• Journal of Ocean Engineering and Technology
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• v.38 no.3
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• pp.115-123
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• 2024

USBL systems are essential for providing accurate positions of autonomous underwater vehicles (AUVs). On the other hand, the accuracy can be degraded by outliers because of the environmental conditions. A failure to address these outliers can significantly impact the reliability of underwater localization and navigation systems. This paper proposes a novel outlier rejection algorithm for AUV localization using Voronoi diagrams and query point calculation. The Voronoi diagram divides data space into Voronoi cells that center on ultra-short baseline (USBL) data, and the calculated query point determines if the corresponding USBL data is an inlier. This study conducted experiments acquiring GPS and USBL data simultaneously and optimized the algorithm empirically based on the acquired data. In addition, the proposed method was applied to a sensor fusion algorithm to verify its effectiveness, resulting in improved pose estimations. The proposed method can be applied to various sensor fusion algorithms as a preprocess and could be used for outlier rejection for other 2D-based location sensors.

• IEMEK Journal of Embedded Systems and Applications
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• v.10 no.4
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• pp.189-198
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• 2015

Most IoT-related approaches have tried to establish the relation by connecting the network between things. The proposed research will present how the pervasive interaction of eco-system formed by touching the objects between humans and things can be recognized on purpose. By collecting and sharing the detected patterns among all kinds of things, we can construct the environment which enables individualized interactions of different objects. To perform the aforementioned, we are going to utilize technical procedures such as event-driven signal processing, pattern matching for signal recognition, and hardware in the loop simulation. We will also aim to implement the prototype of sensor processor based on Arduino MCU, which can be integrated with system using Arduino-Matlab/Simulink hybrid-interoperation environment. In the experiment, we use piezo transducer to detect the vibration or vibrates the surface using acoustic wave, which has specific frequency spectrum and individualized signal shape in terms of time axis. The signal distortion in time and frequency domain is recorded into memory tracer within sensor processor to extract the meaningful pattern by comparing the stored with lookup table(LUT). In this paper, we will contribute the initial prototypes for the acoustic touch processor by using off-the-shelf MCU and the integrated framework based on Matlab/Simulink model to provide the individualization of the touch-sensing for the user on purpose.

• Composites Research
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• v.31 no.4
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• pp.145-150
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• 2018

Various structural health monitoring (SHM) systems have been suggested for aerospace industry in order to increase its life-cycle and economic efficiency. In the case of aircraft structure madden with metal, a major concern was hot spots, such as notches, bolts holes, and where corrosion or stress concentration occurs due to moisture or salinity. However, with the increasing use of composites in the aerospace industry, further advanced SHM systems have been being required to be applied to composite structures, which have much complex damage mechanism. In this paper, a method of acoustic emission localization for composite structures using Q-switched laser and multiple Amplifier-integrated PZTs have been proposed. The presented technique aims at localization of the AE with an error in distance of less than 10 mm. Acoustic emission simulation and the localization attempt were conducted in the composite structure to validate the suggested method. Localization results, which are coordinates of detected regions, grid plots and color intensity map have been presented together to show reliability of the method.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1738-1741
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• 1997

This paper addresses the issue fo target classification and localization with a SONAR for mobiler robot indoor navigation. In particular, multiple refetions of SONAR sound are used actively and interntionally. As for the SONAR sensor, the multiple reflection has been generally considered as one of the noisy phenomena, which is inevitable in the indoor environments. However, these multiple reflections can be a clue for classifying and localizing targets in the indoor environment if those can be controlled and used well. This paper develops a new SONAR sensor module with a reflection plane which can actively create the multiple refection. This paper also intends to suggest a new target classification emthod which uses the multiple refectiions. We approximate the world as being two dimensional and assume that the targets consisting of the indoor environment are pland, corner, and edge. Multiple reflection paths of an acoustic bean by a SONAR are analyzed, by simulations and the patterns of the TOPs (Time Of Flight) and angles of multiple reflections from each target are also analyzed. In addition, a new algorithm for target classification and localization is proposed.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.175-175
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• 2000

In this Paper we propose a navigation algorithm which can be used to estimate state vectors such as position and velocity for its motion control using multi-sensor output measurements. The output measurement we will use in estimating the state is a series of known multi-sensor asynchronous outputs with measurement noise. This paper investigates the Extended Kalman Filtering method to merge asynchronous heading, heading rate, velocity of DVL, and SSBL information to produce a single state vector. Different complexity of Kalman Filter, with biases and measurement noise, are investigated with theoretically data from KRISO's AUV. All levels of complexity of the Kalman Filters are shown to be much more close and smooth to real trajectories then the basic underwater acoustic navigation system comment)'used aboard underwater vehicle.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.4
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• pp.572-578
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• 2011

