• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.05a
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• pp.249-256
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• 2004

KRISO/KORDI is currently developing a deep-sea unmanned underwater vehicle (UUV) system which is composed of a launcher, an ROV, and an AUV. Two USBL acoustic positioning systems will be used for UUV's navigation. One is for the deep sea positioning of all three vehicles and the other is for AUV's guidance to the docking device on the launcher. In order to increase the position accuracy MFSK(Multiple Frequency Shift Keying) broadband signal will be used. As the first step to the implementation of a USBL system, this paper studies USBL positioning algorithm using MFSK signals. Firstly, the characteristics of MFSK signal is described with various MFSK parameters: number of frequencies, frequency step, center frequency, and pulse length. Time and phase delays between two received signals are estimated by using cross-correlation and cross-spectrum methods. Finally an USBL positioning algorithm is derived by converting the delays to difference of distances and applying trigonometry. The simulation results show that the position accuracy is improved highly when both cross-correlation and cross-spectrum of MFSK signals are used simultaneously.

• Journal of Welding and Joining
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• v.34 no.1
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• pp.54-58
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• 2016

In this research paper, suggest method of generate same bead as an actual measurement data in virtual welding conditions, exploit morphology information of the bead that acquired through robot welding. It has many multiple risk factors to Beginners welding training, by we make possible to train welding in virtual reality, we can reduce welding training risk and welding material to exploit bead visualization algorithm that we suggest so it will be expected to achieve educational, environmental and economical effect. The proposed method is acquire data to each case performing robot welding by set the voltage, current, working angle, process angle, speed and arc length of welding condition value. As Welding condition value is most important thing in decide bead form, we would selected one of baseline each item and then acquired metal followed another factors change. Welding type is FCAW, SMAW and TIG. When welding trainee perform the training, it's difficult to save all of changed information into database likewise working angle, process angle, speed and arc length. So not saving data into database are applying the method to infer the form of bead using a neural network algorithm. The way of bead's visualization is applying the spline algorithm. To accurately represent Morphological information of the bead, requires much of morphological information, so it can occur problem to save into database that is why we using the spline algorithm. By applying the spline algorithm, it can make simplified data and generate accurate bead shape. Through the research paper, the shape of bead generated by the virtual reality was able to improve the accuracy when compared using the form of bead generated by the robot welding to using the morphological information of the bead generated through the robot welding. By express the accurate shape of bead and so can reduce the difference of the actual welding training and virtual welding, it was confirmed that it can be performed safety and high effective virtual welding education.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.28 no.3
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• pp.305-315
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• 2010

This research aims to develop a method to determine the 3D coordinates of an object point from overlapping omni-directional images acquired by a ground mobile mapping system and assess their accuracies. In the proposed method, we first define an individual coordinate system on each sensor and the object space and determine the geometric relationships between the systems. Based on these systems and their relationships, we derive a straight line of the corresponding object point candidates for a point of an omni-directional image, and determine the 3D coordinates of the object point by intersecting a pair of straight lines derived from a pair of matched points. We have compared the object coordinates determined through the proposed method with those measured by GPS and a total station for the accuracy assessment and analysis. According to the experimental results, with the appropriate length of baseline and mutual positions between cameras and objects, we can determine the relative coordinates of the object point with the accuracy of several centimeters. The accuracy of the absolute coordinates is ranged from several centimeters to 1 m due to systematic errors. In the future, we plan to improve the accuracy of absolute coordinates by determining more precisely the relationship between the camera and GPS/INS coordinates and performing the calibration of the omni-directional camera

• Journal of the Institute of Electronics and Information Engineers
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• v.54 no.5
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• pp.65-73
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• 2017

In this paper, we propose a stereo matching method to improve the image quality at the hole and the disparity discontinuity regions. The stereo matching method extracts disparity map finding corresponding points between stereo image pair. However conventional stereo matching methods have a problem about the tradeoff between accuracy and precision with respect to the length of the baseline of the stereo image pair. In addition, there are hole and disparity discontinuity regions which are caused by textureless regions and occlusion regions of the stereo image pair. The proposed method extracts initial disparity map improved at disparity discontinuity and miss-matched regions using modified AD-Census-Gradient method and adaptive weighted cost aggregation. And then we conduct the disparity map refinement to improve at miss-matched regions, while also improving the accuracy of the image. Experimental results demonstrate that the proposed method produces high-quality disparity maps by successfully improving miss-matching regions and accuracy while maintaining matching performance compared to existing methods which produce disparity maps with high matching performance. And the matching performance is increased about 3.22(%) compared to latest stereo matching methods in case of test images which have high error ratio.

• Journal of ILASS-Korea
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• v.23 no.4
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• pp.192-204
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• 2018

In this study, a 3D CFD analysis method for the combustion process was established for a low calorific value syngas-diesel dual-fuel engine operating under very lean fuel-air mixture condition. Also, the accuracy of computational analysis was evaluated by comparing the experimental results with the computed ones. To simulate the combustion for the dual-fuel engine, a new dual-fuel chemical kinetics set was used that was constituted by merging two verified chemical kinetic sets: n-heptane (173 species) for diesel and Gri-mech 3.0 (53 species) for syngas. For dual-fuel mode operations, the early stage of combustion was dominated by the fuel burning inside or near the spray plume. After which, the flame propagated into the syngas in the piston bowl and then proceeded toward the syngas in the squish zone. With the baseline injection system and piston shape, a significant amount of unburned syngas was discharged. To solve this problem, effects of the injection parameters and piston shape on combustion characteristics were analyzed by calculation. The change in injection variables toward increasing the spray plume volume or the penetration length were effective to cause fast burning in the vicinity of TDC by widening the spatial distribution of diesel acting as a seed of auto-ignition. As a result, the unburned syngas fraction was reduced. Changing the piston shape with the shallow depth of the piston bowl and 20% squish area ratio had a significant effect on the combustion pattern and lessened the unburned syngas fraction by half.

• Journal of Astronomy and Space Sciences
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• v.21 no.4
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• pp.371-382
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• 2004

To improve the precision of relative positioning for GPS single frequency(L1) receiver, we accomplished the GPS data processing using the weighted smoothing techniques. The weighted phase smoothing technique is used to minimize the measurement error of pseudorange and position domain smoothing technique is adopted to make the complement of cycle-slip affection. we also considered some component errors like as ionospheric error, which are related with baseline length, and processed for several baselines (5, 10, 30, 40, and 150 km) to check the coverage area of this algorithm. This paper shows that weighted phase smoothing technique give more stable results after using this technique and the position domain smoothing technique can reduce the errors which are sensitive to the observational environment. Based on the results, we could find out that this algorithm is available for post-time and real-time applications and these techniques can be substitution methods which is able to get the high accuracy and precision without resolving the Integer ambiguity.