• International Journal of Control, Automation, and Systems
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• 제5권6호
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• pp.663-673
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• 2007

This paper presents a new moving obstacle detection method using an optical flow in mobile robot with an omnidirectional camera. Because an omnidirectional camera consists of a nonlinear mirror and CCD camera, the optical flow pattern in omnidirectional image is different from the pattern in perspective camera. The geometry characteristic of an omnidirectional camera has influence on the optical flow in omnidirectional image. When a mobile robot with an omnidirectional camera moves, the optical flow is not only theoretically calculated in omnidirectional image, but also investigated in omnidirectional and panoramic images. In this paper, the panoramic image is generalized from an omnidirectional image using the geometry of an omnidirectional camera. In particular, Focus of expansion (FOE) and focus of contraction (FOC) vectors are defined from the estimated optical flow in omnidirectional and panoramic images. FOE and FOC vectors are used as reference vectors for the relative evaluation of optical flow. The moving obstacle is turned out through the relative evaluation of optical flows. The proposed algorithm is tested in four motions of a mobile robot including straight forward, left turn, right turn and rotation. The effectiveness of the proposed method is shown by the experimental results.

• 전기전자학회논문지
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• 제15권1호
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• pp.10-14
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• 2011

In this paper, we present an efficient hardware architecture of unrolling image mapper of catadioptric omnidirectional imaging systems. The catadioptric omnidirectional imaging systems generate images of 360 degrees of view and need to be transformed into panorama images in rectangular coordinate. In most application, it has to perform the panorama unrolling in real-time and at low-cost, especially for high-resolution images. The proposed hardware architecture adopts a software/hardware cooperative structure and employs several optimization schemes using look-up-table(LUT) of coordinate conversion. To avoid the on-line division operation caused by the coordinate transformation algorithm, the proposed architecture has the LUT which has pre-computed division factors. And then, the amount of memory used by the LUT is reduced to 1/4 by using symmetrical characteristic compared with the conventional architecture. Experimental results show that the proposed hardware architecture achieves an effective real-time performance and lower implementation cost, and it can be applied to other kinds of catadioptric omnidirectional imaging systems.

• 로봇학회논문지
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• 제3권2호
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• pp.91-98
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• 2008

This paper describes the recognition method of moving objects in mobile robot with an omnidirectional camera. The moving object is detected using the specific pattern of an optical flow in omnidirectional image. This paper consists of two parts. In the first part, the pattern of an optical flow is investigated in omnidirectional image. The optical flow in omnidirectional image is influenced on the geometry characteristic of an omnidirectional camera. The pattern of an optical flow is theoretically and experimentally investigated. In the second part, the detection of moving objects is presented from the estimated optical flow. The moving object is extracted through the relative evaluation of optical flows which is derived from the pattern of optical flow. In particular, Focus-Of-Expansion (FOE) and Focus-Of-Contraction (FOC) vectors are defined from the estimated optical flow. They are used as reference vectors for the relative evaluation of optical flows. The proposed algorithm is performed in four motions of a mobile robot such as straight forward, left turn, right turn and rotation. Experimental results using real movie show the effectiveness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2356-2361
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• 2005

In this paper, we present a complete isotropy analysis of a caster wheeled omnidirectional mobile robot(COMR) with nonredundant/redundant actuation. The motivation of this work is that the omnidirectional mobility loses significance in motion control unless the isotropy characteristics is maintained well. First, with the characteristic length introduced, the kinematic model of a COMR is obtained based on the orthogonal decomposition of the wheel velocities. Second, a general form of the isotropy conditions of a COMR is given in terms of physically meaningful vector quantities which describe the wheel configurations. Third, for all possible nonredundant and redundant actuation sets, the algebraic expressions of the isotropy conditions are derived to completely identify the isotropic configurations of a COMR. Fourth, the number of the isotropic configurations and the characteristic length required for the isotropy are discussed.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2005년도 춘계종합학술대회
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• pp.265-269
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• 2005

본 논문에서는 5.5GHz 대역 LNA와 1${\times}$2마이크로 스트립 패치 안테나로 구성된 무선랜용 능동안테나를 설계 하였다. LNA는 NEC사의 NE3210S01을 사용하여 잡음 특성을 개선하였으며, 마이크로 스트립 패치안테나는 전방향 특성을 갖도록 설계하였다. 설계된 1${\times}$2마이크로 스트립 패치안테나는 약8.3dBi의 이득을 가지면서 전방향 특성을 나타내었고, LNA는 이득이15dB, 잡음지수는 1dB이하의 특성을 보였다.

