• Tunnel and Underground Space
• /
• v.32 no.6
• /
• pp.451-463
• /
• 2022

Whenever a mineshaft accidentally collapses, speedy risk assessment is both required and crucial. But onsite safety diagnosis by humans is reportedly difficult considering the additional risk of collapse of the unstable mineshaft. Generally, drones equipped with high-speed lidar sensors can be used for such inspection. However, the drone technology is restrictively applicable at very shallow depth, failing in mineshafts with depths of hundreds of meters because of the limit of wireless communication and turbulence inside the mineshaft. In previous study, a three-dimensional (3D) scanning system with a single channel lidar was fabricated and operated using towed cable in a mineshaft to a depth of 200 m. The rotation and pendulum movement errors of the measuring unit were compensated for by applying the data of inertial measuring unit and comparing the similarity between the scan data of the adjacent depths (Kim et al., 2020). However, the errors grew with scan depth. In this paper, a multi-channel lidar sensor to obtain a continuous cross-sectional image of the mineshaft from a winch system pulled from bottom upward. In this new approach, within overlapped region viewed by the multi-channel lidar, rotation error was compensated for by comparing the similarity between the scan data at the same depth. The fabricated system was applied to scan 0-165 m depth of the mineshaft with 180 m depth. The reconstructed image was depicted in a 3D graph for interpretation.

• Tunnel and Underground Space
• /
• v.34 no.1
• /
• pp.1-14
• /
• 2024

An image-reconstruction technology, involving the deployment of an unmanned mobility equipped with high-speed LiDAR (Light Detection And Ranging) has been proposed to reconstruct the shape of abandoned mine. Unmanned mobility operation is remarkably useful in abandoned mines fraught with operational difficulties including, but not limited to, obstacles, sludge, underwater and narrow tunnel with the diameter of 1.5 m or more. For cases of real abandoned mines, quadruped robots, quadcopter drones and underwater drones are respectively deployed on land, air, and water-filled sites. In addition to the advantage of scanning the abandoned mines with 2D solid-state lidar sensors, rotation of radiation at an inclination angle offers an increased efficiency for simultaneous reconstruction of mineshaft shapes and detecting obstacles. Sensor and robot posture were used for computing rotation matrices that helped compute geographical coordinates of the solid-state lidar data. Next, the quadruped robot scanned the actual site to reconstruct tunnel shape. Lastly, the optimal elements necessary to increase utility in actual fields were found and proposed.

• Journal of Sensor Science and Technology
• /
• v.15 no.2
• /
• pp.84-89
• /
• 2006

Highly concentrated p-type ZnO thin films can be obtained by doping of N, P and As elements. In this study, undoped ZnO buffer layers were prepared on a (0001) sapphire substrate by a ultra high vaccum pulsed laser deposition(UHV-PLD) method. ZnO buffer layers were deposited with various deposition temperature($400{\sim}700^{\circ}C$) at 350 mtorr of oxygen working pressure. Arsenic doped(1 wt%) ZnO thin films were deposited on the ZnO buffer layers by UHV-PLD. Crystallinity of the samples were evaluated by X-ray diffractometer and scanning electron microscopy. Optical, electrical properties of the ZnO thin films were estimated by photoluminescence(PL) and Hall measurements. The optimal condition of the undoped ZnO buffer layer for the deposition of As-doped ZnO thin films was at $600^{\circ}C$ of deposition temperature.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.6
• /
• pp.497-502
• /
• 2015

One of the goals in the field of mobile robotics is the development of personal service robots for the elderly which behave in populated environments. In this paper, we describe a security robot system and ongoing research results that minimize the risk of the elderly and the infirm to access an area to enter restricted areas with high potential for falls, such as stairs, steps, and wet floors. The proposed robot system surveys a potential falling area with an equipped laser scanner sensor. When it detects walking in elderly or infirm patients who in restricted areas, the robot calculates the velocity vector, plans its own path to forestall the patient in order to prevent them from heading to the restricted area and starts to move along the estimated trajectory. The walking human is assumed to be a point-object and projected onto a scanning plane to form a geometrical constraint equation that provides position data of the human based on the kinematics of the mobile robot. While moving, the robot continues these processes in order to adapt to the changing situation. After arriving at an opposite position to the human's walking direction, the robot advises them to change course. The simulation and experimental results of estimating and tracking of the human in the wrong direction with the mobile robot are presented.

