• Title/Summary/Keyword: 3D range sensor

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A Fast Correspondence Matching for Iterative Closest Point Algorithm (ICP 계산속도 향상을 위한 빠른 Correspondence 매칭 방법)

  • Shin, Gunhee;Choi, Jaehee;Kim, Kwangki
    • The Journal of Korea Robotics Society
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    • v.17 no.3
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    • pp.373-380
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    • 2022
  • This paper considers a method of fast correspondence matching for iterative closest point (ICP) algorithm. In robotics, the ICP algorithm and its variants have been widely used for pose estimation by finding the translation and rotation that best align two point clouds. In computational perspectives, the main difficulty is to find the correspondence point on the reference point cloud to each observed point. Jump-table-based correspondence matching is one of the methods for reducing computation time. This paper proposes a method that corrects errors in an existing jump-table-based correspondence matching algorithm. The criterion activating the use of jump-table is modified so that the correspondence matching can be applied to the situations, such as point-cloud registration problems with highly curved surfaces, for which the existing correspondence-matching method is non-applicable. For demonstration, both hardware and simulation experiments are performed. In a hardware experiment using Hokuyo-10LX LiDAR sensor, our new algorithm shows 100% correspondence matching accuracy and 88% decrease in computation time. Using the F1TENTH simulator, the proposed algorithm is tested for an autonomous driving scenario with 2D range-bearing point cloud data and also shows 100% correspondence matching accuracy.

CMOS Analog-Front End for CCD Image Sensors (CCD 영상센서를 위한 CMOS 아날로그 프론트 엔드)

  • Kim, Dae-Jeong;Nam, Jeong-Kwon
    • Journal of IKEEE
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    • v.13 no.1
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    • pp.41-48
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    • 2009
  • This paper describes an implementation of the analog front end (AFE) incorporated with the image signal processing (ISP) unit in the SoC, dominating the performance of the CCD image sensor system. New schemes are exploited in the high-frequency sampling to reduce the sampling uncertainty apparently as the frequency increases, in the structure for the wide-range variable gain amplifier (VGA) capable of $0{\sim}36\;dB$ exponential gain control to meet the needed bandwidth and accuracy by adopting a new parasitic insensitive capacitor array. Moreover, the double cancellation of the black-level noise was efficiently achieved both in the analog and the digital domain. The proposed topology fabricated in a $0.35-{\mu}m$ CMOS process was proved in a full CCD camera system of 10-bit accuracy, dissipating 80 mA at 15 MHz with a 3.3 V supply voltage.

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The Individual Discrimination Location Tracking Technology for Multimodal Interaction at the Exhibition (전시 공간에서 다중 인터랙션을 위한 개인식별 위치 측위 기술 연구)

