• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.553-559
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• 2015

The purpose of this research is to develop a gait assistive device to enhance the gait stability and training efficiency of stroke patients. The configuration of this device is mainly composed of a motored wheel and a single cane whose lower end is attached to a motored wheel frame. A patient can feel haptic information from continuous ground contact from the wheel while walking through the grip handle. In addition, the wheeled cane can avoid using excessive use of the patient's upper limb for weight support and motivate the patient to use a paralyzed lower limb more actively. Moreover, the proposed device can provide intuitive and safe user interaction by integrating a force sensor and a tilt sensor equipped to the cane frame, and a switch sensor at the cane's handle. The admittance control has been implemented for the patient to change the walking speed intuitively by using the interaction forces at the handle. A hemi-paretic stroke patient participated in the walking assistive experiments as a pilot study to verify the effectiveness of the proposed haptic cane system. The results showed that the patient could improve walking speed and muscle activations during walking with a constant speed mode of the haptic cane. Moreover, the patient could maintain the preferred walking speeds and gait stability regardless of the magnitude of resistance forces with the admittance control mode of the haptic cane. The proposed robotic gait assistive device with a simple and intuitive mechanism can provide efficient gait training modes to stroke patients with high possibilities of widespread utilizations.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.4 no.3
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• pp.174-181
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• 2011

A new registration method for IR image and EO image is proposed in this paper. IR sensor is applicable to many area because it absorbs thermal radiation energy unlike EO sensor does. However, IR sensor has difficulty to extract and match features due to low contrast compared to EO image. In order to register both images, we used modified SIFT(Scale Invariant Feature Transform) and block processing to increase feature distinctiveness. To remove outlier, we applied RANSAC(RANdom SAample Concensus) for each block. Finally, we unified matching features into single coordinate system and remove outlier again. We used 3~5um range IR image, and our experiment result showed good robustness in registration with IR image.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.16 no.2
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• pp.105-115
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• 2017

Conventional traffic detection sensors such as loop detectors and image sensors are expensive to install and maintain and require different detection algorithms depending on the night and day and have a disadvantage that the detection rate varies widely depending on the weather. On the other hand, the millimeter-wave radar is not affected by bad weather and can obtain constant detection performance regardless of day or night. In addition, there is no need for blocking trafficl for installation and maintenance, and multiple vehicles can be detected at the same time. In this study, a multi-target detection algorithm for a radar sensor with this advantage was devised / implemented by applying a conventional single target detection algorithm. We performed the evaluation and the meaningful results were obtained.

• Journal of the Korean Society for Nondestructive Testing
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• v.21 no.5
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• pp.542-548
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• 2001

A robust, accurate, broad-band, alternating current sensor using fiber-optics is being developed as a part of optical over current protection relay system. The sensor uses the Faraday effect in optical fiber and polarimetric measurements tc sense electrical current. The current sensing coil consists of a length of twisted optical fiber and Faraday rotator mirror to suppress the linear birefringence effect. Due to its single-ended closed path structure, it can not only be easily installed to the target with great isolation from other fields in the vicinity, but the sensitivity can be increased by using multiple turns. This paper reports on the theoretical backgrounds of the sensor design and the preliminary experimental results.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.10a
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• pp.107-110
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• 2015

In this paper, we propose a coalitonal game theoritic approach to the power control problem in resource-constrained wireless sensor networks, where the objective is to enhance power efficiency of individual sensors while providing the QoS requirements. We model this problem as two-sided one-to-one matching game and deploly deferred acceptance procedure that produces a single matching in the core. Furthermore, we show that, by applying the procedure repeatedly, a certain stable state is achieved where no sensor can anticipate improvements in their power efficiency as far as all of them are subject to their own QoS constraints. We evaluate our proposal by comparing them with cluster-based and the local optimal solution obtained by maximizing the total system energy efficiency, where the objective function is non-convex.

• The Journal of Korea Robotics Society
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• v.1 no.1
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• pp.17-24
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• 2006

Though the final goal of mobile robot navigation is to be autonomous, operators' intelligent and skillful decisions are necessary when there are many scattered obstacles. There are several limitations even in the camera-based tele-operation of a mobile robot, which is very popular for the mobile robot navigation. For examples, shadowed and curved areas cannot be viewed using a narrow view-angle camera, especially in bad weather such as on snowy or rainy days. Therefore, it is necessary to have other sensory information for reliable tele-operations. In this paper, sixteen ultrasonic sensors are attached around a mobile robot in a ring pattern to measure the distances to obstacles. A collision vector is introduced in this paper as a new tool for obstacle avoidance, which is defined as a normal vector from an obstacle to the mobile robot. Based on this collision vector, a virtual reflection force is generated to avoid the obstacles and then the reflection force is transferred to an operator who is holding a joystick to control the mobile robot. Relying on the reflection force, the operator can control the mobile robot more smoothly and safely. For this bi-directional tele-operation, a master joystick system using a hall sensor was designed to resolve the existence of nonlinear sections, which are usual for a general joystick with two motors and potentiometers. Finally, the efficiency of a force reflection joystick is verified through the comparison of two vision-based tele-operation experiments, with and without force reflection.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.3
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• pp.770-776
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• 2021

