018

In this paper, the architecture of a safe stove with an automatic fire suppression function using a sound wave fire extinguisher has been proposed and developed for the first time. A microcontroller connected to a fire sensor detects and suppresses a fire by driving a fire extinguisher. The sound wave fire extinguisher is composed of a speaker and collimator, and is driven by a driver module including an audio amplifier. The attenuation of the sound wave is reduced by preventing the sound diffusion with an enclosure surrounding a stove. The frequency of the sound wave is set to 50 Hz, and the sound pressure of 93 dBA is measured at the distance of 0.5 m. It takes maximum 8 and 15 seconds to suppress the flame from 7-cc and 14-cc flammable liquid, respectively, which corresponds to 24% and 42% of the natural extinguishing time. Since the proposed safe stove is non-toxic and leaves no residues over the conventional ones, it would combine with various home appliances to suppress early-stage fires and prevent fire expansion.

• Korean Security Journal
• /
• no.19
• /
• pp.225-244
• /
• 2009

Electronic security system is composed mainly of electronic-information-communication device, so system technology, configuration and management of the electronic security system could be affected by the change of information-communication environment. This study is to propose the future prospect on the development of technique for electronic security system through the analysis of the trend and the actual condition on the development of technique. This study is based on literature study and interview with user and provider of electronic security system, also survey was carried out by system provider and members of security integration company to come up with more practical result. Hybrid DVR technology that has multi-function such as motion detection, target tracking and image identification is expected to be developed. And 'Embedded IP camera' technology that internet server and image identification software are built in. Those technologies could change the configuration and management of CCTV system. Fingerprint identification technology and face identification technology are continually developed to get more reliability, but continual development of surveillance and three-dimension identification technology for more efficient face identification system is needed. As radio identification and tracking function of RFID is appreciated as very useful for access control system, hardware and software of RFID technology is expected to be developed, but government's support for market revitalization is necessary. Behavior pattern identification sensor technology is expected to be developed and could replace passive infrared sensor that cause system error, giving security guard firm confidence for response. The principle of behavior pattern identification is similar to image identification, so those two technology could be integrated with tracking technology and radio identification technology of RFID for total monitoring system. For more efficient electronic security system, middle-ware's role is very important to integrate the technology of electronic security system, this could make possible of installing the integrated security system.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2017.05a
• /
• pp.255-257
• /
• 2017

These days automotive markets are launching models that include a variety of IT technologies. Tesla's Tesla model S and Google's unmanned automobiles are emerging one after another. This type of automobile with IT technology provides various convenience to the driver and the driver is getting benefit by various conveience services. on the contrary, it is also true that defects for errors in electronic components cause accidents that threaten the safety of drivers. There is a sudden unintended acceleration among these accidents. The cause of the accident is not clear yet, but the claim that the ECU device caused by the magnetic field causes accident of the car due is the most reliable. But, in Korea, when occur a car sudden unintended acceleration accident, the char maker often claims that an accident occurred due to driver's pedal malfunction. Also most drivers are responsible for the lack of grounds to refute. In this paper, the pedal operation image of the driver is acquired and the sensor is attached to the control part such as the excel and brake so as to discriminate whether the vehicle sudden unintended acceleration accident is the driver's pedal operation error or the fault of. i have implemented a system that can do this.

• The Journal of The Korea Institute of Intelligent Transport Systems
• /
• v.19 no.6
• /
• pp.222-234
• /
• 2020

Autonomous vehicles are equipped with a wide rage of sensors such as GPS, RADAR, LIDAR, camera, IMU, etc. and are driven by recognizing and judging various transportation systems at intersections in the city. The accident ratio of the intersection of the autonomous vehicles is 88% of all accidents due to the limitation of prediction and judgment of an area outside the sensing distance. Not only research on non-signalized intersection collision avoidance strategies through V2V and V2I is underway, but also research on safe intersection driving in failure situations is underway, but verification and fragments through simple intersection scenarios Only typical V2V failures are presented. In this paper, we analyzed the architecture of the V2V module, analyzed the causal factors for each V2V module, and defined the failure mode. We presented intersection scenarios for various road conditions and traffic volumes. we used the ISO-26262 Part3 Process and performed HARA (Hazard Analysis and Risk Assessment) to analyze the risk of autonomous vehicle based on the simulation. We presented ASIL, which is the result of risk analysis, proposed a monitoring concept for each component of the V2V module, and presented monitoring coverage.

