• 방송공학회논문지
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• 제8권4호
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• pp.481-491
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• 2003

본 논문에서는 ATSC DTV 수신기를 위한 준 최적화된 판정 궤환 등화기 (decision feedback equalizer; DFE)를 제안한다. 본 논문에서 제안하는 DFE는 TBD (Trellis Back Depth)가 1인 변형된 트렐리스 복호기 (modified trellis decoder; MTD)를 판정 장치로 사용함으로써 낮은 복잡도를 가질 뿐만 아니라 에러 전파가 없는 최적화된 DFE에 근접하는 성능을 보인다. MTD는 branch metric의 계산을 위해 ED (Euclidean Distance)의 자승 대신 AD (Absolute Distance)를 사용하기 때문에 낮은 복잡도를 가진다. 또한, 일반적으로 사용되는 판정 장치인 양자화기(slicer)에 비해 매우 낮은 판정 에러 확률을 가지며, ED를 사용하는 트렐리스 복호기 (trellis decoder: TD)와 비슷한 성능을 가진다. 판정 장치에서의 낮은 에러 확률은 수렴 속도와 잔류 에러 측면에서 우수한 수렴 성능을 야기시키며, 전산 실험을 통해 MTD를 가지는 블라인드 DFE의 성능을 검증한다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.418-420
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• 2005

This paper proposed ultrasonic distance measurement module development for correct distance detection with collision escaping or obstacle of mobile robot is traveling self-regulation. Representative ultrasonic module applied in existing was Polaroid company's 6500 series and Devantech company's SRF04/SRF08 series. This ultrasonic sensors are corrupted by systematic errors due mainly to the dependency of sound speed upon surrounding conditions and random errors of uncertain origin. Therefore Ultrasonic distance detecting means of error compensation method and high definition, narrow beam angle, board area distance detecting means to apply to ultrasonic mobile robot control urgently need. In this paper use internal type temperature compensation method to improve problem of ultrasonic distance measurement method instead of that volume that have shortcoming of used correct temperature compensation methods applied big addition device. Compensate error by environment change of temperature. Humidity density etc. and is applicable to mobile robot offering various interface and real-time processing developed possible distance measurement module.

• 대한음성학회지:말소리
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• 제59호
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• pp.89-99
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• 2006

This paper proposes a new structural head-related transfer function(HRTF) model to produce sounds in a virtual environment. The proposed HRTF model generates 3-D sounds by using a head model, a pinna model and the proposed distance model for azimuth, elevation, and distance that are three aspects for 3-D sounds, respectively. In particular, the proposed distance model consists of level normalization block distal region model, and proximal region model. To evaluate the performance of the proposed model, we setup an experimental procedure that each listener identifies a distance of 3-D sound sources that are generated by the proposed method with a predefined distance. It is shown from the tests that the proposed model provides an average distance error of $0.13{\sim}0.31$ meter when the sound source is generated as if it is 0.5 meter $\sim$ 2 meters apart from the listeners. This result is comparable to the average distance error of the human listening for the actual sound source.

• 동력기계공학회지
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• 제17권5호
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• pp.121-127
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• 2013

In this paper, we propose a distance measurement system for automatic berthing control using a stereo camera mounted on a rotation control device, and a radial pattern target. Automatically controlling the position and attitude of a ship aims to prevent maritime accidents due to human error. Our goal is to measure the relative distance between a ship and an onshore or offshore target for berthing. Therefore, the distance should be continuously measured while tracking a fixed point on a target. To this end, we developed a stereo camerabased distance measurement system that satisfied these requirements. This paper describes the structure and principle of the measurement system. We validate the distance error for target incline due to the relative position and attitude between a camera and a target in miniature scale. In addition, the findings of an experiment in an outdoor environment demonstrate that the proposed measurement system has accuracy within 1 m at a range of 20-100 m which is the acceptable accuracy for automatic berthing.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제13권8호
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• pp.4227-4240
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• 2019

In this paper, we present our proposed magnetic induction based wireless communication system. The proposed system is designed to perform communication as well as distance measurement in underground environments. In order to improve the communication quality, we propose and implement the adaptive channel compensation technique. Based on the fact that the channel may be fast time-varying, we keep track of the channel status each time the data is received and accordingly compensate the channel coefficient for any change in the channel status. By using the proposed compensation technique, the developed platform can reliably communicate over distances of 10m while the packet error rate is being maintained under 5%. We also implement the distance measurement block that is useful for various applications that should promptly estimate the location of nearby nodes in communication. The distance between two nodes in communication is estimated by generating a table describing pairs of the magnetic signal strength and the corresponding distance. The experiment result shows that the platform can estimate the distance of a node located within 10m range with the measurement error less than 50cm.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.30-32
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• 2004

With 3-D vision measuring, camera calibration is necessary to calculate parameters accurately. Camera calibration was developed widely in two categories. The first establishes reference points in space, and the second uses a grid type frame and statistical method. But, the former has difficulty to setup reference points and the latter has low accuracy. In this paper we present an algorithm for camera calibration using perspective ratio of the grid type frame with different line widths. It can easily estimate camera calibration parameters such as lens distortion, focal length, scale factor, pose, orientations, and distance. The advantage of this algorithm is that it can estimate the distance of the object. Also, the proposed camera calibration method is possible estimate distance in dynamic environment such as autonomous navigation. To validate proposed method, we set up the experiments with a frame on rotator at a distance of 1, 2, 3, 4[m] from camera and rotate the frame from -60 to 60 degrees. Both computer simulation and real data have been used to test the proposed method and very good results have been obtained. We have investigated the distance error affected by scale factor or different line widths and experimentally found an average scale factor that includes the least distance error with each image. The average scale factor tends to fluctuate with small variation and makes distance error decrease. Compared with classical methods that use stereo camera or two or three orthogonal planes, the proposed method is easy to use and flexible. It advances camera calibration one more step from static environments to real world such as autonomous land vehicle use.

