• Proceedings of the KIPE Conference
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• 2014.07a
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• pp.49-50
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• 2014

본 논문에서는 유도형 활공 탄약의 비행경로 제어와 자세유지를 위해 장착된 꼬리 날개 구동을 위한 BLDC 전동기 제어시스템을 개발하였다. 이 시스템에서는 높은 고도에서의 비행 시 압력에 취약한 홀(Hall) 센서와 같은 회전자의 위치 검출 센서를 사용하지 않는 센서리스(Sensorless) 구동 방식을 적용하였다. 측정된 극전압으로부터 상전환 신호를 추출하여 BLDC 전동기의 센서리스 구동을 실현하였으며, 또한 상전환 신호로부터 추정된 속도를 사용하여 속도 제어를 통해 꼬리날개의 변위 명령 추종을 위한 위치 제어를 수행하였다. 실제 구현된 시스템에서의 실험을 통해 개발된 센서리스 제어 알고리즘을 적용하여 위치 제어의 성능이 우수함을 확인하였다.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38C no.1
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• pp.131-140
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• 2013

Due to the limitations of the existing indoor positioning system depending on the radio wave, at present, it is required to introduce a new method in order to improve the accuracy in indoor environment. Recently, bio-inspired technology has become the future core technology. Thus, this study examined the accurate positioning method applying the abilities that animals with homing instinct measure their position by searching geomagnetic field with the use of their biomagnets. In order to confirm the applicability of geomagnetic field, a new source for indoor positioning, this study separated the constituent materials and building structure and designed the structures that can carry the actual magnetic field sensor and the data collection module. Subsequently, this study investigated the applicability of geomagnetic field as a positioning source by establishing the positioning system of Fingerprint method. In performance evaluation of the positioning system, the geomagnetic strength-based positioning system was similar to or approximately 20 percent higher than the wireless LAN-based positioning system in the buildings with the existing wireless LAN. Thus, in the environment without infrastructure for indoor positioning, the geomagnetic, an independent earth resource, can make it possible to realize the indoor positioning.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1996.10a
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• pp.43-49
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• 1996

소음원의 특성을 규명하는 방법론들은 방위각 추정 방법론에 근간을 둔 소음원 위치 탐지 방법과 같이 소음원의 등가 단극음원 크기 및 위치들을 추정하는 기본적인 방법들로부터 보다 많은 계측기기 및 탐촉자와 함께 상당히 정교한 데이타 처리를 수행하여야 하는 인텐시티를 이용한 음장 맵핑(mapping) 홀로그라프를 이용한 관심음장 전체의 3차원 맵핑등 실로 다양하다 할 수 있다. 결국은 가장 많은 탐촉자를 사용하는 측정 시스템이 보다 많은 음장의 정보를 제공하므로서 가장 탁월한 방법론이라 결정할 수 있다. 이것은 특히 탐촉자 자체의 가격이 저렴해져 가는 추세인 점과 소형화하는 추세를 감안하여 봄과 동시에 공간상의 물리적인 의미 즉 파수영역에 대한 보다 폭 넓은 이해를 통한 시간, 공간, 주파수, 파수영역 즉 확대된 차원에서의 음장, 소음에 대한 이해를 갖을 수 있다는 면에서도 가치 있다고 할 수 있다.

• Journal of Broadcast Engineering
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• v.8 no.1
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• pp.19-29
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• 2003

The demand for high-resolution images is gradually increasing, whereas many imaging systems yield aliased and undersampled images during image acquisition. In this paper, we propose a high-resolution image reconstruction algorithm considering inaccurate subpixel registration. A regularized Iterative reconstruction algorithm is adopted to overcome the ill-posedness problem resulting from inaccurate subpixel registration. In particular, we use multichannel image reconstruction algorithms suitable for application with multiframe environments. Since the registration error in each low-resolution has a different pattern, the regularization parameters are determined adaptively for each channel. We propose a methods for estimating the regularization parameter automatically. The preposed algorithm are robust against the registration error noise. and they do not require any prior information about the original image or the registration error process. Experimental results indicate that the proposed algorithms outperform conventional approaches in terms of both objective measurements and visual evaluation.