  • Jung, Hyun-Chul;Kim, Nam-Jin;Choi, Lee-Kwon
    • Journal of Intelligence and Information Systems
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    • v.18 no.2
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    • pp.19-28
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    • 2012
  • After the internet era, we are moving to the ubiquitous society. Nowadays the people are interested in the multimodal interaction technology, which enables audience to naturally interact with the computing environment at the exhibitions such as gallery, museum, and park. Also, there are other attempts to provide additional service based on the location information of the audience, or to improve and deploy interaction between subjects and audience by analyzing the using pattern of the people. In order to provide multimodal interaction service to the audience at the exhibition, it is important to distinguish the individuals and trace their location and route. For the location tracking on the outside, GPS is widely used nowadays. GPS is able to get the real time location of the subjects moving fast, so this is one of the important technologies in the field requiring location tracking service. However, as GPS uses the location tracking method using satellites, the service cannot be used on the inside, because it cannot catch the satellite signal. For this reason, the studies about inside location tracking are going on using very short range communication service such as ZigBee, UWB, RFID, as well as using mobile communication network and wireless lan service. However these technologies have shortcomings in that the audience needs to use additional sensor device and it becomes difficult and expensive as the density of the target area gets higher. In addition, the usual exhibition environment has many obstacles for the network, which makes the performance of the system to fall. Above all these things, the biggest problem is that the interaction method using the devices based on the old technologies cannot provide natural service to the users. Plus the system uses sensor recognition method, so multiple users should equip the devices. Therefore, there is the limitation in the number of the users that can use the system simultaneously. In order to make up for these shortcomings, in this study we suggest a technology that gets the exact location information of the users through the location mapping technology using Wi-Fi and 3d camera of the smartphones. We applied the signal amplitude of access point using wireless lan, to develop inside location tracking system with lower price. AP is cheaper than other devices used in other tracking techniques, and by installing the software to the user's mobile device it can be directly used as the tracking system device. We used the Microsoft Kinect sensor for the 3D Camera. Kinect is equippedwith the function discriminating the depth and human information inside the shooting area. Therefore it is appropriate to extract user's body, vector, and acceleration information with low price. We confirm the location of the audience using the cell ID obtained from the Wi-Fi signal. By using smartphones as the basic device for the location service, we solve the problems of additional tagging device and provide environment that multiple users can get the interaction service simultaneously. 3d cameras located at each cell areas get the exact location and status information of the users. The 3d cameras are connected to the Camera Client, calculate the mapping information aligned to each cells, get the exact information of the users, and get the status and pattern information of the audience. The location mapping technique of Camera Client decreases the error rate that occurs on the inside location service, increases accuracy of individual discrimination in the area through the individual discrimination based on body information, and establishes the foundation of the multimodal interaction technology at the exhibition. Calculated data and information enables the users to get the appropriate interaction service through the main server.

Preparation of $BaSO_{4}$ : Eu-PTFE TLD Radiation Sensor and Its Physical Characterstics ($BaSO_{4}$ : Eu-PTFE TLD 방사선 센서의 제작과 물리적 특성)

  • U, Hong;Kim, S.H.;Lee, S.Y.;Kang, H.D.;Kim, D.S.
    • Journal of Sensor Science and Technology
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    • v.1 no.1
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    • pp.59-66
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    • 1992
  • To develop the highly sensitive TLD radiation sensors, $BaSO_{4}$ : Eu-PTFE TLDs are fabricated by polymerizing the PTFE(polytetrafluoroethylene) with $BaSO_{4}$ : Eu TL phosphors. The $BaSO_{4}$ : Eu TL phosphors having the highest sensitivity of $X/{\gamma}$-rays are obtained by sintering at $1000^{\circ}C$ in $N_{2}$ atmosphere a mixture of $BaSO_{4}$ powder with 1mol% Eu($Eu_{2}O_{3}$), 6mol% $NH_{4}Cl$ and 5mol% $(NH_{4})_{2}SO_{4}$ which were co-precipitated in dilute sulfuric acid and then dried. The activation energy, frequency factor and kinetic order of $BaSO_{4}$ : Eu TL phosphor are 1.17eV, $3.6{\times}10^{11}/sec$ and 1.25, respectively. And the spectral peak of $BaSO_{4}$ : Eu is about 425nm. The optimum TL Phosphor content and thickness of the $BaSO_{4}$ : Eu-PTFE TLD are 40wt% and $105.7mg/cm^{2}$. The optimum polymerization temperature and time for fabrication of $BaSO_{4}$ : Eu-PTFE TLDs are $380^{\circ}C$ and 2 hours in air, respectively. The linear dose range to ${\gamma}$ rays is 0.01-20Gy and fading rate is about 10%/60hours.

