• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.3
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• pp.294-303
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• 1999

To improve the visual servoing performance, several strategies were proposed in the past such as redundant feature points, using a point with different height and weighted selection of image features. The performance of these visual servoing methods depends on the configuration between the camera and object. And redundant feature points require much computation efforts. This paper proposes the visual servoing method based on the disturbance obsever, which compensates the upper off-diagonal component of image feature jacobian to be the null. The performance indices such as sensitivity for a measure of richness, sensitivity of the control to noise, and comtrollability are shown to be improved when the image feature Jacobian is given as a block diagonal matrix. Computer simulations are carried out for a UUMA560 robot and show some results to verify the effectiveness of the proposed method.

• Korean Journal of Remote Sensing
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• v.35 no.5_2
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• pp.809-818
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• 2019

The Republic of Korea is very vulnerable to damage from storm and flood due to the rainfall phenomenon in summer and the topography of the narrow peninsula. The damage is recently getting worse because of the concentration rainfall. The accurate damage information production and analysis is required to prepare for future disaster. In this study, we analyzed the water surface area changes of Byeokjeong, Sajeom, Subu and Boryeong using Sentinel-1 satellite imagery. The surface area of the Sentinel-1 satellite, taken from May 2015 to August 2019, was preprocessed using RTC and image binarization using Otsu. The water surface area of reservoir was compared with the storage capacity from WAMIS and RIMS. As a result, Subu and Boryeong showed strong correlations of 0.850 and 0.941, respectively, and Byeokjeong and Sajeom showed the normal correlation of 0.651 and 0.657. Thus, SAR satellite imagery can be used to objective data as disaster management.