• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2022.10a
• /
• pp.133-135
• /
• 2022

With the development of IoT and AI technologies and media, various digital devices are being used, and unmanned and automation is progressing rapidly. In particular, high-level image processing technology is required in fields such as smart factories, autonomous driving technology, and intelligent CCTV. However, noise present in the image affects processes such as edge detection and object recognition, and causes deterioration of system accuracy and reliability. In this paper, we propose a filtering algorithm using fuzzy weights to reconstruct images damaged by complex noise. The proposed algorithm obtains a reference value using noise judgment and calculates the final output by applying a fuzzy weight. Simulation was conducted to verify the performance of the proposed algorithm, and the result image was compared with the existing filter algorithm and evaluated.

• Journal of the Society of Disaster Information
• /
• v.16 no.4
• /
• pp.824-831
• /
• 2020

Purpose: In fire case, nursing hospitals are subject to considerable restrictions on evacuation due to the characteristics of occupants and vulnerable elements of buildings, it is important to make evacuation device for vulunerabale person, and need how to intend to increase the efficiency of evacuation by fire and evacuation simulation with helper Method: The smoke characteristics were analyzed by time through fire simulation, finally, the number of helpers according to the day and night was entered, and the evacuation completion time was compared and analyzed using the evacuation simulation. Result: It was found that the evacuation time was shortened by more than 20% when the evacuation assistance device was used for the vulnerable, and the evacuation time was delayed by almost 70% in case of a fire at night compared to the daytime. Conclusion: If the horizontal and vertical evacuation device are effectively utilized in actual fire situations, a strategy appropriate to the situation is deemed necessary. It is expected that evacuation efficiency will increase based on the use of horizontal evacuation evacuation device and vertical evacuation device by developing evacuation manuals

• The Journal of the Korea institute of electronic communication sciences
• /
• v.6 no.2
• /
• pp.288-295
• /
• 2011

The paper proposes a localization method of an underwater robot using Monte Carlo Localization(MCL) approach. Localization is one of the fundamental basics for autonomous navigation of an underwater robot. The proposed method resolves the problem of accumulation of position error which is fatal to dead reckoning method. It deals with uncertainty of the robot motion and uncertainty of sensor data in probabilistic approach. Especially, it can model the nonlinear motion transition and non Gaussian probabilistic sensor characteristics. In the paper, motion model is described using Euler angles to utilize the MCL algorithm for position estimation of an underwater robot. Motion model and sensor model are implemented and the performance of the proposed method is verified through simulation.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.21 no.2
• /
• pp.268-275
• /
• 2011

This paper proposes two optimal path planning methods of a mobile robot using uDEAS (univariate Dynamic Encoding Algorithm for Searches). Before start of autonomous traveling, a self-controlled mobile robot must generate an optimal global path as soon as possible. To this end, numerical optimization method is applied to real time path generation of a mobile robot with an obstacle avoidance scheme and the basic path generation method based on the concept of knot and node points between start and goal points. The first improvement in the present work is to generate diagonal paths using three node points in the basic path. The second innovation is to make a smooth path plotted with the blending polynomial using uDEAS. Effectiveness of the proposed schemes are validated for several environments through simulation.

• Journal of Satellite, Information and Communications
• /
• v.7 no.1
• /
• pp.75-81
• /
• 2012

This study is to design the transmitter and receiver of short range UWB(Ultra Wide Band) imaging radar that is able to display high resolution radar image for front area of a UGV(Unmanned Ground Vehicle). This radar can help a UGV to navigate autonomously as it detects and avoids obstacles through foliage. The transmitter needs two transmitters to improve the azimuth resolution. Multi-channel receivers are required to synthesize radar image. Transmitter consists of high power amplifier, channel selection switch, and waveform generator. Receiver is composed of sixteen channel receivers, receiver channel converter, and frequency down converter, Before manufacturing it, the proposed architecture of transceiver is proved by modeling and simulation using several parameters. Then, it was manufactured by using industrial RF(Radio Frequency) components and all other measured parameters in the specification were satisfied as well.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
• /
• v.14 no.6
• /
• pp.473-478
• /
• 2021

