• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.243-250
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• 2012

This paper proposes a 3D map-building algorithm using one LRF (Laser Range Finder) while a mobile robot is navigating on the slanted surface. There are several researches on 3D map buildings using the LRF. However most of them are performing the map building only on the flat surface. While a mobile robot is moving on the slanted surface, the view angle of LRF is dynamically changing, which makes it very difficult to build the 3D map using encoder data. To cope with this dynamic change of the view angle in build 3D map, IMU and balance filters are fused to correct the unstable encoder data in this research. Through the real navigation experiments, it is verified that the fusion of multiple sensors are properly performed to correct the slope angle of the slanted surface. The effectiveness of the balance filter are also checked through the hill climbing navigations.

• 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.

• Journal of Sensor Science and Technology
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• v.14 no.2
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• pp.116-124
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• 2005

In this paper range measurement systems are designed using an ultrasonic sensor and a camera. An ultrasonic sensor provides the range measurement to a target quickly and simply but its low resolution is a disadvantage. We tackle this problem by employing a camera. Instead using a stereoscopic sensor, which is widely used for 3D sensing but requires a computationally intensive stereo matching, the range is measured by focusing and structured lighting. In focusing a straightforward focusing measure named as MMDH(min-max difference in histogram) is proposed and compared with existing techniques. In the method of structure lighting, light stripes projected by a beam projector are used. Compared to those using a laser beam projector, the designed system can be constructed easily in a low-budget. The system equation is derived by analysing the sensor geometry. A sensing scenario using the systems designed is in two steps. First, when better accuracy is required, measurements by ultrasonic sensing and focusing of a camera are fused by MLE(maximum likelihood estimation). Second, when the target is in a range of particular interest, a range map of the target scene is obtained by using structured lighting technique. The systems designed showed measurement accuracy up to 0.3[mm] approximately in experiments.

• Nuclear Engineering and Technology
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• v.42 no.6
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• pp.704-711
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• 2010

Modal testing requires measuring the vibration of many points, for which an accelerometer, a gab sensor and laser vibrometer are generally used. Conventional modal testing requires mounting of these sensors to all measurement points in order to acquire the signals. However, this can be disadvantageous because it requires considerable measurement time and effort when there are many measurement points. In this paper, we propose a method for modal testing using a camera image. A camera can measure the vibration of many points at the same time. However, this task requires that the measurement points be classified frame by frame. While it is possible to classify the measurement points one by one, this also requires much time. Therefore, we try to classify multiple points using pattern recognition. The feasibility of the proposed method is verified by a beam experiment. The experimental results demonstrate that we can obtain good results.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.10a
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• pp.208-210
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• 2014

IOT(Internet of Things) through Radio Frequency Identification (RFID), Wireless Sensors, Global Positioning Systems, Laser Scanners and other information sensing device, according to the agreed protocol keep anything connected to the Internet for information exchange and communication. It's a network what in order to achieve intelligent identify, locate, track, monitor and manage. With the development of IOT technology, data growth will explode once again on the existing basis, which gives data management enormous challenges. This paper described characteristics of data in IOT and analysis existing data management technologies, then proposed a data management framework to conduct the research on the data management of IOT.

• Journal of Sensor Science and Technology
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• v.30 no.5
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• pp.279-285
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• 2021

Recently, cesium tellurium iodine (Cs₂TeI₆) has emerged as an inorganic halide perovskite material with potential application in optoelectronic devices due to its high absorption coefficient, suitable bandgap and because it consists of nontoxic and earth-abundant elements. However, studies on its fabrication process as well as photoresponse characteristics are limited. In this study, a simple and effective method is introduced for the synthesis of Cs₂TeI₆ thin films by a two-step dry process. A Cs₂TeI₆-based lateral photosensor was fabricated, and its photoresponse characteristics were explored under laser illuminations of four different wavelengths in the visible range: 405, 450, 520, and 655 nm. The initial photosensing results suggest potential application and can lead to more promising studies of Cs₂TeI₆ film in optoelectronics.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.37 no.2
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• pp.45-53
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• 2019

