• Journal of Biosystems Engineering
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• v.41 no.4
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• pp.319-327
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• 2016

Purpose: Automated guidance systems (AGSs) for mobile farm machinery have several advantages over manual operation in the crop production industry. Many researchers and companies have tried to develop such a system. However, it is not easy to evaluate the performance of an AGS because there is no established device used to evaluate it that complies with the ISO 12188 standard. The objective of this study was to develop a tracking sensor system using five laser distance measurement sensors. Methods: One sensor-for long-range distance measurement-was used to measure travel distance and velocity. The other four sensors-for mid-range distance measurement-were used to measure lateral deviation. Stationary, manual driving, and A-B line tests were conducted, and the results were compared with the real-time kinematic differential global positioning system (RTK-DGPS) signal used by the AGS. Results: For the stationary test, the average error of the tracking sensor system was 1.99 mm, and the average error of the RTK-DGPS was 15.19 mm. For the two types of driving tests, the data trends were similar. A comparison of the changes in lateral deviation showed that the data stability of the developed tracking system was better. Conclusions: Although the tracking system was not capable of measuring long travel distances under strong sunlight illumination because of the long-range sensor's limitations, this dilemma could be overcome using a higher-performance sensor.

• Journal of the Korean Society for Nondestructive Testing
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• v.22 no.1
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• pp.22-31
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• 2002

A Safety Monitoring System using a laser and 2-D arrayed photo sensors is developed. To monitor of the deformation and small rotation of structure the developed optical system using 2-D photo sensor array was used to detect the variation of optical orbit of laser which was induced by deformation of the structure. Also, an operating program to manage the system and an algorithm for the data acquisition and the database are introduced. In this study, we demonstrated the capabilities of this system by laboratory experiments before applying the system to the field.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.27-29
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• 2004

This paper presents a sensor model design based on Monte Carlo Localization method. First, we define the measurement error of each sample using a map matching method by 2-D laser scanners and a pre-constructed grid-map of the environment. Second, samples are assigned probabilities due to matching errors from the gaussian probability density function considered of the sample's convergence. Simulation using real environment data shows good localization results by the designed sensor model.

• International conference on construction engineering and project management
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• 2022.06a
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• pp.1250-1251
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• 2022

Measuring management is an important part of preventing the collapse of retaining walls in advance by evaluating their stability with a variety of measuring instruments. The current work of measuring management requires considerable human and material resources since measurement companies need to install measuring instruments at various places on the retaining wall and visit the construction site to collect measurement data and evaluate the stability of the retaining wall. It was investigated that the applicability of the current work of measuring management is poor at small and medium-sized urban construction sites(excavation depth<10m) where measuring management is not essential. Therefore, the purpose of this study is to develop a laser sensor-based hardware to support the wall displacement measurements and their control software applicable to small and medium-sized urban construction sites. The 2D lidar sensor, which is more economical than a 3D laser scanner, is applied as element technology. Additionally, the hardware is mounted on the corner strut of the retaining wall, and it collects point cloud data of the retaining wall by rotating the 2D lidar sensor 360° through a servo motor. Point cloud data collected from the hardware can be transmitted through Wi-Fi to a displacement analysis device (notebook). The hardware control software is designed to control the 2D lidar sensor and servo motor in the displacement analysis device by remote access. The process of analyzing the displacement of a retaining wall using the developed hardware and software is as follows: the construction site manager uses the displacement analysis device to 1)collect the initial point cloud data, and after a certain period 2)comparative point cloud data is collected, and 3)the distance between the initial point and comparison point cloud data is calculated in order. As a result of performing an indoor experiment, the analyses show that a displacement of approximately 15 mm can be identified. In the future, the integrated system of the hardware designed here, and the displacement analysis software to be developed can be applied to small and medium-sized urban construction sites through several field experiments. Therefore, effective management of the displacement of the retaining wall is possible in comparison with the current measuring management work in terms of ease of installation, dismantlement, displacement measurement, and economic feasibility.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.241-245
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• 2003