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A Convergency Study on the Gas Turbine Rotation Axis Temperature Sensor for Power Plants (발전소용 가스터빈 회전축 온도 센서 융합연구)

  • Lee, Jeongl-Ick;Na, Gi-Soo
    • Journal of the Korea Convergence Society
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    • v.10 no.12
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    • pp.293-298
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    • 2019
  • The global market for temperature sensors for power plants is estimated at around 35 billion won, of which South Korea relies on imported products for more than 95 percent. This study is that a temperature measurement device for gas turbine rotators for power plants and can be applied to more than 800 of 100 MW gas turbine generators operating in Korea. This study has improved durability by changing the shape of the measuring part, structure of the connecting part, and material changes, and is a component technology applicable to other measuring devices such as humidity, gas and hydraulic pressure used in precision chemical process and plant export industry. As a result of this study, temperature sensors designed as three types of sensors for measuring the temperature of the gas turbine for power plants met Class 1 temperature accuracy in the range of 0℃ to 300℃, and improved durability significantly compared to similar products.

Basic Studies for the Development of the $NO_2$ Gas Sensor Using Functional Organic Ultrathin Film (기능성 유기 초박막을 이용한 $NO_2$ 가스센서 개발을 위한 기초 연구)

  • Sohn, B.C.;Rim, B.O.;Kim, Y.I.;Sohn, T.W.;Shin, D.M.;Ju, J.B.;Chung, G.Y.;Kim, Y.K.;Kang, W.H.;Lee, B.H.
    • Journal of the Korean Applied Science and Technology
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    • v.12 no.1
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    • pp.125-131
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    • 1995
  • Ultra thin films of Tetra-3-hexadecylsulphamoylcopperphthalocyanine(HDSM-CuPc) were formed on various substrates by Langmuir-Blodgett method, where HDSM-CuPc was synthesized by attaching long-chain alkylamine(hexa-decylamine) to CuPc. The reaction product was identified with FT-IR, UV-visible absorption spectroscopies, elemental analysis and thin layer chromatography. The formation of Ultrathin Langmuir-Blodgett(LB) films of HDSM-CuPc was confirmed by FT-IR and UV-visible spectroscopies. A quartz piezoelectric crystal coated with LB films of HDSM-CuPc was examined as a gas sensor for $N0_2$ gas. HDSM-CuPc LB films were transferred to a quartz crystal microbalance(QCM) in the form of Z-type multilayers. Response characteristics of film-coated QCM to $NO_2$ gas concentrations over a range of $100{\sim}600ppm$ have been tested with a thickness of $5{\sim}20$ layers of HDSM-CuPc. Changes in frequency by adsorption of $NO_2$ were increased With the number of LB layers and $NO_2$ concentration, but the response time was slow.

Experimental Investigation of Impact-Echo Method for Concrete Slab Thickness Measurement

  • Popovics John S.;Cetrangolo Gonzalo P.;Jackson Nicole D.
    • Journal of the Korean Society for Nondestructive Testing
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    • v.26 no.6
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    • pp.427-439
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    • 2006
  • Accurate estimates of in place thickness of early age (3 to 28 days after casting) concrete pavements are needed, where a thickness accuracy of ${\pm}6mm$ is desired. The impact-echo method is a standardized non-destructive technique that has been applied for this task. However, the ability of impact-echo to achieve this precision goal is affected by Vp (measured) and ${\beta}$ (assumed) values that are applied in the computation. A deeper understanding of the effects of these parameters on the accuracy of impact-echo should allow the technique to be improved to meet the desired accuracy goal. In this paper, the results of experimental tests carried out on a range of concrete slabs are reported. Impact-echo thickness estimation errors caused by material property gradients and sensor type are identified. Correction factors to the standard analysis method are proposed to correct the identified errors and to increase the accuracy of the standard method. Results show that improved accuracy can be obtained in the field by applying these recommendations with the standard impact-echo method.

