• Journal of Korean Society of Environmental Engineers
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• v.31 no.11
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• pp.1033-1040
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• 2009

One thing to note in cyclone operation and design is to minimize the pressure drop with the enhancement of the efficiency of dust collection. This can be facilitated by the detailed resolution of complex fluid flow occurring inside a cyclone. To this end, the main objective of this study was to obtain the detailed fluid dynamics by the development of a reliable computation method and thereby to figure out the physics of dust collection mechanism for more extreme environment caused by high temperature and pressure condition. First of all, the computer program developed was evaluated against experimental result. That is, the numerical calculation predicts well the data of experimental pressure drop as a function of flow rate for the elevated pressure and temperature condition employed in this study. The increase of pressure and temperature generally affects significantly the collection efficiency of fine particle but the effect of pressure and temperature appears contrary each other. Therefore, the decrease of collection efficiency caused by the high operating temperature mainly due to the decrease of gaseous density can be remedied by increase of operating pressure. After the evaluation of the program, a series of parametric investigations are performed in terms of major cyclone design or operating parameters such as tangential velocity and vortex finder diameter for dusts of a certain range of particle diameters, etc. As expected, tangential velocity plays the most important effect on the collection efficiency. And the efficiency was not affected significantly by the change of the length of vortex finder but the diameter of vortex finder plays an important role for the enhancement of collection efficiency.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.5
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• pp.468-472
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• 2013

This paper deals with the indoor localization problem for a SSMR (Skid Steering Mobile Robot) subjected to wheel-ground friction and with one LRF (Laser Range Finder). In order to compensate for some friction effect, a friction related coefficient is estimated by the recursive least square algorithm and appended to the maneuvering command. Also to reduce odometric information based localization errors, the lines are extracted with scan points of LRF and matched with the ones of the corresponding map built in advance. The present friction compensation and scan map matching schemes have been applied to a laboratory SSMR, and experimental results are given to validate the localization performance along an indoor corridor.

• Proceedings of the Korean Vacuum Society Conference
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• 2012.08a
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• pp.170-170
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• 2012

정보통신 기술 발전과 함께 자동차 및 로봇 산업에서도 다양한 IT 기술이 적용되고 있다. 지능형 로봇 및 자율 주행 자동차의 실현을 위해서는 필수적인 센서 기술이 수반되어야 한다. 자동차 및 로봇 산업에서 종래의 센서와 더불어 레이저를 이용한 센서 기술 적용으로 보다 업그레이드 된 성능을 갖게 되었다. 특히, 반도체 레이저를 이용한 전방 물체 및 거리 인식 센서를 사용함으로써 보다 정밀한 분해능과 장거리의 거리 계측이 가능하게 되었다. RF나 초음파 센서보다 우수한 성능을 가진 반도체 레이저 거리 계측 센서를 위한 박막 성장과 성장된 Wafer의 칩 프로세스 공정을 진행하여 레이저 센서로 적용 가능함을 확인하였다. InP 기판 위해 클래드, 도파로, 활성층을 MOCVD 장비로 각각 성장하였으며, 도파로는 비대칭 구조로 성장이 되었다.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.11
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• pp.891-898
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• 2003

Unmanned remote survey system is proposed to measure distance and angle of the present position of micro-tunneling machine from any starting point of entrance. Cross type linear LED that can be controlled remotely is attached to the tunneling machine. Range finder and angle measuring devise fixed to internal of the pipe can scan the center of LED. Distance and angle measuring devises are disposed in the measurable position of the pipe, then the present position of tunneling machine can be calculated automatically from the measurements.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.7
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• pp.1302-1308
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• 2007

In this paper, a real-time collision avoidance algorithm is proposed for experimental Autonomous Vehicle(XAV). To ensure real-time implementation, a virtual potential field is calculated in one dimensional space. The attractive force is generated by the steering command either transmitted in the remote control station or calculated in the Autonomous Navigation System(ANS) of the XAV. The repulsive force is generated by obstacle information obtained from Laser Range Finder(LRF) mounted on the XAV. Using these attractive and repulsive forces, modified steering, velocity and emergency stop commands are created to avoid obstacles and follow a planned path. The suggested algorithm is inserted as one component in the XAV system. Through various real experiments and technical demonstration using the XAV, the usefulness and practicality of the proposed algorithm are verified.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2007.05a
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• pp.231-234
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• 2007

A measurement technique in an industry site is basis technique which is bringing a ripple effect on an increasing productivity. Recently, a measurement request is increasing in the industry field as well as the variety field such as leisure, research. Thus, it is in point of time to secure an internal technique about measurement using a laser. In this paper, we prepare to develop the industrial precision laser distance measure device that is available measuring in several hundred meters[m]. In other words, we are planning to measure a wide distance using a laser diode that has long life and is compact, inexpensive. Through this research, we'll secure the pulse laser control technique, a signal processing, technique for distance calculation about a laser distance measurement system. And hereafter, we'll plan to commercialize a laser distance device using this research.

• Proceedings of the KSRS Conference
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• 2004.10a
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• pp.128-131
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• 2004

In this paper, we describe reconstructed 3D-urban modeling techniques for laser scanner and CCD camera system, which are loading on the vehicle. We use two laser scanners, the one is horizon scanner and the other is vertical scanner. Horizon scanner acquires the horizon data of building for localization. Vertical scan data are main information for constructing a building. We compared extraction of edge aerial image with laser scan data. This method is able to correct the cumulative error of self-localization. Then we remove obstacles of 3D-reconstructed building. Real-texture information that is acquired with CCD camera is mapped by 3D-depth information. 3D building of urban is reconstructed to 3D-virtual world. These techniques apply to city plan. 3D-environment game. movie background. unmanned-patrol etc.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.299-301
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• 1996

Since a standard lens has small sight angle, a fish-eye lens can be used in order to obtain wide sight angle for the robot vision system. In spite of the advantage, the image through the lens has variable resolution; the central information of the lens is of high resolution, but the peripheral information is of low resolution. Owing to this difference of resolution, the variable resolution image should be transformed to a uniform resolution image in order to determine the positions of the objects in the image. In this work, the correction method for the distorted image is presented and the performance is analyzed. Furthermore, the camera with a fish eye lens can be used to determine the real world coordinates. The performance is shown through experiments.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10a
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• pp.776-779
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• 1987

This paper describes a technique for measuring the volume of a pile of powder in a visual way. The volume of a fragile object whose shape is easily transformed by a slight touch of another object must be measured without any contact with it. This can be achieved by applying a three-dimensional shape reconstruction technique employed in computer vision. We have developed a measurement system that finds the volume of a pile of powder by employing a range finder, and performed an experiment of determining the volume of PVC powder piled on a table. The result of the experiment was satisfactory.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.7
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• pp.635-641
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• 2008

In this paper, we used a laser range finder (LRF) to detect both the static and dynamic obstacles for the safe navigation of a mobile robot. LRF sensor measurements containing the information of obstacle's geometry are first processed to extract the characteristic points of the obstacle in the sensor field of view. Then the dynamic states of the characteristic points are approximated using kinematic model, which are tracked by associating the measurements with Probability Data Association Filter. Finally, the collision avoidance algorithm is developed by using fuzzy decision making algorithm depending on the states of the obstacles tracked by the proposed obstacle tracking algorithm. The performance of the proposed algorithm is evaluated through experiments with the experimental mobile robot.