• Journal of the Korea Society of Computer and Information
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• v.11 no.1 s.39
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• pp.87-96
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• 2006

Selectivity estimation is one of the query optimization techniques. It is difficult for the previous selectivity estimation techniques for moving objects to apply the position change of moving objects to synopsis. Therefore, they result in much error when estimating selectivity for queries, because they are based on the extended spatial synopsis which does not consider the property of the moving objects. In order to reduce the estimation error, the existing techniques should often rebuild the synopsis. Consequently problem occurs, that is, the whole database should be read frequently. In this paper, we proposed a moving object histogram method based on quad tree to develop a selectivity estimation technique for moving object queries. We then analyzed the performance of the proposed method through the implementation and evaluation of the proposed method. Our method can be used in various location management systems such as vehicle location tracking systems, location based services, telematics services, emergency rescue service, etc in which the location information of moving objects changes over time.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38A no.9
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• pp.782-791
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• 2013

This paper proposes the location estimation techniques of distributed targets with the multi-sensor data perceived through IR sensors of the military robots. In order to match up targets with measured azimuths, we apply the maximum likelihood (ML), depth-first, and breadth-first tree search algorithms, in which we use the measured azimuths and the number of pixels on IR screen for pruning branches and selecting candidates. After matching up targets with azimuths, we estimate the coordinate of each target by obtaining the intersection point of the azimuths with the least square error (LSE) algorithm. The experimental results show the probability of missing target, mean of the number of calculating nodes, and mean error of the estimated coordinates of the proposed algorithms.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2011.06a
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• pp.191-191
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• 2011

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.2
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• pp.298-303
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• 2010

robots determine the location of the other robot using wireless sensors. Use it to decide how to move his. And go to any location, will make shape of column and line, circle. In this paper, we discuss problem in circle formation enclosing target which moves. It is method about enclosed invader in circle formation based on mutual localization of swarm robot without infrastructure. Therefore, use trilateration that do not need to know the value of the coordinates of reference points. So, Specify enclosed point for the number of robots base on between the relative position of the robot in the coordinate system. And particle filter is proposed to improve the accuracy of the location.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.1
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• pp.89-101
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• 2015

This paper proposes a statistical model of 3-D positions when tracking moving targets using the uncooled infrared (IR) stereo camera system. The proposed model is derived from two errors. One is the position error which is caused by the sampling pixels in the digital image. The other is the timing jitter which results from the irregular capture-timing in the infrared cameras. The capture-timing in the IR camera is measured using the jitter meter designed in this paper, and the observed jitters are statistically modeled as Gaussian distribution. This paper derives an integrated probability distribution by combining jitter error with pixel position error. The combined error is modeled as the convolution of two error distributions. To verify the proposed statistical position error model, this paper has some experiments in tracking moving objects with IR stereo camera. The 3-D positions of object are accurately measured by the trajectory scanner, and 3-D positions are also estimated by stereo matching from IR stereo camera system. According to the experiments, the positions of moving object are estimated within the statistically reliable range which is derived by convolution of two probability models of pixel position error and timing jitter respectively. It is expected that the proposed statistical model can be applied to estimate the uncertain 3-D positions of moving objects in the diverse fields.

• Annual Conference of KIPS
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• 2015.10a
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• pp.377-378
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• 2015

실내형 자율 주행 로봇에서의 가장 중요한 기술력은 IGS(indoor GPS System)라 할 수 있다. 재난로봇이나 정찰로봇, 경계로봇등 새로운 로봇의 영역이 늘어남에 따라 실내에서 로봇을 안전하게 구동시키는 연구가 활발히 진행되고 있다. 기존 GPS를 사용할 수 없는 실내에서, LED 조명으로 통신이 가능한 가시광통신은 실내위치 정보를 정밀히 파악하기에 적합하다. 이에 가시광통신을 이용하여 LED 조명별 기준위치를 파악하는 서로 다른 16진수의 데이터를 전송하고, 그 위치를 파악하여 LED 조명의 위치를 식별할 수 있음을 확인한다. 이러한 실험결과를 통하여 가시광통신을 이용해 실내형 자율 주행 로봇의 실내 위치 추정 시스템을 제안한다.