• Radiation Oncology Journal
• /
• v.20 no.1
• /
• pp.41-52
• /
• 2002

Purpose : 3D conformal radiotherapy, the optimum dose delivered to the tumor and provided the risk of normal tissue unless marginal miss, was restricted by organ motion. For tumors in the thorax and abdomen, the planning target volume (PTV) is decided including the margin for movement of tumor volumes during treatment due to patients breathing. We designed the respiratory gating radiotherapy device (RGRD) for using during CT simulation, dose planning and beam delivery at identical breathing period conditions. Using RGRD, reducing the treatment margin for organ (thorax or abdomen) motion due to breathing and improve dose distribution for 3D conformal radiotherapy. Materials and Methods : The internal organ motion data for lung cancer patients were obtained by examining the diaphragm in the supine position to find the position dependency. We made a respiratory gating radiotherapy device (RGRD) that is composed of a strip band, drug sensor, micro switch, and a connected on-off switch in a LINAC control box. During same breathing period by RGRD, spiral CT scan, virtual simulation, and 3D dose planing for lung cancer patients were peformed, without an extended PTV margin for free breathing, and then the dose was delivered at the same positions. We calculated effective volumes and normal tissue complication probabilities (NTCP) using dose volume histograms for normal lung, and analyzed changes in doses associated with selected NTCP levels and tumor control probabilities (TCP) at these new dose levels. The effects of 3D conformal radiotherapy by RGRD were evaluated with DVH (Dose Volume Histogram), TCP, NTCP and dose statistics. Results : The average movement of a diaphragm was 1.5 cm in the supine position when patients breathed freely. Depending on the location of the tumor, the magnitude of the PTV margin needs to be extended from 1 cm to 3 cm, which can greatly increase normal tissue irradiation, and hence, results in increase of the normal tissue complications probabiliy. Simple and precise RGRD is very easy to setup on patients and is sensitive to length variation (+2 mm), it also delivers on-off information to patients and the LINAC machine. We evaluated the treatment plans of patients who had received conformal partial organ lung irradiation for the treatment of thorax malignancies. Using RGRD, the PTV margin by free breathing can be reduced about 2 cm for moving organs by breathing. TCP values are almost the same values $(4\~5\%\;increased)$ for lung cancer regardless of increasing the PTV margin to 2.0 cm but NTCP values are rapidly increased $(50\~70\%\;increased)$ for upon extending PTV margins by 2.0 cm. Conclusion : Internal organ motion due to breathing can be reduced effectively using our simple RGRD. This method can be used in clinical treatments to reduce organ motion induced margin, thereby reducing normal tissue irradiation. Using treatment planning software, the dose to normal tissues was analyzed by comparing dose statistics with and without RGRD. Potential benefits of radiotherapy derived from reduction or elimination of planning target volume (PTV) margins associated with patient breathing through the evaluation of the lung cancer patients treated with 3D conformal radiotherapy.

• Journal of Platform Technology
• /
• v.11 no.2
• /
• pp.26-38
• /
• 2023

This paper is a study on a transport robot capable of autonomously driving to a destination using a QR code in an indoor environment. The transport robot was designed and manufactured by attaching a lidar sensor so that the robot can maintain a certain distance during movement by detecting the distance between the camera for recognizing the QR code and the left and right walls. For the location information of the delivery robot, the QR code image was enlarged with Lanczos resampling interpolation, then binarized with Otsu Algorithm, and detection and analysis were performed using the Zbar library. The QR code recognition experiment was performed while changing the size of the QR code and the traveling speed of the transport robot while the camera position of the transport robot and the height of the QR code were fixed at 192cm. When the QR code size was 9cm × 9cm The recognition rate was 99.7% and almost 100% when the traveling speed of the transport robot was less than about 0.5m/s. Based on the QR code recognition rate, an experiment was conducted on the case where the destination is only going straight and the destination is going straight and turning in the absence of obstacles for autonomous driving to the destination. When the destination was only going straight, it was possible to reach the destination quickly because there was little need for position correction. However, when the destination included a turn, the time to arrive at the destination was relatively delayed due to the need for position correction. As a result of the experiment, it was found that the delivery robot arrived at the destination relatively accurately, although a slight positional error occurred while driving, and the applicability of the QR code-based destination self-driving delivery robot was confirmed.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.28 no.7
• /
• pp.1216-1221
• /
• 2022

Ships tend to be larger to increase the efficiency of cargo transportation. Larger ships lead to increased travel time for ship workers, increased work intensity, and reduced work efficiency. Problems such as increased work intensity are reducing the influx of young people into labor, along with the phenomenon of avoidance of high intensity labor by the younger generation. In addition, the rapid aging of the population and decrease in the young labor force aggravate the labor shortage problem in the maritime industry. To overcome this, the maritime industry has recently introduced technologies such as an intelligent production design platform and a smart production operation management system, and a smart autonomous logistics system in one of these technologies. The smart autonomous logistics system is a technology that delivers various goods using intelligent mobile robots, and enables the robot to drive itself by using sensors such as lidar and camera. Therefore, in this paper, it was checked whether the mobile robot could autonomously drive to the stop sign by detecting the passage way of the ship deck. The autonomous driving was performed by detecting the passage way of the ship deck through the camera mounted on the mobile robot based on the data learned through Nvidia's End-to-end learning. The mobile robot was stopped by checking the stop sign using SSD MobileNetV2. The experiment was repeated five times in which the mobile robot autonomously drives to the stop sign without deviation from the ship deck passage way at a distance of about 70m. As a result of the experiment, it was confirmed that the mobile robot was driven without deviation from passage way. If the smart autonomous logistics system to which this result is applied is used in the marine industry, it is thought that the stability, reduction of labor force, and work efficiency will be improved when workers work.