This paper designed a wideband, high gain planar trapezoidal monopole antenna using backside frequency selective surface (FSS) according to the need for wideband and high gain antenna required in various fields such as rapidly increasing wireless communication, autonomous vehicles, 5G wireless communication and wideband applications. The proposed antenna uses a dual metallic to have a structural difference from the existing FSS. By solving the complexity of the design antenna using genetic algorithms (GA) and high frequency structural simulators (HFSS) simulations, the proposed antenna is not only produce a high efficiency but also presents a wide bandwidth of 3.52 to 5.92 GHz and a gain of 10.5 dBi over the entire bandwidth, with the highest gain of 11.8 dBi at 5.1 GHz. It has been confirmed that the gain increased 8.6 dBi as the 36% impedance bandwidth of 1.8 GHz compared to the existing antenna improved to the 50% impedance bandwidth of 2.4 GHz.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.14 no.4
• /
• pp.438-444
• /
• 2004

The intelligent robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, robots need to recognize their position and posture in known environment as well as unknown environment. Moreover, it is necessary for their localization to occur naturally. It is desirable for a robot to estimate of his position by solving uncertainty for mobile robot navigation, as one of the best important problems. In this paper, we describe a method for the localization of a mobile robot using image information of a moving object. This method combines the observed position from dead-reckoning sensors and the estimated position from the images captured by a fixed camera to localize a mobile robot. Using the a priori known path of a moving object in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a moving object and the estimated robot's position. Since the equations are based or the estimated position, the measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the mobile robot. The Kalman filter scheme is applied for this method. its performance is verified by the computer simulation and the experiment.

• Journal of Navigation and Port Research
• /
• v.43 no.1
• /
• pp.42-48
• /
• 2019

The significance of PNT information in the fourth industrial revolution is viewed differently in relation to the past. Autonomous vehicles, autonomous vessels, smart grids, and national infrastructure require sustainable and reliable services in addition to their high precision service. Satellite navigation system, which is the most representative system for providing PNT information, receive signals from satellites outside the earth so signal reception power is low and signal structures for civilian use are open to the public. Therefore, it is vulnerable to intentional and unintentional interference or hacking. Satellite navigation systems, which can easily acquire high performance of PNT information at low cost, require alternatives due to its vulnerability to the hacking. This paper proposed R-Mode (Ranging Mode) technology that utilizes currently operated navigation and communication infrastructure in terms of Signals of OPportunity (SoOP). For this, the Nationwide Differential Global Navigation Satellite System (NDGNSS), which currently gives a service of Medium Frequency (MF) navigation signal broadcasting, was used to validate the feasibility of a backup infrastructure in domestic maritime areas through simulation analysis.

• Clean Technology
• /
• v.28 no.3
• /
• pp.227-231
• /
• 2022

The demand for high-voltage power devices is rising in various industries, but especially in the transportation industry due to autonomous driving and electric vehicles. IGBT module parts of 3.3 kV or more are used in the power propulsion control device of electric vehicles, and the procurement of these parts for new construction and maintenance is increasing every year. In addition, research to optimize high-voltage IGBT parts is urgently required to overcome their very high technology entry barrier. For the development of high-voltage IGBT devices over 3.3 kV, the resistivity range setting of the wafer and the optimal conditions for major unit processes are important variables. Among the manufacturing processes to secure the optimal junction depth, the optimization of the diffusion process, which is one step of the unit process, was examined. In the diffusion process, the type of gas injected, the injection time, and the injection temperature are the main variables. In this study, the range of wafer resistance (Ω cm) was set for the development of high voltage IGBT devices through unit process simulation. Additionally, the well drive in (WDR) condition optimization of the diffusion process according to temperature was studied. The junction depth was 7.4 to7.5 ㎛ for a ring pattern width of 23.5 to25.87 ㎛, which can be optimized for supporting 3.3 kV high voltage power devices.

• The Journal of The Korea Institute of Intelligent Transport Systems
• /
• v.17 no.6
• /
• pp.173-184
• /
• 2018

As the portable traffic information collection system using probe vehicles spreads, it is becoming possible to collect road hazard information such as portholes, falling objects, and road surface freezing using in-vehicle sensors in addition to existing traffic information. In this study, we developed a integration and decision algorithm that integrates time and space in real time when multiple probe vehicles detect events such as road hazard information based on GPS coordinates. The core function of the algorithm is to determine whether the road hazard information generated at a specific point is the same point from the result of detecting multiple GPS probes with different GPS coordinates, Generating the data, (3) continuously determining whether the generated event data is valid, and (4) ending the event when the road hazard situation ends. For this purpose, the road risk information collected by the probe vehicle was processed in real time to achieve the conditional probability, and the validity of the event was verified by continuously updating the road risk information collected by the probe vehicle. It is considered that the developed hybrid processing algorithm can be applied to probe-based traffic information collection and event information processing such as C-ITS and autonomous driving car in the future.