• Proceedings of the KSME Conference
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• 2001.11a
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• pp.32-37
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• 2001

As increasing underground facilities, more effective management is needed nowadays. It is important to get an accurate information of underground facilities to manage that, so some methods of detecting location - electromagnetic induction method, ground penetration radar method, sonic method - are used to obtain the information of underground facilities. In this study, a magnetic method to detect underground facilities was developed. In the magnetic method, underground facilities are detected by a detector and the magnetic marker which is a permanent magnet and used to marking the location by attaching underground facilities. A proper characteristic of the magnetic marker was optimized by maxwell 20 magnetic field analysis tool, a test field was constructed with the magnetic marker, PVC pipe, and steel pipe under ground 1.5m, and the detector was made by modifying a common ferromagnetic detector. Magnetic strengths of the magnetic marker were measured by the detector at each location in the test field, and analyzed by magnetic field analysis tool in the same condition. In the result, the underground pipes were detectable within the deviation ${\pm}20cm$ at PVC pipe and ${\pm}10cm$ at steel pipe respectively. The steel pipe was more detectable by ferromagnetism. The developed magnetic method can be applied to maintain and manage underground facilities.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1460-1463
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• 2005

In this paper, analysis of magnetic marker for autonomous vehicle guidance system using 3-axis magnetic sensor propose. Position sensing is an important an estimation system of vehicle position and orientation on magnetic lane, which is a parameter of the steering controller for automated lane following is described. To verify that the magnetic dipole model could be applied to a magnetic unit paved in roadway, the analysis of the data 3-axis magnetic field measured experimentally.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.9
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• pp.63-69
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• 2003

As increasing underground facilities, more effective management is needed nowadays. It is important to get an accurate information of underground facilities to manage that, so some methods of detecting location - electromagnetic induction method, ground penetration radar method, sound wave method - are used to obtain the information of underground facilities. In this study, a magnetic method to detect underground facilities was developed. In the magnetic method, underground facilities are detected by a detector and the magnetic marker which is a permanent magnet and used to marking the location by attaching underground facilities. A test field was constructed for experiment with the magnetic marker, PVC pipe, and steel pipe under ground 1.5m, and a ferromagnetic detector was used for measurement. Magnetic strengths of the magnetic marker were measured by the detector at each location in the test field, and analyzed by magnetic field analysis tool in the same condition. In the result, the underground pipes of 1.5m below were detectable within the deviation $\pm$0.2m. When For applying this method, it should be considered that ferromagnetic materials around the detector could affect a measured value.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.3
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• pp.375-380
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• 2009

In this paper, a steering actuator is designed and developed for an unmanned vehicle based on magnetic marker. One of the most important component of an unmanned vehicle is a steering actuator to follow magnetic road. Thus, we develop a steering actuator using a stepping motor and adopt to a new frequency control method depended on speed of the vehicle. In order to verify the usability of the developed system, the setup of unmanned vehicle installed the designed steering actuator is tested on magnetic road.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.6
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• pp.775-780
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• 2008

In this paper, unmanned driving of robotic vehicle using magnetic marker is proposed. One of the most important component of autonomous vehicle is to detect the position of a magnetic marker on the road. In order to calculate the precise position of a magnet embedded on the road, the relation of magnetic field and a sensor is analyzed, and a new position sensing system using arrayed magnetic sensor is proposed. Also, the steering control system using a stepping motor is developed for driving by automatic mode as well as manual mode. For the verification of usability, the developed robotic vehicle is tested on magnetic road.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.37 no.7
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• pp.637-646
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• 2013

This study aims to numerically investigate the natural convection characteristics of a magnetic fluid in a cubic cavity. The governing equations of the magnetic fluid are solved using the Generalized-Simplified Marker and Cell Method (GSMAC). The natural convection and heat transfer characteristics of the magnetic fluid were analyzed by varying the intensity and direction of the magnetic field. As a result, it was found that the natural convection characteristics were controlled by the intensity and direction of the magnetic field, and the mean Nusselt numbers were minimized at a vertical intensity of H=-4000 and horizontal intensity of H=12000 of the magnetic field. In addition, the mean Nusselt numbers increased with the intensities of the magnetic field, regardless of the direction of the magnetic field.