This paper introduces a method that can derive information about the movement of a spreader and skew in order to drive ALS(Automatic Landing System) in the crane used at a harbor. Some methods that use LDL Corner detectors a kind of 2D Laser scanner sensor or Laser distance measuring units to obtain the information in ALS are used presently. But these have some defects in economic efficiency and performance. Therefore, to correct these defects, we propose a method to acquire the information for the movement of a spreader, skew and sway angle using CCD camera image data and Laser distance measuring unit data.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.6
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• pp.531-538
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• 2011

This paper describes a novel sensor system for 3D world modeling of an autonomous vehicle in large-scale outdoor environments. When an autonomous vehicle performs path planning and path following, well-constructed 3D world model of target environment is very important for analyze the environment and track the determined path. To generate well-construct 3D world model, we develop a novel sensor system. The proposed novel sensor system consists of two 2D laser scanners, two single cameras, a DGPS (Differential Global Positioning System) and an IMU (Inertial Measurement System). We verify the effectiveness of the proposed sensor system through experiment in large-scale outdoor environment.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.10
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• pp.949-957
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• 2017

A laser-vision-based height measurement system is developed and implemented for the inspection of two-step variable valve lift module assemblies. The proposed laser-vision sensor module is designed based on the principle of laser triangulation. This paper summarizes the work on 3D point cloud data collection and height difference measurements. The configuration of the measurement system and the proposed height measurement algorithm are described and analyzed in detail. Additional measurement experiments on the height differences of valves and lash adjusters of a two-step variable valve lift module were implemented repeatedly to evaluate the accuracy and repeatability of the proposed measurement system. Experimental results show that the proposed laser-vision-based height measurement system achieves high accuracy, repeatability, and stabilization for the inspection of two-step variable valve lift module assemblies.

• Journal of Digital Contents Society
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• v.11 no.2
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• pp.117-122
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• 2010

This is a study on the analysis of vibration mode of a laser doppler. We measure the vibration mode of a doppler and analyze each component, and want to estimate three dimensional properties from 2-dimensional data. The vibration mode relies on a range detector that uses a distance sensor. Since the outputs are determined by the measured distance, we want to study how 3-dimensional vibration mode is generated from 2-dimensional ones. The study will include the patterns of generating a 3-dimensional vibration mode as well as the relationship between the distance and the vibration mode.

• 한국연소학회:학술대회논문집
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• 2000.12a
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• pp.168-174
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• 2000

A diode laser sensor system based on absorption spectroscopy techniques has been developed to measure $CO_2$ concentration and temperature non-intrusively in high temperature combustion environments using a 2.0 ${\mu}m$ DFB(Distributed Feedback) laser. Two optics was fabricated in pig-tail fashion and all optical components were implemented in a single box. The evolution of measurement sensitivity was done using test cell by changing sweep frequency and $CO_2$ concentration. Gas temperature was determined from the ratio of integrated line strengths. Species concentration was determined from the integrated line intensity and the measured temperature. The result show that the system has 2% error in wide operation frequency range and accuracy of $CO_2$ concentration was about 3%. The system was applied to measure temperature and concentration in the combustion region of a premixed $CH_4$ +air triangular flame. The measurement results of gas temperature agreed well with thermocouple results. Many considerations were taken into account to reduce optical noise, etalon effect, beam steering and base line matching problem. The evaluations results and actual combustion measurement demonstrate the practical and applicability for in-situ and real time combustion monitoring in a practical system.

• Journal of Sensor Science and Technology
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• v.23 no.6
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• pp.377-382
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• 2014

Detecting and segmenting diffuse targets in laser ranging data is a critical problem for tactical reconnaissance. In this study, we propose a new method that facilitates the characterization of diffuse irregularly shaped objects using "spin images," i.e., local 2D histograms of laser returns oriented in 3D space, and a clustering process. The proposed "cluster-based spin imaging" method resolves the problem of using standard spin images for diffuse targets and it eliminates much of the computational complexity that characterizes the production of conventional spin images. The direct processing of pre-segmented laser points, including internal points that penetrate through a diffuse object's topmost surfaces, avoids some of the requirements of the approach used at present for spin image generation, while it also greatly reduces the high computational time overheads incurred by searches to find correlated images. We employed 3D airborne range data over forested terrain to demonstrate the effectiveness of this method in discriminating the different geometric structures of individual tree clusters. Our experiments showed that cluster-based spin images have the potential to separate classes in terms of different ages and portions of tree crowns.