• The Journal of Korea Robotics Society
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• v.6 no.1
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• pp.86-96
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• 2011

The human-following is one of the significant procedure in human-friendly navigation of mobile robots. There are many approaches of human-following technology. Many approaches have adopted various multiple sensors such as vision system and Laser Range Finder (LRF). In this paper, we propose detection and tracking approaches for human legs by the use of a single LRF. We extract four simple attributes of human legs. To define the boundary of extracted attributes mathematically, we used a Support Vector Data Description (SVDD) scheme. We establish an efficient leg-tracking scheme by exploiting a human walking model to achieve robust tracking under occlusions. The proposed approaches were successfully verified through various experiments.

• Journal of the Optical Society of Korea
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• v.20 no.4
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• pp.524-529
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• 2016

Diagnostic sensors are demanded during plasma processes. Holograms of plasma taken with laser light without a reference beam were used to monitor behaviors of charged particles produced in nitrogen plasma as a function of electrode temperature ranging between 50 and 300℃. Holograms were characterized as a function of the pixel sum and grayscale value. Pixel sum calculated in identified grayscale ranges strongly correlated with ion density and emitted light intensity measured with a langmuir probe and optical emission spectroscopy, respectively. The performance was further evaluated with data acquired as a function of N₂ and NH₃ flow rates and improved correlations were observed in the new grayscale range. The confirmed correlations indicate that a hologram is a viable means to diagnose behaviors of plasma particles such as ions. Underlying principles are discussed in view of particle and charge composing vacuum and light.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.105-110
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• 1999

This paper presents a local obstacle avoidance method for indoor mobile robots using Lane method and velocity Space Command approach. The method locates local obstacles using the information form multi-sensors, such that ultrasonic sensor array and laser scanning sensor. The method uses lane method to determine optimum collision-free heading direction of a robot. Also, it deals with the robot motion dynamics problem to reduce some vibration and guarantee fast movement as well. It yields translational and rotational velocities required to avoid the detected obstacles and to keep the robot heading direction toward goal location as close as possible. For experimental verification of the method, a mobile robot driven by two AC servo motors, equipped with 24 ultrasonic sensor array and laser scanning sensor navigates using the method through a corridor cluttered with obstacle.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.1075-1080
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• 2008

An engine for marine propulsion and power generation consists of several cylinder liner-piston sets. And the oil groove is on the cylinder liner inside wall for the lubrication between a piston and cylinder. The machining process of oil groove has been carried by manual work so far, because of the diversity of the shape. Recently, we developed an automatic grinding robot system for oil groove machining of engine cylinder liners. It can covers various types of oil grooves and adjust its position by itself. The grinding robot system consists of a robot, a machining tool head, sensors and a control system. The robot automatically recognizes the cylinder liner's inside configuration by using a laser displacement sensor and a vision sensor after the cylinder liner is placed on a set-up equipment.

• 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.

• Ceramist
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• v.20 no.4
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• pp.55-73
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• 2017

As one of the most versatile semiconductors, zinc oxide (ZnO) with one-dimensional (1-D) nanostructures has been significantly developed for the application of ultraviolet (UV) lasers, photochemical sensors, photocatalysts, and so on. Such 1-D nanowires could be easily achieved due to the anisotropic growth rate along the [0001] direction. However, such typical growth habit leads to decrease the surface area of the (0001) plane, which plays a central role in not only UV lasing action but also photocatalytic reaction. This fact lead us to develop ZnO crystal with enhanced polar surface area through crystal growth control. The purpose of this review is to provide readers a simple route to plate-type ZnO crystal with highly enhanced polar surfaces and their applications for UV-laser, photocatalyst, and antibacterial agents. In addition, we will highlight the recent study on pilot-scale synthesis of plate-type ZnO crystal for industrial applications.

• Journal of the Korean Crystal Growth and Crystal Technology
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• v.12 no.1
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• pp.11-20
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• 2002

The world at the end of the $20^{th}$ Century has become "blue" Indeed, this past decade has witnessed a "blue rush" towards the development of violet-blue-green light emitting diodes (LEDs) and laser diodes (LDs) based on wide bandgap III-Nitride semiconductors. And the hard work has culminated with, first, the demonstration of commercial high brightness blue and green LEDs and of commercial violet LDs, at the very end of this decade. Thanks to their extraordinary properties, these semiconductor materials have generated a plethora of activity in semiconductor science and technology. Novel approaches are explored daily to improve the current optoelectronics state-of-the-art. Such improvements will extend the usage and the efficiency of new light sources (e.g. white LEDs), support the rising information technology age (e.g. high density optical data storage), and enhance the environmental awareness capabilities of humans (ultraviolet and visible photon detectors and sensors). Such opportunities and many others will be reviewed in this presentation.

• Journal of Sensor Science and Technology
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• v.24 no.6
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• pp.398-403
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• 2015

In this paper, the sine-wave and trigger pulse generator with capability of frequency high-resolution and time-variable trigger edge has implemented. It fulfills well the requirements for SS-OCT with frequency resolution of 1 Hz, frequency stability of ${\leq}{\pm}0.03Hz$ and time-variable trigger edge. Through its performance test applied to the wavelength swept laser, 90 nm, sweeping range and 10mW average optical power were obtained. This showes that the realized generator can replace the commercial high cost and high performance signal generators employed by current SS-OCT systems.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.11
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• pp.1102-1107
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• 2009

An ultrasonic sensor has been widely used as a range sensor for its low cost and capability of detecting some obstacles, such as glasses and black surfaces, which are not well detected by a laser scanner and an IR sensor. Although low-cost sensors are preferred for practical service robots, they suffer from the inaccurate and insufficient range information. This paper proposes a novel approach to obstacle avoidance using low-cost anisotropic ultrasonic sensors with wide beam angle. In this paper, obstacles can be detected by the proposed sensor configuration which consists of one transmitter and three receivers. Because even wide obstacles are represented by a point, which corresponds to the intersection of range data from each receiver of the anisotropic sensor, a robot cannot avoid wide obstacles successfully. This paper exploits the probabilistic mapping technique to avoid collision with various types of obstacles. The experimental results show that the proposed method can robustly avoid obstacles in most indoor environments.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.24 no.6
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• pp.476-482
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• 2014

The stress analysis of the pipeline is required in any kind of plant for its safe operation. For this, the displacement vibration data measured at many locations of the pipeline should be provided. In reality, the installation of the non-contact type displacement sensors such as laser displacement sensors or eddy current type proximity sensors in a narrow and confined region in the vicinity of the pipeline is almost impracticable. In this work, the general purpose piezo-ceramic accelerometers were attached on the measuring points on the pipeline and the acceleration vibration signal was acquired. The measured acceleration signal was low pass filtered and then downsampled. The resulting acceleration signal was transformed into both the time-domain and frequency-domain displacement signal utilizing the fast Fourier transform techniques. All the procedures are presented in detail. It is demonstrated that the measurement of the pipeline acceleration by using contact type accelerometers can be made for the purpose of providing the required displacement data for the stress analysis of the pipeline.