• Journal of Korea Multimedia Society
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• v.24 no.12
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• pp.1589-1597
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• 2021

Due to the low output rate and time delay of vehicle's navigation results, the electro-optical tracking system(EOTS) cannot estimate accurate target positions. If an inertial measurement unit(IMU) is additionally mounted into the EOTS and inertial navigation system(INS) is constructed, the high navigation output rate can be obtained. And the time-delay can be compensated by using the augmented Kalman filter. An accurate initial attitude is required in order to have accurate navigation outputs. In this paper, an attitude determination algorithm is proposed using the augmented Kalman filter in order to compensate measurement delay of the EOTS and have accurate initial attitude. The proposed initial attitude determination algorithm consists of an augmented Kalman filter, an INS, and an integrated Kalman filter. The augmented Kalman filter compensates the time-delay of the vehicle's navigation results and the integrated Kalman filter estimates the navigation error of the INS. In order to evaluate performance of the proposed algorithm, vehicle's navigation outputs and IMU measurements were generated using sensors' model-based measurement generator and initial attitude estimation errors of the proposed algorithm and the conventional algorithm without the augmented Kalman filter were compared for the generated measurements. The evaluation results show that the proposed algorithm has better accuracy.

• Korean Journal of Remote Sensing
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• v.14 no.4
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• pp.353-365
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• 1998

Light absorption coefficient per unit mass of particles, i.e., specific absorption coefficient, is important as one of the main parameters in developing algorithms for ocean color remote sensing. Specific absorption coefficient of chlorophyll ($a^*_{ph}$) and suspended sediment ($a^*_{ss}$) were analyzed with a spectrophotometer using the "wet filter technique" and "Kishino method" for the seawater collected in the Yellow and Mediterranean Sea. An improved data-recovery method for the filter technique was also developed using spectrum slopes. This method recovered the baselines of spectrum that were often altered in the original methods. High $a^*_{ph}({lambda})$ values in the oligotrophic Mediterranean Sea and low values in the Yellow Sea were observed, ranging 0.01 to 0.12 $m^2$/mg at the chlorophyll maximum absorption wavelength of 440 nm. The empirical relationship between $a^*_{ph}$(440nm) and chlorophyll concentrations () was found to fit a power function ($a^*_{ph}$=0.039 $^{-0.369}$), which was similar to Bricaud et al. (1995). Absorption specific coefficients for suspended sediment ($a^*_{ss}$) did not show any relationship with concentrations of suspended sediment. However, an average value of $a^*_{ss}$ ranging 0.005 - 0.08 $m^2$/g at 440nm, was comparable to the specific absorption coefficient of soil (loess) measured by Ahn (1990). The morepronounced variability of $a^*_{ss}$ than $a^*_{ph}$ was determined from the variable mixing ratio values between particulate organic matter and mineral. It can also be explained by a wide size-distribution range for SS which were determined by their specific gravity, bottom state, depth and agitation of water mass by wind in the sea surface.

• Clean Technology
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• v.19 no.2
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• pp.165-172
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• 2013

In this study, the hydrogen chloride removal using K-based dry sorbents ($K_2CO_3/Al_2O_3$, KEPRI, Korea) was studied with varying the pressure in a fixed bed reactor (15 cm tall bed with 0.5 cm I.d.). Working temperature was $400^{\circ}C$ and feed gas concentration was 750 ppm (HCl vol%, $N_2$ balance). The chloride sorption capacity of sorbent increases with increasing pressure (1, 5, 10, 15 and 20 bar). Also, after forming KCl crystal by reaction with $K_2CO_3$ and HCl, owing to the strong bonding energy, sorbent regeneration was practically impossible. Its optical, physical and chemical characterizations were evaluated by SEM, EDAX, BET, TGA and XRD. At $400^{\circ}C$ and 20 bar condition, working condition for the dehalogenation process after gasification, K-based dry sorbent showed high HCl sorption capacity and HCl/$N_2$ separation performances comparing with Ca-based and Mg-based dry sorbents.

• Journal of the Korean Crystal Growth and Crystal Technology
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• v.17 no.4
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• pp.145-150
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• 2007

The $SiO_2$ and $TiO_2$ thin films for the multilayer interference filter application were manufactured by electron beam process. In case of electron beam process with ion source, the anode current was controlled by gas volume ratio of $O_2$ and Ar. Substrate temperature of electron beam deposition without ion source was increased from 100 to $250^{\circ}C$ with $50^{\circ}C$ increment. The surface roughness values of $SiO_2$ thin films was most low value at $200^{\circ}C$ substrate temperature and 0.2 A anode current respectively. And the surface roughness values of $TiO_2$ thin films was most low value at room temperature and 0.2 A anode current repectively. The refractive index of $SiO_2$ and $TiO_2$ thin films to be deposited with ion source was usually lower than that of thin films without ion source.

