• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.123-125
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• 2006

This paper discusses the method of vision based sensor fusion system for biped robot walking. Most researches on biped walking robot have mostly focused on walking algorithm itself. However, developing vision systems for biped walking robot is an important and urgent issue since biped walking robots are ultimately developed not only for researches but to be utilized in real life. In the research, systems for environment recognition and tole-operation have been developed for task assignment and execution of biped robot as well as for human robot interaction (HRI) system. For carrying out certain tasks, an object tracking system using modified optical flow algorithm and obstacle recognition system using enhanced template matching and hierarchical support vector machine algorithm by wireless vision camera are implemented with sensor fusion system using other sensors installed in a biped walking robot. Also systems for robot manipulating and communication with user have been developed for robot.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.6
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• pp.697-703
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• 2009

Target Motion Analysis(TMA) means to detect target position, velocity and course for using passive sonar system with bearing-only measurement. In this paper, we apply the TMA algorithm for a submarine with Multi-Sensor Data Fusion(MSDF) and we will decide the best TMA algorithm for a submarine by a series of computer simulation runs.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.91.3-91
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• 2001

A sensor fusion scheme for mobile robot environment recognition that incorporates range data and contour data is proposed. Ultrasonic sensor provides coarse spatial description but guarantees open space with no obstacle within sonic cone with relatively high belief. Laser structured light system provides detailed contour description of environment but prone to light noise and is easily affected by surface reflectivity. Overall fusion process is composed of two stages: Noise elimination and belief updates. Dempster Shafer´s evidential reasoning is applied at each stage. Open space estimation from sonar range measurements brings elimination of noisy lines from laser sensor. Comparing actual sonar data to the simulated sonar data enables ...

• Korean Chemical Engineering Research
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• v.50 no.4
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• pp.595-603
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• 2012

International Thermonuclear Experimental Reactor (ITER) will be constructed in 2019 according to the JIA (Joint Implementation Agreement) of 7 countries. The ITER fusion fuel cycle consists of fusion vacuum vessel, tritium plant and fuelling system. The tritium plant provides the functions of storage, delivery, separation, removal and recovery of the deuterium and tritium used as fusion fuels for the ITER. The tritium plant systems supply deuterium and tritium from external sources and treat all tritiated fluids from ITER operation through Storage and Delivery System (SDS), Tokamak Exhaust Processing (TEP), Isotope Separation System (ISS), Water Detritiation System & Atmosphere Detritiation System (WDS & ADS) and Analysis System (ANS). In this paper, the functions and design requirements of the major systems in the tritium plant and the status of R&D are described. Korean party is developing the SDS for ITER tritium plant and partially attaining the WDS technology through the construction and operation experience of the Wolsong Tritium Removal Facility (WTRF). Now it is expected that researchers in other fields such as chemical engineering take part in the development of upcoming technologies for ISS and TEP.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.11
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• pp.2636-2644
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• 2013

This paper is proposed a wavelet-based the order statistics MAD(Median Absolute Deviation) method of image fusion of Multi-image contaminated with visible image and infrared image. also The method of compared and defined the threshold the wavelet coefficients using MAD of the wavelet coefficients of the detail subbands was proposed to effectively fusion which of selected the high quality image of the two images. The existed fusion rule may be possible to get the distorted fusion image especially by the distortion in the relation between the pixel and indicator of two images in the existed fusion rules. In order to complement the disadvantage, the threshold of the proposed method sets up the image statistic and excludes the distortion. The hardware design is used FPGA of Xilinx and DSP system for the image fusion and compressed encoding of the proposed algorithm. Therefore the proposed method is totally verified by comparing with the several other multi-image and the proposed image fusion.

• Journal of Astronomy and Space Sciences
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• v.20 no.4
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• pp.359-364
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• 2003

In this paper, we present multi-sensor data fusion for telematics application. Successful telematics can be realized through the integration of navigation and spatial information. The well-determined acquisition of vehicle's position plays a vital role in application service. The development of GPS is used to provide the navigation data, but the performance is limited in areas where poor satellite visibility environment exists. Hence, multi-sensor fusion including IMU (Inertial Measurement Unit), GPS(Global Positioning System), and DMI (Distance Measurement Indicator) is required to provide the vehicle's position to service provider and driver behind the wheel. The multi-sensor fusion is implemented via algorithm based on Kalman filtering technique. Navigation accuracy can be enhanced using this filtering approach. For the verification of fusion approach, land vehicle test was performed and the results were discussed. Results showed that the horizontal position errors were suppressed around 1 meter level accuracy under simulated non-GPS availability environment. Under normal GPS environment, the horizontal position errors were under 40㎝ in curve trajectory and 27㎝ in linear trajectory, which are definitely depending on vehicular dynamics.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.8A
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• pp.633-639
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• 2009

