• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.241-244
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• 1997

A dead reckoning navigation system is developed for autonomous mobile robot localization. The navigation system was implemented by novel sensor fusion using a Kalman filter. A differential encoder and the gyroscope error models are developed for the filter. An indirect Kalman filter scheme is adopted to reduce the computational burden and to enhance the navigation system reliability. The filter mutually compensates the encoder errors and the gyroscope errors. The experimental results show that the proposed mobile . robot navigation algorithm provides the reliable position and heading angle of the mobile robot without any help of the external positioning systems.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.3
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• pp.306-314
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• 2009

The pelvis platform is the mechanical part which accomplishes the activities of diminishing the disturbances from the lower body and maintaining a balanced posture. When a biped robot walks, a lot of disturbances and irregular vibrations are generated and transmitted to the upper body. As there are some important machines and instruments in the upper body or head such as CPU, controller units, vision system, etc., the upper part should be isolated from disturbances or vibrations to functions properly and finally to improve the biped stability. This platform has 3 rotational degrees of freedom and is able to maintain balanced level by feedback control system. Some sensors are fused for more accurate estimation and the control system which integrates synchronization and active filtering is simulated on the virtual environment.

• Structural Monitoring and Maintenance
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• v.1 no.1
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• pp.1-45
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• 2014

The developments and implementations of the structural health monitoring (SHM) system for large infrastructures have been gradually recognized by researchers, engineers and administrative authorities in the last decades. This paper summarizes an updated review on innovations and applications in SHM for infrastructures carried out by researchers at Dalian University of Technology. Invented sensors and data acquisition system are firstly briefly described. And then, some proposed theories and methods including the sensing technology, sensor placement method, signal processing and data fusion, system identification and damage detection are discussed in details. Following those, the activities on the standardization of SHM and several case applications on specific types of structure are reviewed. Finally, existing problems and promising research efforts in the field of SHM are given.

• Journal of Biomedical Engineering Research
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• v.26 no.5
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• pp.331-335
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• 2005

The fusion technology of small sensor and wireless communication was followed by various application examples of the embedded system, where the social infrastructural facilities and ecological environment were wirelessly monitored. In addition, this technology represents the primary application area being extended into the healthcare field. In this study, a body area network for ubiquitous healthcare is presented. More specifically this represents a wireless biomedical signal acquisition device characterized by small size, low power consumption, pre-processing and archiving capability. Using this device, a new method for monitoring vital signs and activity is created. A PDA-based wireless sensor network enables patients to be monitored during their daily living, without any constraints. Therefore, the proposed method can be used to develop Activities of Daily Living (ADL) monitoring devices for the elderly or movement impaired people. A medical center would be able to remotely monitor the current state of elderly people and support first-aid in emergency cases. In addition, this method will reduce medical costs in society, where the average life expectancy is increasing.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.3
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• pp.296-301
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• 2011

This paper deals with the simultaneous localization and mapping system using cooperative robot. For recognizing environment, swarm robot uses the ultrasonic sensors and vision sensor. Ultrasonic sensors measure the distance information, and vision sensor recognizes the predefined landmark. we used SURF with excellent quality and fast matching in order to recognize landmark. Due to measurement error of sensors, we fusion them using particle filter for accurate localization and mapping. Finally, we show the feasibility of the proposed method through some experiments.

• Journal of Biosystems Engineering
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• v.36 no.6
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• pp.491-499
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• 2011

The objective of this study was to develop the export strategic core technologies for IT fusion next generation agricultural machines by the analysis of comprehensive and cooperative systems of industries, universities, and institutes. In order to achieve the objective of this study, an expert panel was formed and operated. The first survey was conducted by the Delphi method. For this the export strategic core technologies were surveyed and analyzed using the questionnaire. Based on the results of the first survey, the second survey was conducted. The questionnaire used for the second survey was designed by results of the first survey. The results of the second survey was analyzed by AHP method. The third survey was conducted based on the second one, and the final results were analyzed and the export strategic core technologies were developed through the expert meeting. The study results showed six export strategic core technologies as the followings : 1) environment-friendly engine technology for high performance 2) high performance/high efficiency power transmission system technology 3) development of measurement system technology for safety of agricultural products 4) field application of sensor networks 5) large size combine development technology for high performance 6) quality evaluation technology for agricultural products.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.31 no.3
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• pp.141-145
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• 2018

The paper presents a new dynamic displacement measurement system. The developed displacement measurement system consists of a sensor module, a base module and a computation module. The sensor module, which contains a force-balanced accelerometer and low-price RTK-GNSS, measures the high-precision acceleration with sampling frequency of 100Hz, the low-precision displacement and velocity with sampling frequency of 10Hz. The measured data is transferred to the computation module through LAN cable, and precise displacement is estimated in real-time with 100Hz sampling frequency through a two stage Kalman filter. The field test was conducted at San Francisco-Oaklmand Bay bridge, CA, USA to verify the precision of the developed system, and it showed the RMSE was 1.68mm.

• Korean Journal of Optics and Photonics
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• v.34 no.3
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• pp.106-116
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• 2023

In this paper, we designed a coaxial dual camera incorporating two optical systems-one for the visible rays and the other for far-infrared ones-with the aim of capturing images in both wavelength ranges. The far-infrared system, which uses an uncooled detector, has a sensor array of 640×480 pixels. The visible ray system has 1,945×1,097 pixels. The coaxial dual optical system was designed using a hot mirror beam splitter to minimize heat transfer caused by infrared rays in the visible ray optical system. The optimization process revealed that the final version of the dual camera system reached more than 90% of the fusion performance between two separate images from dual systems. Multiple rigorous testing processes confirmed that the coaxial dual camera we designed demonstrates meaningful design efficiency and improved image conformity degree compared to existing dual cameras.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1001-1006
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• 2003

This paper presents the pedestrian navigation algorithm and the error compensation filter. The pedestrian navigation system (PNS) consists of the MEMS inertial sensors, the fluxgate, and the small-size GPS receiver. PNS calculates the navigational information using the signal patterns of the accelerometers. And the navigational information is completed by integration of the patterns, the fluxgate, and the GPS information. In general, PNS can provide the better solution than the low-cost inertial navigation system.

• The Journal of Korea Robotics Society
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• v.6 no.2
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• pp.182-188
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• 2011

This paper describes a method of road tracking by using a vision and laser with extracting road boundary (road lane and curb) for navigation of intelligent transport robot in structured road environments. Road boundary information plays a major role in developing such intelligent robot. For global navigation, we use a global positioning system achieved by means of a global planner and local navigation accomplished with recognizing road lane and curb which is road boundary on the road and estimating the location of lane and curb from the current robot with EKF(Extended Kalman Filter) algorithm in the road assumed that it has prior information. The complete system has been tested on the electronic vehicles which is equipped with cameras, lasers, GPS. Experimental results are presented to demonstrate the effectiveness of the combined laser and vision system by our approach for detecting the curb of road and lane boundary detection.