• Journal of Intelligence and Information Systems
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• v.15 no.1
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• pp.51-64
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• 2009

A location tracking sensor such as GPS, INS, Radar, and optical equipments is used in tracking Maneuvering Targets with a multi-sensor, and such systems are used to track, detect, and control UAV, guided missile, and spaceship. Until now, Most of the studies related to tracking Maneuvering Targets are on fusing multiple Radars, or adding a supplementary sensor to INS and GPS. However, A study is required to change the degree of application in fusions since the system property and error property are different from sensors. In this paper, we perform the error analysis of the sensor properties by adding a ground radar to GPS and INS for improving the tracking performance by multi-sensor fusion, and suggest the tracking algorithm that improves the precision and stability by changing the sensor probability of each sensor according to the error. For evaluation, we extract the altitude values in a simulation for the trajectory of UAV and apply the suggested algorithm to carry out the performance analysis. In this study, we change the weight of the evaluated values according to the degree of error between the navigation information of each sensor to improve the precision of navigation information, and made it possible to have a strong tracking which is not affected by external purposed environmental change and disturbance.

• Journal of Sensor Science and Technology
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• v.27 no.5
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• pp.317-327
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• 2018

Terahertz (THz) time-domain spectroscopy(TDS), imaging techniques, and related systems have become mature technologies, widely used in many universities and research laboratories. However, the development of creative technologies still requires improved THz application systems. A few key points are discussed, including the innovative advances of mode-locking energy-emitting semiconductor lasers and better photoconductive semiconductor quantum structures. To realize a compact, low cost, and high performance THz system, it is essential that THz spectroscopy and imaging technologies are better characterized by semiconductor and nano-devices, both static and time-resolved. We introduce the THz spectroscopy and imaging systems, the OSCAT(Optical Sampling by laser CAvity Tuning) system and the ASOPS(ASynchronous Optical Sampling) system, are constructed by our research team. We report on the THz images obtained from their use.

• Journal of Astronomy and Space Sciences
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• v.12 no.2
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• pp.204-215
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• 1995

We observed SL-9 impact sites on Jupiter with a CCD and a R filter on the KyungHee University 30-inch telescope between July 17 and September 3, 1994. We identified impact sites of A, C, E, G, H, K, L, Q1, W and G-group, We calculated the moving velocity relative to System II and rotation period of the G, L sites to be from -8.0 to 8.8m/s, and $9^h55^m39.4^s\pm34^s$, respectively. The diameters of G and L sites in our first observation were $1.95\times10^4km,\;and\;2.20\times10^4km$, respectively. In particular, we investigated the evolution of the impact sites by calculating the diffusing rates of the impact clouds.

• Journal of KIISE:Computer Systems and Theory
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• v.36 no.4
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• pp.274-282
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• 2009

Various location tracking sensors; such as GPS, INS, radar, and optical equipment; are used for tracking moving targets. In order to effectively track moving targets, it is necessary to develop an effective fusion method for these heterogeneous devices. There have been studies in which the estimated values of each sensors were regarded as different models and fused together, considering the different error characteristics of the sensors for the improvement of tracking performance using heterogeneous multi-sensor. However, the rate of errors for the estimated values of other sensors has increased, in that there has been a sharp increase in sensor errors and the attempts to change the estimated sensor values for the Sensor Probability could not be applied in real time. In this study, the Sensor Probability is obtained by comparing the RMSE (Root Mean Square Error) for the difference between the updated and measured values of the Kalman filter for each sensor. The process of substituting the new combined values for the Kalman filter input values for each sensor is excluded. There are improvements in both the real-time application of estimated sensor values, and the tracking performance for the areas in which the sensor performance has rapidly decreased. The proposed algorithm adds the error characteristic of each sensor as a conditional probability value, and ensures greater accuracy by performing the track fusion with the sensors with the most reliable performance. The trajectory of a UAV is generated in an experiment and a performance analysis is conducted with other fusion algorithms.

• 한국연소학회:학술대회논문집
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• 2000.05a
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• pp.57-66
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• 2000

OH radical and NO distributions have been measured in methane/air partially premixed counterflow flames(${\alpha}$=1.0, 0.8, 0.6) using PLIF technique. The results are discussed and compared with the numerical analysis results obtained under the same flame conditions. Measured OH and NO LIF signals agree with the computed concentration distributions. Both numerical and experimental results indicate that the structural change in a flame alters the NO formation characteristics of a partially premixed counterflow flame. The nitrogen dilution also changes flame structure, temperature and OH radical distributions and results in the decreased NO concentrations in a flame. The levels of decrease in NO concentrations, however, depends on the premixedness(${\alpha}$) of a flame. The larger change in the flame structure and NO concentrations have been observed in a premixed flame($\alpha$=1.0), which implies that the premixedness is likely to be a factor in the dilution effect on NO formation of a flame.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.3
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• pp.164-173
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• 2014

In underwater robotics, vision would be a key element for recognition in underwater environments. However, due to turbidity an underwater optical camera is rarely available. An underwater imaging sonar, as an alternative, delivers low quality sonar images which are not stable and accurate enough to find out natural objects by image processing. For this, artificial landmarks based on the characteristics of ultrasonic waves and their recognition method by a shape matrix transformation were proposed and were proven in Part 1. But, this is not working properly in undulating and dynamically noisy sea-bottom. To solve this, we propose a framework providing a selection phase of likelihood candidates, a selection phase for final candidates, recognition phase and tracking phase in sequence images, where a particle filter based selection mechanism to eliminate fake candidates and a mean shift based tracking algorithm are also proposed. All 4 steps are running in parallel and real-time processing. The proposed framework is flexible to add and to modify internal algorithms. A pool test and sea trial are carried out to prove the performance, and detail analysis of experimental results are done. Information is obtained from tracking phase such as relative distance, bearing will be expected to be used for control and navigation of underwater robots.