In this paper, the result of study on the effectiveness of anti-submarine defense plan according to the disposition of surface ships has been proposed. The surface ship carries a hull mounted sonar(HMS) as a underwater sensor and a torpedo acoustic counter measure(TACM) as a soft-kill weapon against torpedo attacks from the enemy. Nowadays these underwater systems have been combined into a integrated anti-submarine warfare combat system. And in the real anti-submarine operation environment, several surface ships cooperate for executing ASW plans. Considering these ASW systems and the ASW environment, the models of underwater systems mounted on an surface ship and the a general model of anti-submarine defense plan are proposed. And we designed a scenario for conducting simulations to evaluate the ASW plan according to the variation of the range and the relative angle between surface ships and a capital ship. The simulation results show the effectiveness of ASW plan depends on the formation of surface ships and a capital ship.

• Journal of the Korea Institute of Military Science and Technology
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• v.18 no.5
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• pp.538-547
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• 2015

The goal of this study is to develop an algorithm to propose optimal deployment of detection sensor nodes in the target area, based on a performance surface, which represents detection performance of active and passive acoustic sonar systems. The performance surface of the active detection system is calculated from the azimuthal average of maximum detection ranges, which is estimated with a transmission loss and a reverberation level predicted using ray-based theories. The performance surface of the passive system is calculated using the transmission loss model based on a parabolic equation. The optimization of deployment configurations is then performed by a hybrid method of a virtual force algorithm and a particle swarm optimization. Finally, the effectiveness of deployment configurations is analyzed and discussed with the simulation results obtained using the algorithm proposed in this paper.

• Journal of Korea Multimedia Society
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• v.14 no.12
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• pp.1572-1582
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• 2011

The rapid growth of UnderWater Acoustic Sensor Networks (UW-ASNs) has led researchers to enhance underwater MAC protocols against limitations existing in underwater environment. We propose the customized robust real-time packet inspection mechanism with addressing the problem of the search for the data packet loss and network performance quality analysis in UW-ASNs, and describe our experiences using this approach. The goal of this work is to provide a framework to assess the network real-time performance quality. We propose a customized and adaptive mechanism to detect, monitor and analyze the data packets according to the MAC protocol standards in UW-ASNs. The packet analyzing method and software we propose is easy to implement, maintain, update and enhance. We take input stream as real data packets from sniffer node in capture mode and perform fully analysis. We were interested in developing software and hardware designed tool with the same capabilities which almost all terrestrial network packet sniffers have. Experimental results confirm that the best way to achieve maximum performance requires the most adaptive algorithm. In this paper, we present and offer the proposed packet analyzer, which can be effectively used for implementing underwater MAC protocols.

• The Journal of the Acoustical Society of Korea
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• v.37 no.4
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• pp.188-195
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• 2018

A new directional linear array structure and its signal processing method are presented to resolve the left/right ambiguity inherent in a linear array. The array structure combines an ordinary acoustic sensor array with a DIFAR (Directional Frequency Analysis and Recording) sensor array, keeping a linear array configuration and gaining a instantaneous left/right discrimination. It presents better PSRR (Port-Starboard Rejection Ratio) in low frequency band and low SNR (Signal to Noise Ratio) situation as compared with a conventional twin linear array, and good compromise to easily upgrade an existing linear array system to a new one with a left/right discrimination capability.

• Journal of Sensor Science and Technology
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• v.32 no.2
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• pp.75-81
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• 2023

The significance of gas sensors has been emphasized in various industries and applications, owing to the growing significance of environmental, social, and governance (ESG) management in corporate operations. In particular, the monitoring of hazardous gas leakages and detection of fugitive emissions have recently garnered significant attention across several industrial sectors. As industrial workplaces evolve to ensure the safety of their working environments and reduce greenhouse gas emissions, the demand for high-performance gas sensors in industrial sectors dealing with toxic substances is on the rise. However, conventional gas-sensing systems have limitations in monitoring fugitive gas leakages at both critical and subcritical concentrations in complex environments. To overcome these difficulties, recent studies in the field of gas sensors have employed techniques such as mobile robotic olfaction, remote optical sensing, chemical grid sensing, and remote acoustic sensing. This review highlights the significant progress made in various technologies that have enabled accurate and real-time mapping of gas distribution and localization of hazardous gas sources. These recent advancements in gas-sensing technology have shed light on the future role of gas-detection systems in industrial safety.