• 로봇학회논문지
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• 제16권4호
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• pp.291-298
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• 2021

In this study, we present a multi-sensor module for snake robot searching survivors in a narrow space. To this end, we integrated five sensor systems by considering the opinions of the first responders: a gas sensor to detect CO₂ gases from the exhalation of survivors, a CMOS camera to provide the image of survivors, an IR camera to see in the dark & smoky environment, two microphones to detect the voice of survivors, and an IMU to recognize the approximate location and direction of the robot and survivors. Furthermore, we integrated a speaker into the sensor module system to provide a communication channel between the first responders and survivors. To integrated all these mechatronics systems in a small, compact snake head, we optimized the positions of the sensors and designed a stacked structure for the whole system. We also developed a user-friendly GUI to show the information from the proposed sensor systems visually. Experimental results verified the searching function of the proposed sensor module system.

• 한국측량학회지
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• 제33권4호
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• pp.297-304
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• 2015

원격탐사 자료를 활용한 변화탐지 기법은 재난/재해, 국토모니터링 등의 다양한 분야에서 활용가능하다. 그러나, 고해상도 위성영상을 활용하여 무감독 변화탐지를 수행할 경우에는, 기복변위 등에 의한 기하학적인 오차와 영상의 노이즈 정보에 의하여 미변화지역들이 변화지역으로 오탐지될 수 있는 문제점을 지닌다. 따라서 본 연구에서는 대표적인 변화탐지 기법인 IR-MAD 기법을 활용하여 고해상도 위성영상에 대한 객체 기반의 변화탐지를 수행하였다. 특히, 교차융합기법으로 부가적인 자료를 생성하여 객체 기반의 변화탐지 정확도를 향상시키고자 하였다. KOMPSAT-2 위성영상을 활용한 실험을 수행한 결과, 화소기반의 IR-MAD 기법과 비교하여 객체 기반의 IR-MAD 기법이 높은 변화탐지 정확도를 보이는 것을 확인하였다. 또한, 교차융합영상을 활용하였을 경우가 원 다시기 영상만을 사용하였을 때보다 높은 변화탐지 정확도를 보였다. 이를 통해, 객체 기반의 IR-MAD 기법이 고해상도 위성영상을 활용한 국토의 변화탐지를 효과적으로 수행할 수 있음을 실험적으로 증명하였다.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2009년도 학술대회
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• pp.1180-1183
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• 2009

최근 온라인 환경에서 다양한 컨텐츠들이 의사소통의 매개체로 활용되고 있다. 하지만 많은 사용자들은 다양한 형태로 되어있는 정보를 공유, 전달하기 위해 기존 주로 사용되는 의사소통 방법인 문자, 음성으로 변환해야하는 불편함을 겪고 있다. 본 고에서는 온라인 환경에서 사용자들간의 의사소통 방법으로써 원하는 정보를 쉽게 전송하는 방법을 제안한다. 제안된 방법(Information-Picker)은 사용자가 타인에게 전송하려는 정보를 정해진 표식으로 지정하거나 종이에 쓰고, 근접 센서를 통해 사용자가 전송의사를 입력하면, 그 내용을 이미지 센서를 통해 입력 받아 적합한 정보 형태로 변환하여, 타인에게 전송하는 방식이다. Information- picker 는 온라인 환경에서 사용자들간의 의사소통에 있어서 방법의 폭을 넓히는 측면뿐만 아니라, 입력하려는 정보를 센서에 근접시키는 직관적인 인테페이스를 제공하여 사용자로 하여금 쉽고 폭 넓은 의사소통의 편의를 제공할 수 있으며, 특히 현 상황에서의 온라인 사용자들간의 의사전달의 한계를 개선하고, 더욱 풍부한 의도 표현 수단을 제공 할 수 있다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제6권4호
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• pp.293-298
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• 2006

In this paper, a sensor fusion based robot navigation method for the autonomous control of a miniature human interaction robot is presented. The method of navigation blends the optimality of the Fuzzy Neural Network(FNN) based control algorithm with the capabilities in expressing knowledge and learning of the networked Intelligent Robotic Space(IRS). States of robot and IR space, for examples, the distance between the mobile robot and obstacles and the velocity of mobile robot, are used as the inputs of fuzzy logic controller. The navigation strategy is based on the combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance. To identify the environments, a sensor fusion technique is introduced, where the sensory data of ultrasonic sensors and a vision sensor are fused into the identification process. Preliminary experiment and results are shown to demonstrate the merit of the introduced navigation control algorithm.

• 공업화학
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• 제8권2호
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• pp.332-338
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• 1997

$NO_2$기체의 감지를 위한 sensor의 원료물질로 $SnO_2$를 사용하였으며 $SnCl_4$ 용액을 암모니아수로 침전시킨 후 공기중에 하소하여 $SnO_2$를 제조하였다. $SnO_2$의 특성을 XRD 및 IR로 연구하였으며 스크린-프린팅법으로 $SnO_2$후막소자를 제작하였다. 하소온도가 높을수록 $SnO_2$의 입자의 크기는 결정의 성장으로 증가하였다. $1000^{\circ}C$에서 하소된 $SnO_2$분말을 가지고 만든 소자를 $700^{\circ}C$에서 열처리하여 제작된 $SnO_2$소자는 동작온도 $250^{\circ}C$에서 $NO_2$기체에 대한 우수한 감지특성과 선택성을 나타내었다.

