• KSII Transactions on Internet and Information Systems (TIIS)
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• v.3 no.6
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• pp.597-611
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• 2009

With the advent of ubiquitous computing society, many advanced technologies have enabled wireless sensor networks which consist of small sensor nodes. However, the sensor nodes have limited computing resources such as small size memory, low battery life, short transmission range, and low computational capabilities. Thus, decreasing energy consumption is one of the most significant issues in wireless sensor networks. In addition, numerous applications for wireless sensor networks are recently spreading to various fields (health-care, surveillance, location tracking, unmanned monitoring, nuclear reactor control, crop harvesting control, u-city, building automation etc.). For many of them, supporting security functionalities is an indispensable feature. Especially in case wireless sensor networks should provide a sufficient variety of security functions, sensor nodes are required to have more powerful performance and more energy demanding features. In other words, simultaneously providing security features and saving energy faces a trade-off problem. This paper presents a novel energy-efficient security architecture in an IEEE 802.15.4-based wireless sensor network called the Hybrid Adaptive Security (HAS) framework in order to resolve the trade off issue between security and energy. Moreover, we present a performance analysis based on the experimental results and a real implementation model in order to verify the proposed approach.

• Journal of the Korean Society of Safety
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• v.5 no.2
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• pp.32-39
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• 1990

The ${\gamma}$-Fe$_2$O$_3$ compounds were oxidized in the furance after gas detecting sensor made molding as the Fe$_3$O$_4$ the synthesized Fe$_3$O$_4$, by ferrous sulfate and sodium hydroxide. Their sensities on carbon monoxide, ethyl alcohol and L. P. G. were measured at various temperatures, respectively. And then their electrical resistivities, thermal properties (D.T.A. ＆ T.G.A.), were examined about their having an effet on the gas-sensing in company with the effect of pure ${\gamma}$-Fe$_2$O$_3$ and the detecting sensor ${\gamma}$-Fe$_2$O$_3$, which reacts with $K_2$CO$_3$ in the hydrothermal coundition, and the electrical conductive mechanism was reflected simultaneously. It was observed that the electrical conductivities and response ratios showed highest value at the endothermic temperature part, 300~35$0^{\circ}C$ of D.T.A.―curve. Consequently, the response ratios and response times of the hydrothermal detecting sensor were higher than that of pure detecting sensor, the specific surface areas were the highest at the endothermic range of D.T.A.-curve. These response ratios of detecting sensor for $K_2$CO$_3$, process at hydrothermal condition on carbon monoxide appeared higher than that on ethyl alcohol and in case of L.P.G. last.

• Journal of Korea Society of Digital Industry and Information Management
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• v.10 no.2
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• pp.13-20
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• 2014

In this paper, we implemented the object scanning with nxtOSEK which is an open source platform. nxtOSEK consists of device driver of leJOS NXJ C/Assembly source code, TOPPERS/ATK(Automotive real time Kernel) and TOPPERS/JSP Real-Time Operating System source code that includes ARM7 specific porting part, and glue code make them work together. nxtOSEK can provide ANSI C by using GCC tool chain and C API and apply for real-time multi tasking features. We experimented the 3D scanning with ultra sonic and laser sensor which are made directly by laser module diode and experimented the measurement of scanning the object by knowing x, y, and z coordinates for every points that it scans. In this paper, the laser module is the dimension of $6{\times}10[mm]$ requiring 5volts/5[mW], and used the laser light of wavelength in the 650[nm] range. For detecting the object, we used the beacon detection algorithm and as the laser light swept the objects, the photodiode monitored the ambient light at interval of 10[ms] which is called a real time. We communicated the 3D scanning platform via bluetooth protocol with host platform and the results are displayed via DPlot graphic tool. And therefore we enhanced the functionality of the 3D scanner for identifying the image scanning with laser sensor modules compared to ultra sonic sensor.

• Journal of Information Processing Systems
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• v.13 no.3
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• pp.491-499
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• 2017

In this study, we proposed a new approach to segment ground and nonground points gained from a 3D laser range sensor. The primary aim of this research was to provide a fast and effective method for ground segmentation. In each frame, we divide the point cloud into small groups. All threshold points and start-ground points in each group are then analyzed. To determine threshold points we depend on three features: gradient, lost threshold points, and abnormalities in the distance between the sensor and a particular threshold point. After a threshold point is determined, a start-ground point is then identified by considering the height difference between two consecutive points. All points from a start-ground point to the next threshold point are ground points. Other points are nonground. This process is then repeated until all points are labelled.

