• 한국항행학회논문지
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• 제17권6호
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• pp.749-756
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• 2013

본 논문은 레이저 고도계와 초음파 거리계를 이용한 무인항공기의 지면고도측정에 대한 알고리즘에 대하여 제시하였다. 무인항공기의 저고도 거리 측정시에 사용하는 레이저 고도계와 초음파 거리계를 이용하여 간단한 지상시험을 하였고, 각 센서들의 특징을 확인할 수 있었다. 특히, 레이저 고도계의 단점을 확인하여 초음파 거리계로 보완하는 알고리즘을 설계하였고, 실험을 진행하였다. 레이저 고도계와 초음파 거리계는 칼만필터를 이용하여 약결합 방식으로 융합하였으며, 실험결과 레이저 고도계의 단점을 초음파 거리계로 보완하여 안정적인 고도값이 측정될 수 있음을 확인하였다.

• 한국군사과학기술학회지
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• 제21권3호
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• pp.295-305
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• 2018

We present a passively Q-switched monolithic Er:Yb:glass microchip laser developed in our lab. The microchip laser can produce pulses at 1535 nm of the 'eye-safe' wavelengths with the pulse energy of 50 uJ and the pulse width of 4-6 ns. Using the laser we also designed and developed a pulsed Er:Yb:glass microchip laser rangefinder. Expressions for background and signal power, noise, and signal-to-noise ratio are reviewed. A computer simulation was used to optimize laser power, receiver aperture, and preamplifier bandwidth for the efficient system design of the laser rangefinder. Experimental results are presented to compare with the theory.

• 제어로봇시스템학회논문지
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• 제17권6호
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• pp.521-525
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• 2011

Lane marking detection is one of important issues in the field of autonomous mobile robot. Especially, in urban environment, like pavement roads of downtown or tour tracks of Science Park, which have continuous patterns on the surface of the road, the lane marking detection becomes more important ability. Although there were many researches about lane detection and lane tracing, many of them used vision sensors mainly to detect lane marking. In this paper, we obtain 2 dimensional library data of 'Intensity' and 'Distance' using one laser rangefinder only. We design a simple classifier and filtering algorithm for the lane detection which uses only one LRF (Laser Range Finder). Allowing extended usage of LRF, this research provides more functionality not only in range finding but also in lane detecting to mobile robots. This work will be technically helpful for robot developers to design more simple and efficient autonomous driving system using LRF.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1993년도 하계학술대회 논문집 A
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• pp.460-463
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• 1993

In this paper, The laser transmitter module is designed as the subsystem of the high repetitive laser rangefinder. The module consists of high voltage power supply, high voltage control circuits, high voltage discharger, electro-optic Q-switch driver, and laser resonator. The high voltage power supply is composed of 2-phase flyback converter. And it has 220W power level and 78% conversion efficiency. From the Q-switch driver of the crossed porro resonator, the phase retardation voltage is switched from 600V to -1500V with 200ns falling time. The module can be operated up to 15Hz. And it generates the laser pulse which has 20ns width and 80mJ.

• 한국군사과학기술학회지
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• 제14권6호
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• pp.993-1001
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• 2011

Unmanned ground vehicle for facility protection mostly uses model of territory for autonomous navigation. However, modeling of territory using several sensors is highly time consuming and sometimes inefficient for road application. Therefore, an estimation of drivable path based on features of road is required for high speed autonomous navigation on road. In this paper, an estimation method of drivable path using camera and 2D laser rangefinder is proposed. First, a vanishing point is estimated based on image data from CCD camera. Second, a road width is estimated based on range data from 2D laser rangefinder. Finally, the drivable path is estimated by fusing the vanishing point and the road width. The proposed method is tested on both well-structured road and unpaved road like cross-country situation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.589-591
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• 2004

In this paper, we developed a laser distance measurement(LDM) system based on DSP. We applied PPD(Pulsed Phase Detection) algorithm to the LDM system. The PPD algorithm calculate the distance from the LDM system to the object by using phase detection. Reference waveform at a fixed frequency is sampled by both the inner-loop and outer-loop pulse signal. The LDM system detects the difference of phase between the sampled signals. We obtained an accuracy of ${\sigma}=25.5mm$ from the LDM system.

• Journal of the Optical Society of Korea
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• 제19권1호
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• pp.1-6
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• 2015

We investigate the propagation characteristics of a pulse laser in a time-of-flight laser range finder (TOF-LRF) system with variations in atmospheric conditions, such as temperature, pressure, relative humidity, and the concentration of $CO_2$. The measurement error of distance related with the group velocity change in the TOF-LRF system is analyzed by considering the refractive index of the standard atmosphere with variations in atmospheric conditions. The dependence of the pulse width broadening induced by chromatic dispersion of the standard atmosphere on the operating wavelength and the initial pulse width of the light sources is discussed. The transmission of air with variations in the relative humidity or the concentration of $CO_2$ is analyzed by using different values of absorption coefficients depending on the operation wavelength of the light source in the TOF-LRF system.

• 한국군사과학기술학회지
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• 제26권1호
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• pp.22-30
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• 2023

When tracking small UAVs and drone targets in cloud clutter environments, MWIR sensors are often unable to track targets continuously. To overcome this problem, the SWIR sensor is mounted on the same gimbal. Target tracking uses sensor information fusion or selectively applies information from each sensor. In this case, parallax correction using the target distance is often used. However, it is difficult to apply the existing method to small UAVs and drone targets because the laser rangefinder's beam divergence angle is small, making it difficult to measure the distance. We propose a tracking method which needs not parallax correction of sensors. In the method, images from MWIR and SWIR sensors are captured simultaneously and a tracking error for gimbal driving is chosen by effectiveness measure. In order to prove the method, tracking performance was demonstrated for UAVs and drone targets in the real sky background using MWIR and SWIR image sensors.

• 건설관리
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• 제4권1호
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• pp.55-60
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• 2003

Unstructured workspaces which are typical in construction contain unpredicable activities as well as changing environments. Most automated and semi-automated construction tasks require real-time information about the local workspace in the form of 3D geometric models. This paper describes and demonstrates a new rapid, local area geometric data extraction and 3D visualization method for unstructured construction workspaces that combines human perception, simple sensors, and descriptive CAD models. The rapid approach will be useful in construction in construction in order to optimize automated equipment tasks and to significantly improve safety and a remote operator's spatial perception of the workspace.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2011년도 추계학술대회
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• pp.361-363
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• 2011

다기능관측경은 주.야 관측이 가능하고, 레이저거리측정기로 표적의 거리측정 뿐만 아니라, 위성항법장치와 자북측정기를 활용하여 표적의 좌표를 정확하게 알아낼 수 있는 휴대용 관측경이다. 본 논문에서는 이러한 다기능관측경의 운용개념 및 소형화, 최경량 구현을 통해 최고의 성능과 최경량을 구현하는 방법에 대해 소개하고자 한다.