Positioning systems have been actively researched and developed over the past few years and have been used in many applications. This paper presents a method to determine a location in a large space using a sensor system consisting of an accelerometer and a single-axis gyroscope. In particular, to consider usability, a sensor device was loosely worn on the waist so that the experimental data could be used in practical applications. Based on the experimental results of circular tracks with radiuses of 1m and 3m, in this paper, an algorithm using the threshold of rotation angle was proposed and applied to the experimental results. A tracking experiment was performed on the grid-pattern track model. For raw sensor data, the average deviation between the final tracking point and the target point was approximately 15.2 m, which could be reduced to approximately 4.0 m using an algorithm applying the rotation angle threshold.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.3
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• pp.624-629
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• 2018

The current study was conducted to develop a portable composite gas detector allowing the detection of both $CO_2$ and $CH_4$ gases by means of the Non Dispersive Infra-Red (NDIR) method. The gas detector is configured to radiate infrared waves using infrared lamps, where the wavelength of the infrared light is reduced due to absorption throughout the chamber, and this reduction (absorption) is detected by the absorption detector, before being converted and amplified to a 3.5V~6V electrical signal, providing as accurate a measurement as possible. The conventional singe sensor method measures the relative measurement by absorbing only specified wavelengths of infrared radiation, which in the case of gas detection leads to problems with accuracy due to the lack of a reference sensor when detecting light with a wavelength of only $4.26{\mu}m$. The dual sensor employed in this study provides a comparative measurement between the reference value derived from the wavelength of $3.91{\mu}m$, which is not influenced by other gas sources, and the measurement value derived from the wavelength of $4.26{\mu}m$, in order to reduce the errors and enhance the reliability, thereby allowing low power consumption for portable devices and multi-gas detection for both $CO_2$ and $CH_4$ gases. The portable composite gas detector developed herein provides a measurement rage of 0ppm~5,000ppm for $CO_2$ gas, and 0.5%vol for $CH_4$, which allows the determination of whether the $CO_2$ and $CH_4$ contents in indoor air are less than 1,000ppm or not. The current study established that the composite gas detector can be interlinked with firefighting appliances through portable devices or home automation, and is anticipated to be very effective in fire prevention.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.6
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• pp.634-638
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• 2018

Haze is a factor that degrades the performance of various image processing algorithms, such as those for detection, tracking, and recognition using an electro-optical sensor. For robust operation of an electro-optical sensor-based unmanned system used outdoors, an algorithm capable of effectively removing haze is needed. As a haze removal method using a single electro-optical sensor, the dark channel prior using statistical properties of the electro-optical sensor is most widely known. Previous methods used a square filter in the process of obtaining a transmission using the dark channel prior. When a square filter is used, the effect of removing haze becomes smaller as the size of the filter becomes larger. When the size of the filter becomes excessively small, over-saturation occurs, and color information in the image is lost. Since the size of the filter greatly affects the performance of the algorithm, a relatively large filter is generally used, or a small filter is used so that no over-saturation occurs, depending on the image. In this paper, we propose an improved haze removal method using color image segmentation. The parameters of the color image segmentation are automatically set according to the information complexity of the image, and the over-saturation phenomenon does not occur by estimating the amount of transmission based on the parameters.

• Journal of Sensor Science and Technology
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• v.23 no.1
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• pp.51-57
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• 2014

The evaporating materials for $MgGa_2Se_4$ single crystal thin films was prepared from horizontal electric furnace. To obtain the single crystal thin films, $MgGa_2Se_4$ compounded polycrystal powder was deposited on thoroughly etched semi-insulated GaAs(100) substrate by the hot wall epitaxy (HWE) method system. The source and substrate temperatures of optimized growth conditions, were $610^{\circ}C$ and $400^{\circ}C$, respectively.The source and substrate temperatures were $610^{\circ}C$ and $400^{\circ}C$, respectively. The crystalline structure of the single crystal thin films was investigated by double crystal X-ray diffraction (DCXD). The temperature dependence of the energy band gap of the $MgGa_2Se_4$ obtained from the absorption spectra was well described by the Varshni's relation, $E_g(T)=2.34\;eV-(8.81{\times}10^{-4}\;eV/K)T^2/(T+251\;K)$. After the as-grown $MgGa_2Se_4$ single crystal thin films was annealed in Mg-, Se-, and Ga-atmospheres, the origin of point defects of $MgGa_2Se_4$ single crystal thin films has been investigated by the photoluminescence (PL) at 10 K. The native defects of $V_{Mg}$, $V_{Se}$ obtained by PL measurements were classified as a donors or acceptors type. And we concluded that the heat-treatment in the Se-atmosphere converted $MgGa_2Se_4$ single crystal thin films to an optical n-type. Also, we confirmed that Ga in $MgGa_2Se_4$/GaAs did not form the native defects because Ga in $MgGa_2Se_4$ single crystal thin films existed in the form of stable bonds.