• 한국광학회지
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• 제14권1호
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• pp.65-71
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• 2003

국소 홀로그램 기록방법에서 저장밀도를 높이기 위해서는 각 홀로그램은 이웃한 홀로그램들과 가급적 가깝게 기록되어야 한다. 이 경우에 두 인접한 홀로그램의 기준빔들은 공간적으로 겹칠 수 있다. 본 논문에서는 공간다중화를 위한 기준빔의 이동거리에 대해서 겹침을 최소화하는 최적의 기준빔 폭이 존재함을 시물레이션 및 실험적으로 보인다 따라서, 저장밀도를 높임에 따르는 국소 홀로그램의 장점의 희생을 최소화할 수 있다.

• 제어로봇시스템학회논문지
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• 제17권2호
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• pp.79-87
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• 2011

This paper presents the optimal design of an overlapped ultrasonic sensor ring for high resolution obstacle detection of an autonomous mobile robot. It is assumed that a set of low directivity ultrasonic sensors of the same type are arranged along a circle of nonzero radius at a regular spacing with their beams overlapped. First, taking into account the dead angle region, the entire range of obstacle detection is determined with reference to the center of an overlapped ultrasonic sensor ring. Second, the optimal design index of an overlapped ultrasonic sensor ring is defined as the area closeness of three sensing subzones resulting from beam overlap. Third, the lower and upper bounds on the number of ultrasonic sensors are derived, which can guarantee minimal beam overlap and also avoid excessive beam overlap among adjacent ultrasonic sensors. Fourth, employing a commercial low directivity ultrasonic sensor, an optimal design example of an overlapped ultrasonic sensor ring is given along with the ultrasonic sensor ring prototype mounted on top of a mobile robot. Finally, some experimental results using our prototype ultrasonic sensor ring are given to demonstrate the validity and performance of an optimally overlapped ultrasonic sensor ring for high resolution obstacle detection.