• Journal of Sensor Science and Technology
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• v.22 no.2
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• pp.111-117
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• 2013

The autonomous driving method using magnetic sensors recognizes the position by measuring magnetic fields in autonomous robots or vehicles after installing magnetic markers in a moving path. The Position estimate method using magnetic sensors has an advantage of being affected less by variation of driving environment such as oil, water and dust due to the use of magnetic field. It also has the advantages that we can use the magnet as an indicator and there is no consideration for power and communication environment. In this paper, we propose an efficient sensor system for an autonomous driving vehicle supplemented for existing disadvantage. In order to efficiently eliminate geomagnetism, we analyze the components of the horizontal and vertical magnetic field. We propose an algorithm for position estimation and geomagnetic elimination to ease analysis, and also propose an initialization method for sensor applied in the vehicle. We measured and analyzed the developed system in various environments, and we verify the advantages of proposed methods.

• Journal of Sensor Science and Technology
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• v.19 no.3
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• pp.221-229
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• 2010

In recent studies, many methods have been studied for mobile robot using magnetic markers on its pathway. This is not influenced by the weather conditions, and makes possible to develop controller with low level processors and simple algorithms. However, the interval between magnets is restricted by the magnetic field intensity and it is impossible to get road information ahead. This paper suggests a method of widening markers and expressing the road information ahead using magnetic markers, and explains a sensor arrangement considering suggested methods. Also, magnetic field analysis was done to investigate the effects of widening magnetic markers with various environments. A small mobile robot was made to figure out the performance of suggested methods, and driving experiments were performed on the straight and curved road with magnetic markers. The results show that the robot moved the prearranged pathway with 0.5 cm lateral displacements and stopped at a stop line using magnetic information on the road.

• Progress in Medical Physics
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• v.30 no.4
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• pp.89-93
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• 2019

Purpose: This study aims to develop new markers based on silicone rubber and urethane rubber to enhance visibility in low magnetic field magnetic resonance (MR) imaging. Methods: Four types of markers were fabricated using two different base materials. Two of the markers were composed of two different types of silicone rubber: DragonSkin™ 10 MEDIUM and BodyDouble™ SILK. The other two markers were composed of types of urethane rubber: PMC™ 780 DRY and VytaFlex™ 20. Silicone oil (KF-96 1000cs) was added to the fabricated markers. The allocated amount of oil was 20% of the weight (wt%) of each respective marker. The MR images of the markers, with and without the silicone oil, were acquired using MRIdian with a low magnetic field of 0.35 T. The signal intensities of each MR image for the markers were analyzed using ImageJ software and the visibility for each was compared. Results: The highest signal intensity was observed in VytaFlex™ 20 (279.67±3.57). Large differences in the signal intensities (e.g., 627% in relative difference between BodyDouble™ SILK and VytaFlex™ 20) among the markers were observed. However, the maximum difference between the signal intensities of the markers with the silicone oil showed only a 62% relative difference between PMC™ 780 DRY and DragonSkin™ 10 MEDIUM. An increase in the signal intensity of the markers with the silicone oil was observed in all markers. Conclusions: New markers were successfully fabricated. Among the markers, DragonSkin™ 10 MEDIUM with silicone oil showed the highest MR signal intensity.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.3
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• pp.343-348
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• 2007

Development of autonomous vehicle system that use magnetic position meter research of intelligence transportation system is progressed worldwide active by fast increase of vehicles. Among them, research about autonomous of vehicles occupies field. And autonomous of vehicles is element that path recognition is basic. Existent magnetic base autonomous system analyzes three-dimensional data of magnet marker to 3 axises magnetic sensor and recognized route. But because using Magnetic Wire and Magnetic Position Meter in treatise that see, measure side lateral error and propose system that driving. And system that compare with system of autonomous vehicles and propose wishes to verify by hardware of that specification and simple algorithm through an experiment that autonomous is available.