• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.4
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• pp.359-365
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• 2011

A mobile surveillance robot is defined as a surveillance robot system that is mounted on a mobile platform and is used to protect public areas such as airports or harbors from invaders. The mobile surveillance robot that is mounted on a mobile platform consists of a gun module, a camera system module, an embedded control system, and AHRS (Attitude and Heading Reference System). It has two axis control systems for controlling its elevation and azimuth. In order to obtain stable images for targeting invaders, this system requires a stabilizer to compensate any disturbance due to vehicle motion. In this study, a virtual model of a mobile surveillance robot has been created and ADAMS/Matlab simulations have been performed to verify the suitability of the proposed stabilization algorithm. Further, the suitability of the stabilization algorithm has also been verified using a mock-up of the mobile surveillance robot and a 6-DOF (Degree Of Freedom) motion simulator.

• Journal of Cadastre & Land InformatiX
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• v.47 no.2
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• pp.39-47
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• 2017

The SAR payload of the KOMPSAT-5 is equipped with an X-band (9.66GHz) microwave-based sensor. Especially, since it has a fixed antenna that can be electronically steered with respect to the azimuth and elevation planes, various applications are expected. This study evaluates the production performance and the accuracy of the DEM by producing DEM using the HR and UH mode images of KOMPSAT-5. To evaluate the production performance of the DEM, the sensitivity of DEM was assessed through a baseline analysis and $2{\pi}$ ambiguity; it was found to have good production performance. In addition, to evaluate the accuracy of the produced DEM, 30 check points were compared with SRTM data. As a result, STDEV ${\pm}15-20m$ accuracy was obtained. If the accuracy of the DEM is improved by adjusting the parameters of the filtering method or phase unwrapping method in the future, it will be possible to widely use the KOMPSAT-5 image for environmental and disaster monitoring.

• Journal of the Korea Convergence Society
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• v.8 no.7
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• pp.1-6
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• 2017

This paper presents the design of a frequency measurement device using ADC, EP2AGX FPGA and STM32 processor to accurately measure the frequency of a broadband high frequency signal. The ADC device used in this paper has a sampling frequency of 250 MSPS and a processing frequency bandwidth of 100 MHz. Due to its high sampling frequency, it is difficult to process in ordinary computers or processors, so we implemented the frequency measurement algorithm using the Altra EP2AGX FPGA. The measured frequency is sent to the direction detection controller in real time and fused with the phase signal to calculate the incident azimuth angle of the high frequency signal. The designed frequency measurement device is about 0.2 Mhz in frequency measurement error and 30% less than Anaren DFD-x, which is considered to contribute greatly to the design of radio monitoring and direction detection device.

• Journal of Astronomy and Space Sciences
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• v.22 no.3
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• pp.263-272
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• 2005

For the Communication, Ocean and Meteorological Satellite (COMS) which will be launched in 2008, an algorithm for finding the precise location of the sun-glint point on the ocean surface is studied. The precise locations of the sun-glint are estimated by considering azimuth and elevation angles of Sun-satellite-Earth geometric position and the law of reflection. The obtained nonlinear equations are solved by using the Newton-Raphson method. As a result, when COMS is located at $116.2^{\circ}E$ or $128.2^{\circ}E$ longitude, the sun-glint covers region of ${\pm}10^{\circ}(N-S)$ latitude and $80-150^{\circ}(E-W)$ longitude. The diurnal path of the sun-glint in the southern hemisphere is curved towards the North Pole, and the path in the northern hemisphere is forwards the south pole. The algorithm presented in this paper can be applied to predict the precise location of sun-glint region in any other geostationary satellites.

• Journal of Korean Society for Geospatial Information Science
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• v.17 no.3
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• pp.71-79
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• 2009

We expanded the 3D building information extraction method using shadow and vertical line from single high resolution image with meta information into the method for single high resolution image without meta information. Our method guesses an azimuth angle and an elevation angle of the sensor and the sun using reference building, selected by user, on an image. For test, we used an IKONOS image and an image extracted from the Google Earth. We calculated the Root Mean Square (RMS) error of heights extracted by our method using the building height extracted from stereo IKONOS image as reference, and the RMS error from the IKONOS image and the Google Earth image was under than 3 m. We also calculated the RMS error of horizontality position by comparison between building position extracted from only the IKONOS image and it from 1:1,000 digital map, and the result was under than 3 m. This test results showed that the height pattern of building models by our method was similar with it by the method using meta information.

• Geophysics and Geophysical Exploration
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• v.25 no.4
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• pp.167-176
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• 2022

We designed a borehole deviation survey tool applicable for steel-cased holes, K-DEV, and developed a prototype for a depth of 500 m aiming to development of own equipment required to secure deep subsurface characterization technologies. K-DEV is equipped with sensors that provide digital output with verified high performance; moreover, it is also compatible with logging winch systems used in Korea. The K-DEV prototype has a nonmagnetic stainless steel housing with an outer diameter of 48.3 mm, which has been tested in the laboratory for water resistance up to 20 MPa and for durability by running into a 1-km deep borehole. We confirmed the operational stability and data repeatability of the prototype by constantly logging up and down to the depth of 600 m. A high-precision micro-electro-mechanical system (MEMS) gyroscope was used for the K-DEV prototype as the gyro sensor, which is crucial for azimuth determination in cased holes. Additionally, we devised an accurate trajectory survey algorithm by employing Unscented Kalman filtering and data fusion for optimization. The borehole test with K-DEV and a commercial logging tool produced sufficiently similar results. Furthermore, the issue of error accumulation due to drift over time of the MEMS gyro was successfully overcome by compensating with stationary measurements for the same attitude at the wellhead before and after logging, as demonstrated by the nearly identical result to the open hole. We believe that the methodology of K-DEV development and operational stability, as well as the data reliability of the prototype, were confirmed through these test applications.