• 폴리머
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• 제28권5호
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• pp.361-366
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• 2004

가해준 하중에 따라 폴리(비닐리덴 플루오라이드) (PVDF) 필름에서 발생하는 전압을 측정하며 분포형 촉각센서로서의 특성을 연구하였다. PVDF 필름에 전기장과 온도를 달리하면서 극화 (poling)의 변화를 주었고 이에 따른 필름의 압전성을 나타내는 $\beta$-결정상의 피크를 FT-IR. DSC와 XRD를 사용하여 확인하였다. 본 연구에서 사용된 온도와 전압의 영역에서는 극화 온도가 증가함에 따라 그리고 극화 전압이 증가함에 따라 $\beta$-결정상은 증가하였으며, 이에 따라 유전상수가 역시 증가하였다. 8$\times$8어레이 (array)로 제작된 촉각센서에 힘을 가하여 극화에 따른 전압 발생량을 측정한 결과, 극화가 많이 된 시편의 경우 높은 전압이 발생하는 것을 확인하였다.

• Bulletin of the Korean Chemical Society
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• 제33권4호
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• pp.1297-1302
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• 2012

The interaction between carbon monoxide (CO) and a cobalt-salen complex (Co(salen)) was studied and applied to detect CO. The metal complex doped PEDOT:PSS film exhibited good sensitivity to CO and differentiate CO from other gases. The response of the composite to CO was reversible (RSD < 5%) change in resistance upon removal of CO gas from the test chamber. The effects of adding Co(salen) in the probe film on the response of the sensor were investigated using AFM, XPS, and FT-IR spectroscopy. The sensitivity of the sensor increased as the Co(salen) concentration enhanced as it increased from 0.0 to 1.5 wt. %, where the highest sensitivity ($%{\Delta}R/R_o$) of $-25.0{\pm}0.05%$ was achieved with 1.0 wt. % Co(salen). The sensor containing probe exhibited a linear response ($R^2$ = 0.983) in the range of 0.5 to 10.0% CO (v/v) $N_2$, and the detection limit was 1.74% CO (v/v) in $N_2$.

• Bulletin of the Korean Chemical Society
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• 제34권8호
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• pp.2291-2296
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• 2013

An efficient carbon monoxide (CO) sensor was developed based on poly(3,4-ethylenedioxy)thiophenepoly(styrenesulfonate) (PEDOT:PSS) modified with a new pyrimidine-fused heterocyclic compound, bis(2-hydroxyphenyl)dihydropyrido[2,3-d:6,5-d]dipyrimidine-tetraone (B2HDDT). B2HDDT remains stable in the polymer matrix through interactions with functional groups of the polymer. It created prominent sites that captured CO gas, and the experimental parameters, including the amount of doped B2HDDT in the PEDOT:PSS film, were optimized. The sensor probe was also examined to verify its reliability for detecting CO in the presence of atmospheric gases in a discriminating manner. NMR, AFM, and FT-IR spectra were obtained to evaluate the structure and morphology of the B2HDDT-doped PEDOT:PSS (PEDOT:PSS/B2HDDT) film. The content of 35 vol % B2HDDT (7.0 mM) in PEDOT:PSS provided the largest response factor (${\Delta}R/R_o$) for the CO gas. The sensor response was reproducible, with a relative standard deviation < 5% (n = 5). The detection limit was determined to be $0.44{\pm}0.05$ vol %.

• 센서학회지
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• 제23권3호
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• pp.165-169
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• 2014

An existing infrared (IR) analysis system is generally composed of infrared source, IR focusing lenses, IR detector, and optical chopper. An optical chopper is widely used in combination with lock-in amplifier to improve the signal-to-noise ratio by periodically interrupting incident light beam. During recent years, a few researches on miniaturized optical chopper have been reported to apply to micro-scaled optical systems. In this paper, a micro optical chopper operated by electromagnetic actuation is proposed and applied to a miniaturized micro-scaled optical system operating in IR spectral range. Additionally, the fabrication method of the proposed micro chopper is demonstrated. The proposed micro optical chopper is composed of the polydimethylsiloxane (PDMS) membrane, solenoid, and permanent magnet. The permanent magnet is bonded on the PDMS membrane using an ultraviolet-activated adhesive. The operation of the chopper is based on the attractive and repulsive forces between permanent magnet and solenoid induced by an electrical current flowing through the solenoid. The fabricated micro optical chopper could operate up to 200 Hz of frequency. The maximum operating distance of the chopper with 7mm diameter membrane was $750{\mu}m$ at 100 Hz of frequency.

• 대한원격탐사학회지
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• 제27권3호
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• pp.369-377
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• 2011

Since well-calibrated satellite data is critical for their applications, calibration and validation of COMS science data was one of the key activities during the IOT. COMS MI radiometric calibration process was divided into two phases according to the out-gassing of the sensor: calibrations of the visible (VI) and infrared (IR) channels. Different from the VIS calibration, the calibration steps for the IR channels followed additional processes to secure their radiometric performances. Primary calibration steps of the IR were scan mirror emissivity correction, midnight effect compensation, slope averaging and 1/f noise compensation after a nominal calibration. First, the scan mirror emissivity correction was conducted to compensate the variability of the scan mirror emissivity driven by the coating material on the scan mirror. Second, the midnight effect correction was performed to remove unreasonable high spikes of the slope values caused by the excessive radiative sources during the local midnight. After these steps, the residual (difference between the previous slope and the given slope) was filtered by a smoothing routine to eliminate the remnant random noises. The 1/f noise compensation was also carried out to filter out the lower frequency noises caused from the electronics in the Imager. With through calibration processes during the entire IOT period, the calibrated IR data showed excellent performances.