• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1754-1755
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• 2007

영구자석을 사용한 마커가 설치된 자기장 이동 경로에서 이동 로봇의 경로 인식을 위한 위치인식 시스템이다. 저가의 홀센서를 일정 간격의 열로 배치한 센서를 설계 제작하고, 그 센서를 이용하여 측정된 마커의 자계 값을 이용하여 경로상의 위치를 인식할 수 있도록 하였다. 마커의 극성을 인식하는 새로운 방법을 제시하고, 인식된 극성을 코드화하여 경로상의 특이점들에 배치함으로써 경로 이동 중에 그 점들의 위치를 인식하도록 하였으며, 로봇은 그 위치에서 미리 정해진 행동을 하도록 프로그램 하였다. 센서들 간의 통신 방법을 논하였고, 각 센서들에서 얻어진 정보로부터 이동 로봇의 경로상의 위치인 측방향 변위 오차와 방향각 오차를 기하학적으로 산출한다.

• Journal of Industrial and Engineering Chemistry
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• v.68
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• pp.393-398
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• 2018

This work offers a promising approach for development of a temperature-responsive colorimetric display platform. For this purpose, uniform thermochromic microcapsules consisting of a cholesteric liquid crystal (CLC) core and a thin polyurethane shell layer were fabricated by conducting in-situ condensation polymerization at the interface of monodisperse CLC-in-water emulsion drops. Colloidal packing-driven microcapsule registry led to exact 2-dimensional positioning of CLC microcapsules into a holes-patterned flexible film stencil. Furthermore, we showed that the designated registry of different color types of CLC microcapsules on the stencil enabled development of a microwriting display technology capable of reversible text representation according to temperature change.

• Smart Structures and Systems
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• v.7 no.5
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• pp.349-363
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• 2011

To assess the performance of a structure requires the measurement of global and relative displacements at critical points across the structure. They should be obtained in real time and in all weather condition. A Global Navigation Satellite System (GNSS) could satisfy the last two requirements. The American Global Position System (GPS) provides long term acquisitions with sampling rates sufficient to track the displacement of long period structures. The accuracy is of the order of sub-centimetres. The steel building which hosts the authors' laboratory is the reference case-study within this paper. First a comparison of data collected by GPS sensor units with data recorded by tri-axial accelerometers is carried out when dynamic vibrations are induced in the structure by movements of the internal bridge-crane. The elaborations from the GPS position readings are then compared with the results obtained by a Finite Element (FE) numerical simulation. The purposes are: i) to realize a refinement of the structural parameters which characterize the building and ii) to outline a suitable way for processing GPS data toward structural monitoring.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2018.11a
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• pp.145-147
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• 2018

다수의 일반 카메라로 촬영한 영상들로 360도 영상을 제작하는 경우 다수의 영상 간 동일한 영역을 찾고 기하학 보정을 위한 영상 스티칭 기술이 필요하다. 영상 스티칭 기술은 여러 영상에서 추출한 특징점들의 유사도를 비교하여 영상들을 이어 붙여 큰 하나의 영상으로 만드는 것이다. 본 논문에서는 비콘이 부착된 공연장을 가정하여, 비콘을 통해서 촬영자의 위치를 대략적으로 파악하고, 사용자가 어플리케이션을 통하여 전송한 영상과 영상의 방위각, FOV(Field Of View)들을 이용하여 실내에서 촬영된 영상들을 스티칭 대상 영상들로 필터링하는 방법을 제안한다.

• Proceedings of the Korea Information Processing Society Conference
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• 2013.05a
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• pp.979-982
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• 2013

위치정보를 이용한 서비스가 요구가 증가함에 따라, 실외를 중심으로 이뤄지던 위치정보서비스는 실내를 중심으로 요구되고 있다. 더불어 좀더 정확한 실내측위 시스템에 대한 필요성도 증가되고 있다. 최근의 위치 정보 서비스는 스마트폰의 보급과 함께 모바일 기기의 환경이 이용되고 있다. 본 논문은 스마트 디바이스 기반으로 WLAN(Wireless Local Area Network)과 DATABASE 를 이용한 Fingerprinting 방식을 제안한다. 또한 기존의 Fingerprinting 방식에 스마트 디바이스에 내장된 Gyroscope sensor 를 이용하여 모바일 환경에서 일부 영역에서 발생할 수 있는 신호의 오차를 보정하는 새로운 방법도 제시한다. 실제 테스트 환경을 구축하여 실험한 결과도 제시하였다.

