• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2003.07b
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• pp.1227-1230
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• 2003

In this paper, we propose a pose estimation method using local map acquired from 2d laser range finder information. The proposed method uses extended kalman filter. The state equation is a navigation system equation of Nomad Super Scout II. The measurement equation is a map-based measurement equation using a SICK PLS 101-112 sensor. We describe a map consisting of geometric features such as plane, edge and corner. For pose estimation we scan external environments by laser rage finer. And then these data are fed to kalman filter to estimate robot pose and position. The proposed method enables very fast simultaneous map building and pose estimation.

• Journal of Sensor Science and Technology
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• v.15 no.6
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• pp.442-448
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• 2006

Ultrasonic anemometers using pulse envelope detection-based method are standard instruments in most meteorological studies. In this paper, a new phase measurement method is tried to achieve the enhanced resolution without changing dimensions. The measurement sensitivity, dynamic range, and measurement speed of the new instrument are 0.2 mm/s, 13.3 m/s, and 13 measurements/sec, respectively. A graphic user interface is added to show the velocity and direction of the wind with the speed of sound and temperature of the wind in the 3 dimensional space. The new anemometer could be useful for the measurement of the air speed, the flow of fluids, and even air flow inside the downtown buildings.

• Journal of KIBIM
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• v.13 no.4
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• pp.64-73
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• 2023

This study introduces a method of estimating the 3D coordinates of structural damage from the detection results of visual inspection provided in 2D image coordinates using sensing data of UAV and 3D shape information of BIM. This estimation process takes place in a virtual space and utilizes the BIM model, so it is possible to immediately identify which member of the structure the estimated location corresponds to. Difference from conventional structural damage localization methods that require 3D scanning or additional sensor attachment, it is a method that can be applied locally and rapidly. Measurement accuracy was calculated through the distance difference between the measured position measured by TLS (Terrestrial Laser Scanner) and the estimated position calculated by the method proposed in this study, which can determine the applicability of this study and the direction of future research.

• Proceedings of the KIEE Conference
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• 1999.07e
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• pp.2450-2452
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• 1999

Presently, it is now developing the optical remote gas sensor system which can measure combustible gases such as $CH_4$ and $C_2H_2$ generating by partial discharges inside the cable and connection parts to detect thermal deterioration of Oil-Filled (OF) power cable at the appropriate time. It is the most important parameter to select central wavelength of laser diode (LD) by analyzing the absorption bend of measuring gases in the infrared region. In this research, we proposed the optical spectrum analyzer to absorption band of $CH_4$ and $C_2H_2$ for the preliminary research of optical fiber gas detecting system.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.7
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• pp.401-409
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• 2003

This paper describes the design and the performance analysis of an $H_2$ controller for noncollocated active vibrating systems. An experiment for the active vibration control of a flexible structure is performed. The experimental model used is a cantilever beam controlled by an active damping system consisting of a laser sensor and an electromagnetic actuator. The $H_2$ controller design is based on the reduced order model and the designed system is capable of attenuating vibration without causing spillover instability. The design procedure to prevent spillover instability is described via the sensitivity analysis. The performances of the controller are verified by experimental results.

• Journal of Sensor Science and Technology
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• v.13 no.3
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• pp.252-257
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• 2004

$Y_{2}O_{3}:Eu^{3+}$ thin films have been grown on $Al_{2}O_{3}$(0001) substrates by a pulsed laser deposition (PLD) method. The phosphor thin films were deposited at a substrate temperature of 500, 600, and $700^{\circ}C$ under the oxygen pressure of 100, 200, and 300 mTorr. The crystallinity, surface roughness and photoluminescence of the films are highly dependent on the substrate temperature and oxygen pressure. The films grown on $Al_{2}O_{3}$(0001) substrate even under the different substrate temperatures and oxygen pressures exhibited (222) preferred orientation. The luminescent spectra exhibited strong luminescence of ${^{5}D_{0}}-{^{7}F_{2}}$ transition within $Eu^{+3}$ peaking at 612 nm. The crystallinity and luminescence intensity of the films have been improved as the substrate temperature increasing. With increase of oxygen pressure from 50 to 300 mTorr, the crystallinity of the films has been uniformly decreased. The photoluminescence intensity and surface roughness have similar behaviors as a function of oxygen pressure. At 200 mTorr, both photoluminescence intensity and surface roughness show a maximum.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.10
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• pp.965-971
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• 2015

This paper suggests a feature point-based Iterative Closest Point (ICP) algorithm to compensate for the disparity error in building a two-dimensional map. The ICP algorithm is a typical algorithm for matching a common object in two different images. In the process of building a two-dimensional map using the laser scanner data, warping and distortions exist in the map because of the disparity between the two sensor values. The ICP algorithm has been utilized to reduce the disparity error in matching the scanned line data. For this matching process in the conventional ICP algorithm, pre-known reference data are required. Since the proposed algorithm extracts characteristic points from laser-scanned data, reference data are not required for the matching. The laser scanner starts from the right side of the mobile robot and ends at the left side, which causes disparity in the scanned line data. By finding the matching points between two consecutive frame images, the motion vector of the mobile robot can be obtained. Therefore, the disparity error can be minimized by compensating for the motion vector caused by the mobile robot motion. The validity of the proposed algorithm has been verified by comparing the proposed algorithm in terms of map-building accuracy to conventional ICP algorithm real experiments.

• Journal of Sensor Science and Technology
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• v.20 no.1
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• pp.30-34
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• 2011

Single crystal of KCl doped with $Eu^{2+}$ ions was grown by the Czochralski method in the high pressure Ar gas(purity 99.999 %) atmosphere with chamber pressure from which the crystal with high quality was obtained. As grown $KCl:Eu^{2+}$ crystal was checked by X-ray diffraction. Luminescence properties of KCl:Eu are investigated by laser-excitation spectroscopy under 355 nm excitation at 14 and 295 K. The broad emission band due to the $Eu^{2+}$ 5d $\rightarrow$ 4f transition is peaked at 417 nm with full width at half maximum of about 20 and 30 nm.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.27 no.2
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• pp.213-220
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• 2017

Pyroshock produced by the pyrotechnic devices can induce failures in nearby electronic devices. To handle and mitigate pyroshock inducing problems, appropriate measurement of pyroshock is essential. In this study, pyroshock measurement technique is established using laser Dopper vibrometers (LDVs) and shock accelerometers. Pyroshock produced by the explosive bolts and the pyrotechnic initiators under various environments is measured. The characteristics of pyroshock including the effects of supporting structures, propagation form on thin plate, sensor (contact and non-contact) types are discussed.

• The Journal of Korea Robotics Society
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• v.7 no.2
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• pp.92-100
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• 2012

A map of complex environment can be generated using a robot carrying sensors. However, representation of environments directly using the integration of sensor data tells only spatial existence. In order to execute high-level applications, robots need semantic knowledge of the environments. This research investigates the design of a system for recognizing objects in 3D point clouds of urban environments. The proposed system is decomposed into five steps: sequential LIDAR scan, point classification, ground detection and elimination, segmentation, and object classification. This method could classify the various objects in urban environment, such as cars, trees, buildings, posts, etc. The simple methods minimizing time-consuming process are developed to guarantee real-time performance and to perform data classification on-the-fly as data is being acquired. To evaluate performance of the proposed methods, computation time and recognition rate are analyzed. Experimental results demonstrate that the proposed algorithm has efficiency in fast understanding the semantic knowledge of a dynamic urban environment.