• Journal of the Institute of Electronics Engineers of Korea SC
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• v.47 no.1
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• pp.67-75
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• 2010

This paper presents localization algorithm for mobile robot in outdoor environment. Outdoor environment includes the uncertainty on the ground. Magnetic sensor or IMU(Inertial Measurement Unit) has been used to estimate robot's heading angle. Two sensor is unavailable because mobile robot is electric car affected by magnetic field. Heading angle estimation algorithm for mobile robot is implemented using gyro sensor module consisting of 1-axis gyro sensors. Localization algorithm applied Extended Kalman filter that utilized GPS and encoder, gyro sensor module. Experiment results show that proposed localization algorithm improve considerably localization performance of mobile robots.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2009.10a
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• pp.371-374
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• 2009

This Paper deal with a design, making a prtotype and test methods of Real-time towed Line Array Sensor Data processing board for fast data communication and long range transmission with SFM(Serial FPDP Module) through Optic-fiber channel. The LAS A,B,C group Data from towed line array sensor which is installed in FFX(Fast Frigate eXperimental) of Korean Navy is packed a previously agreed protocol and transmitted to the Signal processing unit. Consider the limited space of VME 6U size, LAS Data processing board is designed with MPC8265 PowerPC Controller of Freescale for main system control and Altera's CycloneIII FPGA for sensor data packing, self-test simulation data generation, S/W FIFO et cetera. LAS Data processing board have VxWorks, the RTOS(Real Time Operating System) that present many device drivers, peripheral control libraries on board for real-time data processing.

• Korean Journal of Remote Sensing
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• v.38 no.6_3
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• pp.1827-1836
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• 2022

Disasters that occur unexpectedly are difficult to predict. In addition, the scale and damage are increasing compared to the past. Sometimes one disaster can develop into another disaster. Among the four stages of disaster management, search and rescue are carried out in the response stage when an emergency occurs. Therefore, personnel such as firefighters who are put into the scene are put in at a lot of risk. In this respect, in the initial response process at the disaster site, robots are a technology with high potential to reduce damage to human life and property. In addition, Light Detection And Ranging (LiDAR) can acquire a relatively wide range of 3D information using a laser. Due to its high accuracy and precision, it is a very useful sensor when considering the characteristics of a disaster site. Therefore, in this study, development and experiments were conducted so that the robot could perform real-time monitoring at the disaster site. Multi-sensor module was developed by combining LiDAR, Inertial Measurement Unit (IMU) sensor, and computing board. Then, this module was mounted on the robot, and a customized Simultaneous Localization and Mapping (SLAM) algorithm was developed. A method for stably mounting a multi-sensor module to a robot to maintain optimal accuracy at disaster sites was studied. And to check the performance of the module, SLAM was tested inside the disaster building, and various SLAM algorithms and distance comparisons were performed. As a result, PackSLAM developed in this study showed lower error compared to other algorithms, showing the possibility of application in disaster sites. In the future, in order to further enhance usability at disaster sites, various experiments will be conducted by establishing a rough terrain environment with many obstacles.

• Proceedings of the KAIS Fall Conference
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• 2009.12a
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• pp.190-193
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• 2009

The most essential element in wireless sensor network is wireless sensor node which collects environmental information and transmits it to the user application systems. Recently, due to the technological advancement, wireless sensor nodes are become smaller, more intelligent and less power consuming. Especially, SoC(System-on-Chip) technology, which unifies the MCU, RF module, memory and other element inside one chip, plays an important part for miniaturization of sensor node, hence reduces the manufacturing expenses. In this paper, we have designed a miniaturized wireless sensor node for wireless sensor network using commercial SoC technology and discussed about some application scenario and additional considerations.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.8
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• pp.1085-1091
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• 2014

A model based SOC estimation scheme using parameter identification is described and applied to a Lithium-ion battery module that can be installed in electric vehicles. Simulation studies are performed to verify the effect of sensor faults on the SOC estimation results for terminal voltage sensor and load current sensor. The sensor faults should be detected and isolated as soon as possible because the SOC estimation error due to any sensor fault seriously affects the overall performance of the BMS. A new fault detection and isolation(FDI) scheme by which the fault of terminal voltage sensor and load current sensor can be detected and isolated is proposed to improve the reliability of the BMS. The proposed FDI scheme utilizes the parameter estimation of an input-output model and two fuzzy predictors for residual generation; one for terminal voltage and the other for load current. Recently developed dual polarization(DP) model is taken to develope and evaluate the performance of the proposed FDI scheme. Simulation results show the practical feasibility of the proposed FDI scheme.

• Journal of Sensor Science and Technology
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• v.28 no.1
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• pp.1-6
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• 2019

This paper presents an air flow sensor (AFS) based on a polymer thin film. This AFS primarily consists of a polymer membrane attached to a metal-patterned glass substrate and a temperature-sensing element composed of NiCr. These two components were integrated on a single glass substrate. The AFS measures changes in capacitance caused by deformation of the polymer membrane based on the air flow and simultaneously detects the temperature of the surrounding environment. A readout integrated circuit (ROIC) was also fabricated for signal processing, and an ROIC chip, 1.8 mm by 1.9 mm in size, was packaged with an AFS in the form of a system-in-package module. The total size of the AFS is 1 by 1 cm, and the diameter and thickness of the circular-shaped polymer membrane are 4 mm and $15{\mu}m$, respectively. The rate of change of the capacitance is approximately 11.2% for air flows ranging between 0 and 40 m/s.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.238-242
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• 1994

Shuster's algorithm for spin-axis determination is extended to include sensor bias and mounting angle as its solve-for parameters. The relation between direct and derived measurements bias is obtained by linearizing their kinematic equations. A one-step least-square estimation technique referred to as the 'closed form' solution is used, and the solution provides a more refined and decent initial guess for the subsequent filtering process contained within the differential correction module. The modified algorithm is applied for attitude determination of a GEO communication satellite in transfer orbit, and its results are presented.

• 한국정보디스플레이학회:학술대회논문집
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• 2008.10a
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• pp.765-768
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• 2008

To make 3D camera system, we check the possibility of advanced range camera module based on measuring the time delay of modulated infrared light, using a single detector chip fabricated on standard CMOS process. To depth information, electronic shutter and interlaced scanning method of 2D sensor is needed. Especially, we design "lens system, illumination unit" and review simulation result.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2859-2861
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• 2000

In this paper, a robot system is proposed to make it easy to learn about microprocessors. The proposed system consists of several subsystems. Since each subsystem can be operated with other subsystems or without other subsystems, many microprocessor courses can be offered depending on the background of students. Also the proposed system can be used in some robotics courses which emphasize sensor and tele-operation because it contains camera, MPEG encoder, IR sensor, and RF communication module.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.6
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• pp.1405-1410
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• 2015

In this study we designed the radiation-hardened sensor signal processing modules that can be commonly used for a variety of sensors during normal operation and even in high-radiation environments caused by an accident. First development module was designed to receive the change of the R and C value from the sensors and to process the signal as a PWM modulation scheme. This module was assessed to have ± 10% error to the Full-Scale in the radiation test in the range of 12 kGy TID. The main cause of the error was analyzed as the annealing of the common circuit in the switching element and the consequent increase in the duty ratio of the pulse width modulation circuit according to the radiation dose increasement. The redesigned module for higher radiation resistivity with Stub transistor circuit was found to have less than 5% error to the Full-scale from the radiation test results for 20.7 kGy TID range.