• Proceedings of the Korea Information Processing Society Conference
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• 2008.05a
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• pp.804-807
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• 2008

최근 고령화 사회가 되면서 언제 어디서나 실시간으로 진료가 가능한 서비스들을 개발하려는 노력이 진행 중이며, 이에 관련된 기술의 중요성도 급증하고 있다. 특히 유비쿼터스 컴퓨팅과 유비쿼터스 네트워크를 활용한 노인건강 관리시스템(이하 U-SilverCare)의 필요성이 급증하고 있다. 본 논문에서는 U-SilverCare에서 유용하게 사용될 수 있는 가속도 센서를 소개하고 U-SilverCare에서 가속도 센서 사용의 적합성 실험과 실험 결과를 분석한다.

• Journal of Sensor Science and Technology
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• v.32 no.5
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• pp.300-306
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• 2023

A hull-cleaning robot sticks to the surface of a vessel and moves for efficient cleaning. Precise path planning and tracking using the current position is crucial. Many robots rely on the INS algorithm, but errors accumulate. To fix this, GPS, sonar, and USBL are used, though with limitations. Selecting suitable sensors for the surface operation and accurate positioning algorithm are vital. In this study, we developed a robot position estimation algorithm using the structure of a ship. Problems that arise when expanding the 2D position estimation algorithm used in existing wall structures to 3D were evaluated and methods for solving them were proposed. In addition, we aimed to improve performance by deriving singularities that exist in the robot path and proposing an error correction algorithm based on the singularities.

• Journal of the Korea institute for structural maintenance and inspection
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• v.17 no.2
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• pp.1-9
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• 2013

In recent years, numerous mega-size and complex civil infrastructures have been constructed worldwide. For the more precise construction and maintenance process management of these civil infrastructures, the application of a variety of smart sensor-based structural health monitoring (SHM) systems is required. The efficient management of both sensors and collected databases is also very important. Recently, several kinds of database access technologies using Quick Response (QR) code and Augmented Reality (AR) applications have been developed. These technologies provide software tools incorporated with mobile devices, such as smart phone, tablet PC and smart pad systems, so that databases can be accessed very quickly and easily. In this paper, an AR-based structural health monitoring technique is suggested for sensor management and the efficient access of databases collected from sensor networks that are distributed at target structures. The global positioning system (GPS) in mobile devices simultaneously recognizes the user location and sensor location, and calculates the distance between the two locations. In addition, the processed health monitoring results are sent from a main server to the user's mobile device, via the RSS (really simple syndication) feed format. It can be confirmed that the AR-based structural health monitoring technique is very useful for the real-time construction process management of numerous mega-size and complex civil infrastructures.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.10
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• pp.1025-1031
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• 2007

GPS is widely used for positioning applications and attitude of a vehicle can be found also with multiple antennas. However, extremely weak signal level prevents GPS from indoor operation. DR with accelerometers and gyros and landmark based localization method used for indoor applications increase complexity and cost. In this paper, a simple but very efficient ultrasound based attitude determination system which determines both position and attitude in WSN is given. The range between transmitter and receivers are measured using the arrival time difference between ultrasound and RF signal. The 3 dimensional positions can be found using more than 3 range measurements. Furthermore, if more than 2 transmitters are used, the attitude can be determined using the baseline vectors obtained by differencing transmitter and receiver positions. The prototype system is implemented to evaluate the performance of the proposed method. In addition, an error analysis shows the relation between the attitude error and basel me length, quality of measurement and orientation of a vehicle. The static and dynamic experiments performed by micro mobile robot shows accurate position with less than 1.5cm error and attitude with less than 1 degree error can be obtained continuously with 20cm baseline. It is expected that these results can be adapted without modification to indoor applications such as home cleaning robot and autonomous wheelchair maneuvering.

• Journal of Astronomy and Space Sciences
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• v.25 no.3
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• pp.267-282
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• 2008

The GNSS (Global Navigation Satellite System) signal is delayed by the neutral atmosphere at the troposphere, so that the delay is one of major error sources for GNSS precise positioning. The tropospheric delay is an integrated refractive index along the path of GNSS signal. The refractive index is empirically related to standard meteorological variables, such as pressure, temperature and water vapor partial pressure, therefore the tropospheric delay could be calculated from them. In this paper, it is presented how to generate meteorological data where observation cannot be performed. KASI(Korea Astronomy & Space Science Institute) has operated 9 GPS (Global Positioning System) permanent stations equipped with co-located MET3A, which is a meteorological sensor. Meteorological data are generated from observations of MET3A by Ordinary Kriging. To compensate a blank of observation data, simple models which consider periodic characteristics for meteorological data, are employed.