• Journal of the Optical Society of Korea
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• v.16 no.1
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• pp.47-52
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• 2012

The use of a $Ti:LiNbO_3$ symmetric Mach-Zehnder interferometric intensity modulator with a push-pull lumped electrode and a plate-type probe antenna to measure an electric field strength is described. The modulator has a small device size of $46{\times}7{\times}1mm$ and operates at a wavelength of $1.3{\mu}m$. The output characteristic of the interferometer shows the modulation depth of 100% and 75%, and $V_{\pi}$ voltage of 6.6 V, and 6.6 V at the 200 Hz and 1 KHz, respectively. The minimum detectable electric field is ~1.84 V/m, ~3.28 V/m, and ~11.6 V/m, corresponding to a dynamic range of about ~22 dB, ~17 dB, and ~6 dB at frequencies of 500 KHz, 1 MHz and 5 MHz, respectively.

• Journal of Biosystems Engineering
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• v.24 no.2
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• pp.159-166
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• 1999

A system to extract continuously the real 3-D geometric fearture information from 2-D image of an object, which is fed randomly via conveyor has been developed. Two sets of structured laser lightings were utilized. And the laser structured light projection image was acquired using the camera from the signal of the photo-sensor mounted on the conveyor. Camera coordinate calibration matrix was obtained, which transforms 2-D image coordinate information into 3-D world space coordinate using known 6 points. The maximum error after calibration showed 1.5 mm within the height range of 103mm. The correlation equation between the shift amount of the laser light and the height was generated. Height information estimated after correlation showed the maximum error of 0.4mm within the height range of 103mm. An interactive 3-D geometric feature extracting software was developed using Microsoft Visual C++ 4.0 under Windows system environment. Extracted 3-D geometric feature information was reconstructed into 3-D surface using MATLAB.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.5
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• pp.519-524
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• 2009

This paper describes a new sensor system for 3D environment perception using stereo structured infrared light sources and a camera. Environment and obstacle sensing is the key issue for mobile robot localization and navigation. Laser scanners and infrared scanners cover $180^{\circ}$ and are accurate but too expensive. Those sensors use rotating light beams so that the range measurements are constrained on a plane. 3D measurements are much more useful in many ways for obstacle detection, map building and localization. Stereo vision is very common way of getting the depth information of 3D environment. However, it requires that the correspondence should be clearly identified and it also heavily depends on the light condition of the environment. Instead of using stereo camera, monocular camera and two projected infrared light sources are used in order to reduce the effects of the ambient light while getting 3D depth map. Modeling of the projected light pattern enabled precise estimation of the range. Two successive captures of the image with left and right infrared light projection provide several benefits, which include wider area of depth measurement, higher spatial resolution and the visibility perception.

• The Journal of Korea Robotics Society
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• v.14 no.2
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• pp.87-93
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• 2019

This paper presents a 6-DOF relocalization using a 3D laser scanner and a monocular camera. A relocalization problem in robotics is to estimate pose of sensor when a robot revisits the area. A deep convolutional neural network (CNN) is designed to regress 6-DOF sensor pose and trained using both RGB image and 3D point cloud information in end-to-end manner. We generate the new input that consists of RGB and range information. After training step, the relocalization system results in the pose of the sensor corresponding to each input when a new input is received. However, most of cases, mobile robot navigation system has successive sensor measurements. In order to improve the localization performance, the output of CNN is used for measurements of the particle filter that smooth the trajectory. We evaluate our relocalization method on real world datasets using a mobile robot platform.

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

• Journal of the Korean Society of Radiology
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• v.16 no.7
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• pp.969-974
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• 2022

In order to maximize dynamic range and to minimize image lag in digital X-ray imaging, diminishing residual parasitic capacitance in photodiode in pixels is critically necessary. These requirements are more specifically requested in dynamic X-ray imaging with high frame rate and low image lag for industrial 2D/3D automated X-ray inspection and medical CT imaging. This study proposes duoPIX^TM X-ray imaging sensor for the first time that is composed of reset thin film transistor, readout thin film transistor and photodiode in a pixel. To verify duoPIX^TM X-ray imaging sensor, designing duoPIX^TM pixel and imaging sensor was executed first then X-ray imaging sensor with 105 ㎛ pixel pitch, 347 mm × 430 mm imaging area and 3300 × 4096 pixels (13.5M pixels) was fabricated and evaluated by using module tester and image viewer specifically for duoPIX^TM imaging sensor.