• 융합신호처리학회논문지
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• 제7권1호
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• pp.38-44
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• 2006

The omnidirectional mobility of a mobile robot may lose significance in motion control, unless the isotropy characteristics of the mechanism is maintained well. This paper investigates the local and global isotropy of an omnidirectional mobile robot with three caster wheels. All possible actuations with different number and combination of rotating and steering joints are considered. First, the kinematic model based on velocity decomposition and the algebraic conditions for the local isotropy are obtained. Second, the geometric conditions for the local isotropy are derived and all isotropic configurations are fully identified. Third, the global isotropy index is examined to determine the optimal parameters in terms of actuation set, characteristic length, and steering link length.

• Journal of electromagnetic engineering and science
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• 제15권3호
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• pp.194-198
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• 2015

Magnetic resonant coupling is more efficient than inductive coupling for transferring power wirelessly over a distance. However, a conventional resonant wireless power transfer (WPT) system requires a transmitter and receiver pair in exactly coaxial positions. We propose a resonator that can serve as an omnidirectional WPT system. A magnetic field will be generated by the current flowed through the transmitter. This magnetic field radiates omnidirectionally in the x-y plane because of the crisscross structure characteristic of the transmitter. The proposed resonator is demonstrated by using a single port. To check the received S21 and transfer efficiency, we moved the receiver around the transmitter at different distances (50-350 mm). As a result, the transmission efficiency is found to be 48%-54% at 200 mm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2066-2071
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• 2003

In this paper, we identify the isotropic configurations of an omnidirectional mobile robot with three caster wheels, depending on the selection of actuated joints. First, We obtain the kinematic model of a caster wheeled omnidirectional mobile robot(COMR) without matrix inversion. For a given task velocity, the instantaneous motion of each wheel is decomposed into two orthogonal instantaneous motions of the steering and the rotating joints. Second, with the characteristic length introduced, we derive the isotropy conditions of a COMR having $n({\ge}3)$ actuated joints, which are imposed on two Jacobian matrices, $A{\in}R^{n{\times}3}$ and $B{\in}R^{6{\times}6}$. Under the condition of $B{\propto}I_6$, three caster wheels should have identical structure with the length of the steering link equal to the radius of the wheel. Third, depending on the selection of actuated joints, we derive the conditions for $A^t$ $A{\propto}I_3$ and identify the isotropic configurations of a COMR. All possible actuation sets with different number of actuated joints and different combination of rotating and steering joins are considered.

• Journal of electromagnetic engineering and science
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• 제17권4호
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• pp.233-237
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• 2017

In this paper, a dual-band high frequency (HF) and ultra-high frequency (UHF) radio-frequency identification (RFID) tag antenna is presented that operates in the 13.56 MHz band as well as in the 920 MHz band. A spiral coil along the edges of the antenna substrate is designed to handle the HF band, and a novel meander open complementary split ring resonator (MOCSRR) dipole antenna is utilized to generate the UHF band. The dual-band antenna is supported by a single-feeding port for mono-chip RFID applications. The antenna is fabricated using an FR4 substrate to verify theoretical and simulation designs, and it has compact dimensions of $80mm{\times}40mm{\times}0.8mm$. The proposed antenna also has an omnidirectional characteristic with a gain of approximately 1 dBi.

• 한국정보통신학회논문지
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• 제10권10호
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• pp.1744-1751
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• 2006

본 논문에서는 5.5GHz 대역 LNA와 $1{\times}2$마이크로 스트립 패치 안테나로 구성 된 무선 랜용 능동안테나를 설계 및 제작하였다. LNA는 NEC사의 NE3210S01을 사용하여 잡음 특성을 개선하였으며, 마이크로 스트립 패치 안테나는 전방향 특성을 갖도록 설계하였으며, 설계된 $1{\times}2$마이크로 스트립 패치 안테나는 약8.3dBi의 이득을 가지면서 입력 반사손실이 -32[dB], 전압정재파비가 1.132를 나타내었고, LNA는 이득이 15dB, 입출력 반사손실이 -20[dB]의 특성을 보였다.