RGB-D SLAM (Simultaneous Localization and Mapping) refers to the technology of using deep camera as a visual sensor for SLAM. In view of the disadvantages of high cost and indefinite scale in the construction of maps for laser sensors and traditional single and binocular cameras, a method for creating three-dimensional map of indoor environment with deep environment data combined with RGB-D SLAM scheme is studied. The method uses a mobile robot system equipped with a consumer-grade RGB-D sensor (Kinect) to acquire depth data, and then creates indoor three-dimensional point cloud maps in real time through key technologies such as positioning point generation, closed-loop detection, and map construction. The actual field experiment results show that the average error of the point cloud map created by the algorithm is 0.0045m, which ensures the stability of the construction using deep data and can accurately create real-time three-dimensional maps of indoor unknown environment.

• Korean Journal of Remote Sensing
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• v.35 no.1
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• pp.1-13
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• 2019

The advent of a fourth industrial revolution, built on advances in digital technology, has coincided with studies using various unmanned aerial vehicles (UAVs) being performed worldwide. However, the accuracy of different sensors and their suitability for particular research studies are factors that need to be carefully evaluated. In this study, we evaluated UAV photogrammetry using smart technology. To assess the performance of digital photogrammetry, the accuracy of common procedures for generating orthomosaic images and digital surface models (DSMs) using terrestrial laser scanning (TLS) techniques was measured. Two different type of non-surveying camera(Smartphone camera, fisheye camera) were attached to UAV platform. For fisheye camera, lens distortion was corrected by considering characteristics of lens. Accuracy of orthoimage and DSM generated were comparatively analyzed using aerial and TLS data. Accuracy comparison analysis proceeded as follows. First, we used Ortho mosaic image to compare the check point with a certain area. In addition, vertical errors of camera DSM were compared and analyzed based on TLS. In this study, we propose and evaluate the feasibility of UAV photogrammetry which can acquire 3 - D spatial information at low cost in a construction site.

• Journal of Sensor Science and Technology
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• v.28 no.5
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• pp.305-310
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• 2019

The purpose of this study is to classify the concentration of HbA1c (glycosylated hemoglobin), which is an indicator in the management of accurate blood glucose level in diabetic patients, using a non-invasive optical property measurement method. To measure the optical properties of HbA1c, the optical source uses LEDs and laser diodes of 400 nm in the visible region and 1450 nm in the nearinfrared region using thermopile to detect the Raman scattering intensity. An HbA1c control solution was used. As a result, the optical properties of 5% (normal) and 9% (abnormal) HbA1c control solutions showed specificity in which the output values were reversed at 850 nm and 950 nm, respectively. This property was applied to distinguish between normal and abnormal values in diabetes. In addition, considering tissue penetration depths for non-invasive measurements, two wavelengths were determined to be effective in distinguishing the concentrations of HbA1c control solutions at 5%, 7%, and 9%.

• Journal of Sensor Science and Technology
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• v.30 no.3
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• pp.165-169
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• 2021

The objective of this study was to fabricate a novel hydrophobic stent for reducing restenosis by employing electron beam equipment. The stent was fabricated from a CoCr alloy tube by using a femtosecond laser and was treated with argon plasma. Subsequently, the stent's surface specification changed from hydrophilic to hydrophobic. Application of the electron beam offers several advantages such as a short processing time, whole surface reforming, and enhancement of material properties. As the surface of the stent was rendered hydrophobic, it can provide equivalent or enhanced mechanical properties and greater functionality with a higher radial force at the extended stent in a blood vessel. The obtained results corresponding to the mechanical properties indicate that the contact angle increased to approximately 130°, and the radial force increased to approximately 3 N. Furthermore, cell culture experiments were conducted for verifying whether cells were cultured on the surface-modified CoCr surface. Based on the obtained results, it is believed that an effective reduction in the restenosis of inserted vascular stents is possible.