• 한국군사과학기술학회지
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• 제21권4호
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• pp.447-455
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• 2018

If a hidden enemy is shooting, there is a threat against soldiers in recent conflicts. This paper aims to improve the localization of a muzzle using microphone array. Gunshot noise can provide information about the location of muzzle with two signals, the muzzle blast from the gun barrel and the projectile sound from the bullet. Two signals arrive to the microphone array with different arrival time and angle. If the arrival angles of the two signals are estimated, distance between sniper location and the microphone array can be calculated by using geometric principles. This method was established in 2003 by Pare. But this method has a limitation that it cannot calculate the distance when the arrival angles of the two signals are same. Also it has an error when the angle difference of arrival is small. In order to overcome this limitation, a new method is proposed that uses the change of characteristic of the projectile sound with respect to vertical distance from the trajectory. The proposed method estimates the distance correctly when the arrival angle of two signals are same, and when the angle difference between two signals is increased, the estimation error increases with respect to the angle. Therefore these two methods can be selected according to the angle difference between two signals to estimate the distance of the muzzle. Below the threshold of the angle difference, the proposed method can be used to estimate distance with smaller error than the existing method. This was demonstrated by shooting tests using actual sniper rifles.

• Journal of Information Processing Systems
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• 제16권1호
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• pp.155-170
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• 2020

Passive ranging is a critical part of machine vision measurement. Most of passive ranging methods based on machine vision use binocular technology which need strict hardware conditions and lack of universality. To measure the distance of an object placed on horizontal plane, we present a passive ranging method based on monocular vision system by smartphone. Experimental results show that given the same abscissas, the ordinatesis of the image points linearly related to their actual imaging angles. According to this principle, we first establish a depth extraction model by assuming a linear function and substituting the actual imaging angles and ordinates of the special conjugate points into the linear function. The vertical distance of the target object to the optical axis is then calculated according to imaging principle of camera, and the passive ranging can be derived by depth and vertical distance to the optical axis of target object. Experimental results show that ranging by this method has a higher accuracy compare with others based on binocular vision system. The mean relative error of the depth measurement is 0.937% when the distance is within 3 m. When it is 3-10 m, the mean relative error is 1.71%. Compared with other methods based on monocular vision system, the method does not need to calibrate before ranging and avoids the error caused by data fitting.

• 재활복지공학회논문지
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• 제9권2호
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• pp.161-168
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• 2015

본 논문은 자체 개발한 관성측정장치의 가속도, 각속도, 지자기계 데이터를 이용하여 보행거리를 측정하는 시스템 개발에 관한 것이다. 관성센서들의 오프셋 및 이득 오차를 최소화하기 위하여 9축의 자유도를 갖는 지그를 제작하였으며, 이를 이용하여 캘리브레이션을 수행하였다. 보행거리의 정확한 측정을 위하여, 기울기 하강법을 이용하여 가속도계의 중력성분 제거 및 보행패턴 분석을 통한 드리프트 성분을 제거하였다. 최종적으로 보정된 가속도 데이터의 이중적분을 통하여 보행거리를 측정하였다. 시스템의 성능 평가를 위하여, 실내 직선 10m 직선 보행에 대하여 캘리브레이션 전, 후 오차 개선 비율를 비교하였으며, 간단한 보행에 대해 Vicon과의 비교 실험을 수행하였다. 직선 보행에 대해서는 x, y, z축 각각에 대하여 $31.4{\pm}14.38%$(mean${\pm}$S.D.), $78.64{\pm}10.84%$ 및 $69.71{\pm}26.25%$ 개선이 되었음을 확인하였으며, Vicon과의 비교 실험 결과 x, y, z축 각각에 대하여 0.1m, 0.16m, 0.12m의 오차를 얻을 수 있었다.

• 제어로봇시스템학회논문지
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• 제19권5호
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• pp.410-415
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• 2013

This paper proposes a bidirectional platoon control law using a coupled distance error based on the backstepping-like feedback linearization control method for an interconnected mobile agent system with a string structure. Unlike the previous results where the single agent was controlled using the only own information without other agents, the proposed control law cannot show the only distance error convergence of each agent, but also the string stability of the whole system. Also, the control performances are improved by the proposed control law in spite of low performance of bidirectional control strategy in the previous results. The proposed bidirectional platoon control algorithm is based on the backstepping-like feedback linearization control method. The position errors between each agent and the preceding and the behind agents are coupled by weighted summation. By the proposed control law, the distance error of each agent can converge to zero while the string stability is guaranteed when the coupled errors can converge to zero. To this end, the back-stepping control method is employed. The pseudo velocity input is determined considering the kinematic relationship between agents and the string stability. Then, the actual dynamic control input is determined to make the actual velocity converge to the pseudo velocity input. The stability analysis and the simulation results of the proposed method are included in order to demonstrate the practical application of the proposed algorithm.