• Journal of Mechanical Science and Technology
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• v.17 no.10
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• pp.1411-1422
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• 2003

The detection of free spaces between obstacles in a scene is a prerequisite for navigation of a mobile robot. Especially for stereo vision-based navigation, the problem of correspondence between two images is well known to be of crucial importance. This paper describes multi-range approach of area-based stereo matching for grid mapping and visual navigation in uncertain environment. Camera calibration parameters are optimized by evolutionary algorithm for successful stereo matching. To obtain reliable disparity information from both images, stereo images are to be decomposed into three pairs of images with different resolution based on measurement of disparities. The advantage of multi-range approach is that we can get more reliable disparity in each defined range because disparities from high resolution image are used for farther object a while disparities from low resolution images are used for close objects. The reliable disparity map is combined through post-processing for rejecting incorrect disparity information from each disparity map. The real distance from a disparity image is converted into an occupancy grid representation of a mobile robot. We have investigated the possibility of multi-range approach for the detection of obstacles and visual mapping through various experiments.

• Proceedings of the KIEE Conference
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• 2005.11a
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• pp.217-219
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• 2005

To detect partial discharge of 154kV joint box, we have made experiment by using the HFCT sensor. Generally the signals which are detected in partial discharge test of underground power transmission cable are accompanied with both noises of high voltage and noises of surrounding power cable. The most noise in near to end part of joint box is corona, beside other noises flowed from surrounding area. Partial discharge test is difficulty due to these noises. First, we test reliability on both injection of calibration signal in NJB and removal of low frequency. After that, we had analyzed frequencies by measuring signals in IJB with 300[m] distance from NJB. Also we had measured S/N ratio by using the indirected injection method of calibration signal in IJB. In this experiment, two measurement methods were difference of detection acquisition, but these had the equal frequency properties.

• 한국전산유체공학회:학술대회논문집
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• 2011.05a
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• pp.286-290
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• 2011

This paper introduces the optimum macro-siting of a potential site for an offshore wind farm around Jeju Island using the RDAPS sea wind model. The statistical model was developed by analyzing the sea wind data from RDAPS model, and the meso-scale digital wind map was prepared. To develop the high resolution spatial calibration model, Artificial Neural Network(ANN) models were used to construct the wind and bathymetric maps. Accuracy and consistency of wind/bathymetric spatial calibration models were obtained using analysis of variance. The optimization problem was defined to maximize the energy density satisfying the criteria of maximum water depth and maximum distance from the coastline. The candidate site was selected through Genetic Algorithm(GA). From the results, it is possible to predict roughly a candidate site location for the installation of the offshore wind jam, and to evaluate the wind resources of the proposed site.

• Journal of Sensor Science and Technology
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• v.14 no.4
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• pp.278-285
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• 2005

This paper describes techniques of camera calibration and artificial landmarks detection for the automatic charging of a mobile robot, equipped with a fish-eye camera in the direction of its operation for movement or surveillance purposes. For its identification from the surrounding environments, three landmarks employed with infrared LEDs, were installed at the charging station. When the robot reaches a certain point, a signal is sent to the LEDs for activation, which allows the robot to easily detect the landmarks using its vision camera. To eliminate the effects of the outside light interference during the process, a difference image was generated by comparing the two images taken when the LEDs are on and off respectively. A fish-eye lens was used for the vision camera of the robot but the wide-angle lens resulted in a significant image distortion. The radial lens distortion was corrected after linear perspective projection transformation based on the pin-hole model. In the experiment, the designed system showed sensing accuracy of ${\pm}10$ mm in position and ${\pm}1^{\circ}$ in orientation at the distance of 550 mm.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.11a
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• pp.166-172
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• 2004

An underwater motion measurement system was constructed for applications to the model basin. A commercial motion capture system, FALCON of Motion Analysis Corp., which corrects automatically the distortion caused by refraction of the light passing through water and air, was adopted for underwater motion measurement. The modifications of FALCON system were performed: waterproofing camera housings, markers, connectors, and a new blue ring lighter. the accuracy of the motion measurement was obtained within the calibration error of 0.87mm in average and 0.89mm in standard deviation for the distance of 500mm between two markers on the calibration device. the volume of $2100mm(length)\times2100mm(breadth)\times2300mm(Height)$ was covered with 4 cameras of the underwater motion measurement system. For the performance verification, motion measurement test of a vertical mooring chain model excited at the top end was carried out. The 3D motions of mooring model were measured with variable amplitude and period of the forced excitation. Higher order motions of the mooring model were observed as the excitation period decreases. the performance of the system was verified by successfully measuring 3D motion of mooring model.

