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Structured Light을 이용한 이동 로보트의 3차원 환경인식
이석준,정명진,Lee, Seok-Jun,Chung, Myung-Jin 대한전자공학회 1989 전자공학회논문지 Vol. No.
본 논문은 이동 로보트가 실제 환경속에서 주행할 수 있도록 하기 위한 간단한 structured light 센서의 개발과 이용에 관한 연구로써, 이동로보트에 이 센서를 부착하였을 경우 그 적용범위는 첫째, 복잡한 3차원 물체들 속에서의 실시간 주행경로 주변 물체의 모델링과 인식을 위한 것으로 나뉠 수 있다. 개발된 센서가 갖추고 있는 데이타 습득 속도와 정확도는 실용화 하기에 충분하며, 여러 다양한 상황속에서의 실험을 통하여 이를 확인하였다. In this paper, a robust and simple structured light sensory system has been studied to endow mobile robots with the ability of navigating in real world. A mobile robot with this sensor can be applied in two ways: first, real time navigation in 3-dimensional world, second, modeling and recognition of environment. Range data obtained with this sensor are fairy accurate, and the data aquisition speed is satisfactory. Experiments in diverse situation show effectiveness of the structured light sensor for the mobile robot.
이석준,김선태,김한수,Lee, Seok-Jun,Kim, Sun-Tae,Kim, Han-Soo 한국센서학회 2011 센서학회지 Vol.20 No.4
This study was carried out to apply chemical gas sensors for the identification of bad breath which is one of the important sensitive problem for the humans' daily life. Seven sensors, including five semiconductor sensors and two electrochemical sensors, were tested for the three panels three times in several conditions. The results showed that the reproducibility of sensors were generally good, and electrochemical sensors showed better reproducibility while semiconductor sensors showed better sensitivity. No rinsing before measurement showed relatively better results in terms of both sensitivity and reproducibility. Semiconductor gas sensors for hydrogen sulfide shows the highest sensitivity, and it was recommended to use the odor-free bag for the measurement of bad breath.