For operation of IEEE 802.22 WRAN system, spectrum sensing is a essential function. However, due to strict sensing requirement of WRAN system, spectrum sensing process of CR nodes require long quiet period. In addition, CR nodes sometimes fail to detect licensed users due to shadowing effect of wireless communication environment. To overcome this problem, CR nodes collaborate with each other for increasing the sensing reliability or mitigating the sensitivity requirement. A general approach for decision fusion, the "k out of N" rule is often taken as the decision fusion rule for its simplicity. However, since k out of N rules can not achieve better performance than the highest SNR node when SNR is largely different among CR nodes, the local SNR of each node should be considered to achieve better performance. In this paper, we propose two novel data fusion methods by utilizing confidence vector which represents the confidence level of individual sensing result. The simulation results show that the proposed schemes improve the signal detection performance than the conventional data fusion algorithms.

• Journal of Korean Neurosurgical Society
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• v.50 no.5
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• pp.441-445
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• 2011

Objective : There are technical limitations of multi-level posterior pedicle screw fixation performed by the percutaneous technique. The purpose of this study was to describe the surgical technique and outcome of minimally invasive multi-level posterior lumbar interbody fusion (PLIF) and to determine its efficacy. Methods : Forty-two patients who underwent mini-open PLIF using the percutaneous screw fixation system were studied. The mean age of the patients was 59.1 (range, 23 to 78 years). Two levels were involved in 32 cases and three levels in 10 cases. The clinical outcome was assessed using the visual analog scale (VAS) and Low Back Outcome Score (LBOS). Achievement of radiological fusion, intra-operative blood loss, the midline surgical scar and procedure related complications were also analyzed. Results : The mean follow-up period was 25.3 months. The mean LBOS prior to surgery was 34.5, which was improved to 49.1 at the final follow up. The mean pain score (VAS) prior to surgery was 7.5 and it was decreased to 2.9 at the last follow up. The mean estimated blood loss was 238 mL (140-350) for the two level procedures and 387 mL (278-458) for three levels. The midline surgical scar was 6.27 cm for two levels and 8.25 cm for three level procedures. Complications included two cases of asymptomatic medial penetration of the pedicle border. However, there were no signs of neurological deterioration or fusion failure. Conclusion : Multi-level, minimally invasive PLIF can be performed effectively using the percutaneous transpedicular screw fixation system. It can be an alternative to the traditional open procedures.

• Journal of Korean Neurosurgical Society
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• v.48 no.3
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• pp.219-224
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• 2010

Objective : A minimally invasive transforaminal lumbar interbody fusion (MIS TLlF) has recently been introduced. However, MIS TLlF is a technically challenging procedure. The authors performed retrospective analysis about MIS TLlF using a single interbody cage. Methods : Twenty-eight consecutive patients were treated by MIS TLlF. Of these 28 patients, 20 patients were included in this retrospective study. Perioperative, clinical, and radiologic outcomes were assessed. Clinical outcomes were assessed using Oswestry Disability Index (ODI) and Visual Analogue Scores (VAS). Fusion rates and cross-sections of operated spinal canals were assessed by CT. Results : Twelve patients underwent MIS TLlF at one segment and 8 patients at two segments (L3/4: 4, L4/5: 17, L5/S1: 7). Operation time for a single segment was 131.7 min and for two segment was 201.4 min, and corresponding blood losses were 208.3 mL and 481.2 mL, respectively. ODI and VAS scores were significantly improved at 6 months postop (ODI from 30.32 to 15.54, VAS from 7.80 to 2.20, p = 0.001) Twenty-two segments (78.6%) achieved grade I fusion, 4 segments (14.3%) achieved grade II, 2 segments (7.1%) achieved grade III and 0 segments achieved grade IV at 12 months. Postoperatively at 12 months, spinal canal cross sectional areas at disc spaces significantly increased from 157.5 to $294.3\;mm^2$ (p = 0.012). Conclusion : MIS TLlF achieved good clinical outcomes and high fusion rates. Our findings show that MIS TLlF performed with a single Interbody cage and a tubular retractor system can be used as a standard MIS TLlF technique.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.2
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• pp.226-233
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• 2010

The study of information fusion technology, which merges various types of data to recognize a situation more exactly, has begun in the area of national defense. Recently, the concept of information fusion is getting applied to other fields, and we are interested in maritime safety. In navigation, officers receive data about inside and outside of ship from several devices in bridge, and use it to recognize and predict the safety situation. However, too much and fast updated data might even fatigue mates, and there is the problem of inconsistency among data from several types of devices. This paper introduce how can use information fusion technology for the situation awareness and prediction of navigation safety, and show the realization possibility of Intelligent Navigation Safety Information System through an information fusion example in a specific situation scenario.