• Bulletin of the Korean Chemical Society
• /
• v.31 no.7
• /
• pp.1968-1972
• /
• 2010

Pt-Co alloy nanowire array was directly synthesized by electrochemical deposition with polycarbonate template at -1.0V and subsequent chemical etching of the template. The use of Pt-Co alloy nanowire array-modified electrode (Pt-Co NAE) for the determination of morphine (MO) is described. The morphology of the Pt-Co alloy nanowire array has been investigated by scanning electron microscopy (SEM) and energy disperse X-ray spectroscopy (EDS) analysis), respectively. The resulting Pt-Co NAE offered a linear amperometric response for morphine ranging from $2.35\times10^{-5}$ to $2.39\times10^{-3}$ M with a detection limit of $7.83\times10^{-6}$ M at optimum conditions. This sensor displayed high sensitivity and long-term stability.

• Transactions on Electrical and Electronic Materials
• /
• v.10 no.4
• /
• pp.135-139
• /
• 2009

$H_2S$ micro-gas sensors have been developed employing $SnO_2$:CuO composite thin films. The films were prepared by e-beam evaporation of Sn and Cu metals on silicon substrates, followed by oxidation at high temperatures. Results of various studies, such as scanning electron microscopy (SEM), X-ray diffraction (XRD) and X-ray photoelectron spectroscopy (XPS) reveal that $SnO_2$ and CuO are mutually non-reactive. The CuO grains, which in turn reside in the inter-granular regions of $SnO_2$, inhibit grain growth of $SnO_2$ as well as forming a network of p-n junctions. The film showed more than a 90% relative resistance change when exposed to $H_2S$ gas at 1 ppm in air at an operating temperature of $350^{\circ}C$ and had a short response time of 8 sec.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
• /
• 2003.05d
• /
• pp.100-104
• /
• 2003

$BaTiO_3$ ceramic thin films were manufactured by rf/dc magnetron sputter technique. We have investigated crystal structure, surface morphology and PTCR(positive-temperature coefficient of resistance) characteristics of the specimen depending on second heat-treatment temperatures. Second heat treatments of the specimen were performed in the temperature range of 400 to $1350^{\circ}C$. X-ray diffraction patterns of $BaTiO_3$ thin films show that the specimen heat treated below $600^{\circ}C$ is an amorphous phase and the one heat treated above $1100^{\circ}C$ forms a poly-crystallization. In the specimen heat-treated at $1300^{\circ}C$, a lattice constant ratio (c/a) was 1.188. Scanning electron microscope(SEM) image of $BaTiO_3$ thin films of the specimen heat treated in between 900 and $1100^{\circ}C$ shows a grain growth. At $1100^{\circ}C$, the specimen stops grain-growing and becomes a poly-crystallization.

• Composites Research
• /
• v.16 no.4
• /
• pp.51-58
• /
• 2003

Since the reliability of adhesively bonded joints is much dependent on the curing status of thermosetting adhesive, the on-line cure monitoring during the cure of adhesively joints could improve the quality of adhesively bonded joints. In this work, the dielectric method which measures the dissipation factor of the adhesive during the cure of joints and converts it into the degree of cure of the adhesive was devised. The relation between the dissipation factor and the degree of cure of adhesive was investigated, which could eliminate the temperature effect on the dissipation factor that is a strong function of the degree of cure and temperature of adhesive. From the investigation, it was found that the dissipation factor showed a trend similar to the cure rate of the adhesive.

• Journal of Sensor Science and Technology
• /
• v.15 no.3
• /
• pp.153-157
• /
• 2006

This paper presents the method for three-dimensional micro structure with photoresist spray coating system. The system consists of a high temperature rotational chuck, ultrasonic spray nozzle module, angle control module and nozzle moving module. Spray coating system is effected by several parameters such as the solid contents, the dispensed volume, the scanning speed of the spray nozzle and the wafer of dimension. The photoresist (AZ 1512) has been coated on the three-dimensional micro structure by spray coating system and the characteristics have been evaluated.

• Journal of Sensor Science and Technology
• /
• v.13 no.4
• /
• pp.282-286
• /
• 2004

${\alpha}-Fe_{2}O_{3}$ films were prepared by ultrasonic spray pyrolysis (USP) on $SiO_{2}$ coated Si wafers using iron acetylacetonate as an iron precursor. The crystallographic properties and surface morphologies of the films were characterized by X-ray diffraction (XRD) and scanning electron microscopy (SEM), respectively. X-ray photoelectron spectroscopy (XPS) was carried out to determine the Fe oxidation states. In order to observe stability of the films to temperature, the resistance variation of the films with an ambient temperature was measured. The effects of substrate temperature on the structural and electrical properties of the ${\alpha}-Fe_{2}O_{3}$ films were studied. The films were densified from the substrate temperature of $350^{\circ}C$. The grain size of the films grown at $400^{\circ}C$ was shown to be increased abruptly comparing with that of $350^{\circ}C$. The films showed a low resistance variation between the ambient temperature of $300^{\circ}C$ and $350^{\circ}C$.