• Proceedings of the KIEE Conference
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• 2007.04b
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• pp.75-78
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• 2007

To detect partial discharge of 154kV joint box, we have made experiment by using the HFCT sensor. Generally the signals which are detected in partial discharge test of underground power transmission cable are accompanied with both noises of high voltage and noises of surrounding power cable. The most noise in near to end part of joint box is corona, beside other noises flowed from surrounding area. Partial discharge test is difficulty due to these noises. First, we test reliability on both injection of calibration signal in NJB and removal of low frequency. After that, we had analyzed frequencies by measuring signals in IJB with 300[m] distance from NJB. Also we had measured S/N ratio by using the indirected injection method of calibration signal in IJB. In this experiment, two measurement methods were difference of detection acquisition, but these had the equal frequency properties.

• Nuclear Engineering and Technology
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• v.53 no.10
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• pp.3421-3430
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• 2021

Spherical NaI(Tl) detectors are used in gamma-ray spectrometry, where the gamma emissions come from the nuclei with energies in the range from a few keV up to 10 MeV. A spherical detector is aimed to give a good response to photons, which depends on their direction of travel concerning the detector center. Some distortions in the response of a gamma-ray detector with a different geometry can occur because of the non-uniform position of the source from the detector surface. The present work describes the calibration of a NaI(Tl) spherical detector using both an experimental technique and a numerical simulation method (NSM). The NSM is based on an efficiency transfer method (ETM, calculating the effective solid angle, the total efficiency, and the full-energy peak efficiency). Besides, there is a high probability for a source-to-detector distance less than 15 cm to have pulse coincidence summing (CS), which may occur when two successive photons of different energies from the same source are detected within a very short response time. Therefore, γ-γ ray CS factors are calculated numerically for a ¹⁵²Eu radioactive cylindrical source. The CS factors obtained are applied to correct the measured efficiency values for the radioactive volumetric source at different energies. The results show a good agreement between the NSM and the experimental values (after correction with the CS factors).

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1516-1519
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• 2004

A tele-operated robot should be used to maintain and inspect nuclear power plants to reduce the radiation exposure to the human operators. During an overhaul of the nuclear power plants in Korea, a ROV(Remotely Operated Vehicle) may enter a cold-leg connected to the reactor to examine the state of the thermal sleeve and it's position in the safety injection nozzle. To measure the positions of the thermal sleeve or scratches from the video images captured during the examination, the camera parameters should be identified. However, the focal length of the CCD camera could be increased to a close up of the target and the aspect ratio and the center of the image could also be varied with capturing devices. So, it is desired to self-calibrated the intrinsic parameters of the camera and capturing device with the video images captured during the examination. In the video image of the safety injection nozzle, two or more circular grooves around the nozzle are shown as ellipse contours. In this paper, we propose a camera self-calibration method using a single image containing two circular grooves which are the greatest circles of the cylindrical nozzle whose radius and distance are known.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.6
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• pp.569-575
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• 2013

This paper proposes a method for PDR (Pedestrian Dead-Reckoning) using a low cost IMU. Generally, GPS has been widely used for localization of pedestrians. However, GPS is disabled in the indoor environment such as in buildings. To solve this problem, this research suggests the PDR scheme with an IMU attached to the pedestrian's waist. However, despite the fact many methods have been proposed to estimate the pedestrian's position, but their results are not sufficient. One of the most important factors to improve performance is, a new calibration method that has been proposed to obtain the reliable sensor data. In addition to this calibration, the PDR method is also proposed to detect steps, where estimation schemes of step length, attitude, and heading angles are developed. Peak and zero crossings are detected to count the steps from 3-axis acceleration values. For the estimation of step length, a nonlinear step model is adopted to take advantage of using one parameter. Complementary filter and zero angular velocity are utilized to estimate the attitude of the IMU module and to minimize the heading angle drift. To verify the effectiveness of this scheme, a real-time system is implemented and demonstrated. Experimental results show an accuracy of below 1% and below 3% in distance and position errors, respectively, which can be achievable using a high cost IMU.

• Aerospace Engineering and Technology
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• v.11 no.1
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• pp.98-102
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• 2012

These days, Uncooled IR Systems are more popular in the area of defense and aerospace than before. Uncooled IR Systems are widely used as core technology for making unmanned systems and detecting enemy objects during the day and night in the distance. Recently, researches on TEC-less IRFPA have been increased to minimize the power consumption and to make a smaller system than before. For this, it needs to find adequate NUC(Non-Uniformity Correction) coefficients as FPA(Focal Plane Array) temperature changes. In this paper, we propose a new NUC coefficient estimating technique, DCCE-LI(Dynamic Calibration Coefficients Estimation with Linear Interpolation), for TEC-less IRFPA. It is based on a linear interpolation method and it can estimate NUC coefficients in real-time. So, by testing and evaluating it with some IR images, we conclude that the quality of IR images using proposed method is better than applying static coefficients.