Evaluation of Micro End-Milling Characteristics of AlN-hBN Composites Sintered by Hot-Pressing (열간가압소결에 의해 제조된 AlN-hBN 복합재료의 마이크로 엔드밀링 가공특성 평가)

  • Baek, Si-Young;Cho, Myeong-Woo;Seo, Tae-Il
    • Korean Journal of Metals and Materials
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    • v.46 no.6
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    • pp.390-401
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    • 2008
  • The objective of this study is to evaluate various machining characteristics of AlN-hBN machinable ceramics in micro end-milling process for its further application. First, AlN based machinable ceramics with hBN contents in the range of 10 to 20vol% were prepared by hot-pressing. Material properties of the composites, such as relative density, Vickers hardness, flexural strength, Young's modulus and fracture toughness were measured and compared. Then, micro end-milling experiments were performed to fabricate micro channels using prepared system. During the process, cutting forces, vibrations and AE signals were measured and analyzed using applied sensor system. Machined micro channel shapes and surface roughness were measured using 3D non-contact type surface profiler. From the experimental results, it can be observed that the cutting forces, vibrations and AE signal amplitudes decreased with increasing hBN contents. Also, measured surface roughness and profiles were improved with increasing hBN contents. As a result of this study, optimum machining conditions can be determined to fabricate desired products with AlN-hBN machinable ceramics based on the experimental results of this research.

Microcomputer Based Vacuum Drying System and its Application to the Vacuum Drying of Green Red Pepper (마이크로컴퓨터 감압건조(減壓乾燥)시스템의 제작운영(製作運營)과 풋고추의 감압건조특성(減壓乾燥特性))

  • Chun, Jae-Kun;Kang, Jun-Soo
    • Applied Biological Chemistry
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    • v.30 no.1
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    • pp.65-70
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    • 1987
  • In Girder to measure the pressure and weight decrease of drying sample during the vacuum drying process of food, sensing devices were designed and constructed with strain gauge. Microcomputer based vacuum drying system was made up of these devices interfaced to apple II microcomputer. The electrical output signal from vacuum sensor which constituted with Bourdon tube whereon strain gauge attached were digitalized and input to microcomputer through the MC 6821 interface I.C. chip. The relationship between read-out digital value (D) from microcomputer and readings of vacuum gauge (P, mmHg) was P=-146.136+3.620D'(r=0.9994) The pressure control of vacuum dryer was successfully conducted in the range of $400{\sim}600\;mmHg$ accuracy. The digitalized load cell output (D) could be correlated with the real weight (W, g) as W=-14,000+0.585D (r=0.9998) Drying curves of green red pepper under $64^{\circ}C$, $400{\sim}600\;mmHg$ was similar to those of red pepper and differently affected by the degree of vacuum pressure but was varied according to their shape (cut or whole). Moisture movement of green red pepper during the vacuum drying process was fitted to Page model. The empirical equations obtained were $M-M_e/M_o-M_e={\exp}\;(-0.0673{\theta}^{1.177})$ and $M-M_e/M_o-M_e={\exp}\;(-0.0655\;{\theta}^{1.477})$ for whole and cut green red pepper, respectively.

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Conceptual Design of Cylindrical Hydrophone Arrays for Stabilization of Receiving Characteristics under Ocean Ambient Noise (해양 배경 소음 하의 수신 특성 안정화를 위한 원통형 하이드로폰 배열의 개념 설계)

  • Noh, Eunghwy;Lee, Hunki;Ohm, Won-Suk;Chang, Woosuk
    • The Journal of the Acoustical Society of Korea
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    • v.34 no.3
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    • pp.200-209
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    • 2015
  • An underwater sound surveillance system detects and tracks enemy ships in real-time using hydrophone arrays, in which seabed-mounted sensor arrays play a pivotal role. In this paper the conceptual design of seabed-mounted, cylindrical hydrophone arrays for use in shallow coastal waters is performed via finite element calculations. To stabilize the receiving characteristics under the ocean ambient noise, a technique for whitening the ambient noise spectrum using a metal baffle is proposed. Optimization of the array configuration is performed to achieve the directivity in the vertical and azimuthal directions. And the effects of the sonar dome shape and material on the structural vibration and sound scattering properties are studied. It is demonstrated that a robust hydrophone array, having a sensitivity deviation less than 4 dB over the frequency range of interest, can be obtained through the whitening of the ambient noise, the optimization of the array configuration, and the design of acoustically transparent sonar domes.