• Journal of Institute of Control, Robotics and Systems
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• v.16 no.12
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• pp.1182-1188
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• 2010

This paper proposes a precise localization algorithm for a quickly moving mobile robot. In order to localize a mobile robot with active beacon sensors, a relatively long time is needed, since the distance to the beacon is measured using the flight time of the ultrasonic signal. The measurement time does not cause a high error rate when the mobile robot moves slowly. However, with an increase of the mobile robot's speed, the localization error becomes too high to use for accurate mobile robot navigation. Therefore, in this research into high speed mobile robot operations, instead of using two active beacons for localization an active beacon and dual compass are utilized to localize the mobile robot. This new approach resolves the high localization error caused by the speed of the mobile robot. The performance of the precise localization algorithm was verified by comparing it to the conventional method through real-world experiments.

• Proceedings of the KOSOMBE Conference
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• v.1997 no.05
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• pp.131-135
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• 1997

We implementated an ultrasonic wave cane for the blind. The cane detect walking obstacle and provide a walking direction. The cane used time of flight method of ultrasonic-wave for a measurement of obstacle distance and fluxgate geomagnetic sensor for guidance of walking direction. This system can detect an obstacle of upward, forward, downward and that warn to the blind with vibration, pitch sound. And the blind can know walking direction to voice output. As a result, the blind could efficiently avoid a exposed obstacle, obstacles beyond knee, an exposed street obstacle, a branch of tree person's height and it is usable search for surrounding land mark.

• Proceedings of the IEEK Conference
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• 1998.06a
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• pp.565-568
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• 1998

In this paper, we implemented the electornic moving aid system for safe walking of the blind. An obstacle detecting of each sector used ultrasound and a distance measurement used time of flight. The alarm is designed to have a sound and a tactile function that can be selected on an user's convenience. This system can detect and obstacle of upward, forward, downward and optimally warn to the blind with vibration, beep sound by appling warning algorithm on object detection. Experimental testing and performance evaluation have been successfully carried out with a prototype cane, and the experiment shows the capability of the function to detect unknown objects within an assigned distance, under knees, over head height, and crushed puddles.

• Journal of the Korean Society of Radiology
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• v.1 no.2
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• pp.31-35
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• 2007

Energy calibration is important to identify accurate neutron capture resonance energy in the neutron TOF (Time-of-Flight) experiment. In present study, the accurate neutron capture resonance energies of natural Sm were measured by using a 46-MeV electron linear accelerator (linac) at the Research Reactor Institute, Kyoto University(KURRI). The BGO spectrometer were adopted for measurement the prompt capture gamma-ray of the sample. To obtain energy calibration curve, resonance energy of a gold sample used as standard resonance energy Mughabghab's data (From neutron resonance parameters data). Previous data (by Mughabghab) of natural Sm sample have been compared with the present result.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2006.04a
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• pp.85-88
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• 2006

The transport properties of amorphous selenium typical of the material used in direct conversion x-ray imaging devices are reported. The effects of As addition on the carrier mobility and recombination lifetime in amorphous selenium (a-Se) films have been studied using the moving photocarrier grating (MPG) technique. We have found an increase in hole drift mobility and recombination lifetime, especially when 0.3% As is added into a-Se film, whereas electron mobility decreases with As addition due to the defect density. The transport properties for As doped a-Se films obtained by using MPG technique have been compared with the drift mobilities of holes and electrons obtained by time of flight (TOF) measurement.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.888-893
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• 2005

Since inertial sensor errors which increase with time are caused by initial orientation error and sensor errors(accelerometer bias and gyro drift bias), the accuracy of these devices, while still improving, is not adequate for many of today's high-precision, long-duration sea, aircraft, and long-range flight missions. This paper presents a navigation error compensation scheme for Strap-Down Inertial Navigation System(SDINS) using star tracker. To be specific, SDINS error model and measurement equation are derived, and Kalman filter is implemented. Simulation results show the boundedness of position and attitude errors.

• International Journal of Aeronautical and Space Sciences
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• v.15 no.3
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• pp.258-266
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• 2014

We present a system for the real-time visual relative navigation of a fixed-wing unmanned aerial vehicle in a GPS-denied environment. An extended Kalman filter is used to construct a vision-aided navigation system by fusing the image processing results with barometer and inertial sensor measurements. Using a mean-shift object tracking algorithm, an onboard vision system provides pixel measurements to the navigation filter. The filter is slightly modified to deal with delayed measurements from the vision system. The image processing algorithm and the navigation filter are verified by flight tests. The results show that the proposed aerial system is able to maintain circling around a target without using GPS data.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.26 no.4
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• pp.110-115
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• 2018

This paper introduces Korea Airport Corporation's own research and development contents and plans for navigation aids check using drone which is actively research and developed mainly in advanced countries. The hardware, algorithm, operating program of the drone system, the drone flight trajectory setting, and real-time measurement results were analyzed and verified. By securing domestic technology for the latest technology utilizing drone, we plan to promote more thorough aviation safety and advanced technology in related field and commercialized it in domestic and overseas.

• Journal of Magnetics
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• v.20 no.1
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• pp.40-46
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• 2015

This study investigated the accuracy of magnetic resonance angiography (MRA) and computed tomography angiography (CTA) in terms of reflecting the actual vascular length. Three-dimensional time of flight (3D TOF) MRA, 3D contrast-enhanced (CE) MRA, volume-rendering after CTA and maximum intensity projection were investigated using a flow model phantom with a diameter of 2.11 mm and area of $0.26cm^2$. 1.5 and 3.0 Tesla devices were used for 3D TOF MRA and 3D CE MRA. CTA was investigated using 16 and 64 channel CT scanners, and the images were transmitted and reconstructed by volume-rendering and maximum intensity projection, followed by conduit length measurement as described above. The smallest 3D TOF MRA measure was $2.51{\pm}0.12mm$ with a flow velocity of 40 cm/s using the 3.0 Tesla apparatus, and $2.57{\pm}0.07mm$ with a velocity of 71.5 cm/s using the 1.5 Tesla apparatus; both images were magnified from the actual measurement of 2.11 mm. The measurement with the 16 channel CT scanner was smaller ($3.83{\pm}0.37mm$) than the reconstructed image on maximum intensity projection. The images from CTA from examination apparatus and reconstruction technique were all larger than the actual measurement.

• The Journal of the Korea Contents Association
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• v.5 no.5
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• pp.133-139
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• 2005

The neutron capture cross section of $^{99}Tc$ has been measured relative to the $^{10}B(n,\gamma)$ standard cross section by the neutron time-of-flight(TOF) method in the energy range of 0.007 eV to 47 keV using a 46-MeV electron linear accelerator(linac) at the Research Reactor. Institute, Kyoto University(KURRI). In order to experimentally prove the result obtained, the supplementary cross section measurement has been made from 0.3 eV to 1 keV using the Kyoto University Lead stowing-down spectrometer (KULS) coupling to the linac. The relative measurement by the TOF method has been normalized to the reference value(20.01 b) at 0.0253 eV and the KULS measurement to that by the TOF method. The existing experimental data and the evaluated capture cross sections in ENDF/B-VI, JENDL-3.2, and JEF-2.2 have been compared with the current measurements by the linac TOF and the KULS experiments.