• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.588-591
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• 2004

In this paper, we propose a ground plane detection algorithm, using a new image processing method (IPD). To extract the ground plane from the color image acquired by monocular camera, we use a new identical pixel detection method (IPD) and an edge detection method. This IPD method decides whether the pixel is identical with the ground plane pixel or not. The IPD method needs the reference area and its performance depends on the reference area size. So we propose the reference area auto-expanding algorithm in accordance with situation. And we evaluated the proposed algorithm by the experiments in the various environments. From the experiments results, we know that the proposed algorithm is efficient in the real indoor environment.

• 전기학회논문지
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• 제65권2호
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• pp.342-348
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• 2016

We propose an obstacle detection algorithm for unmanned ground vehicle on uneven terrain. The key ideas of the proposed algorithm are the use of two-layer laser range data to calculate the gradient of a target, which is characterized as either ground or obstacles. The proposed obstacle detection algorithm includes 4-steps: 1) Obtain the distance data for each angle from multiple lidars or a multi-layer scan lidar. 2) Calcualate the gradient for each angle of the uneven terrain. 3) Determine ground or obstacle for each angle on the basis of reference gradient. 4) Generate a new distance data for each angle for a virtual laser scanner. The proposed algorithm is verified by various experiments.

• 한국게임학회 논문지
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• 제17권6호
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• pp.139-152
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• 2017

본 논문에서는 구면 영상에서 영역 분할 정보를 사용하여 바닥 영역을 검출하는 방법을 제시한다. 평면 영상에서의 Watershed 영역 분할 방법을 수정하여 구면 영상의 영역 분할에 적용할 수 있도록 하였다. 영역들을 분할한 뒤 가정된 바닥 영역 픽셀의 색상과 질감을 그 외의 영역들과 비교하여 바닥 영역을 검출한다. 구면 파노라마 영상에서는 구면 왜곡으로 인하여 평면에서의 바닥 검출 방법을 그대로 적용할 수 없다. 구면 왜곡을 고려한 바닥 영역 검출을 위하여 바닥 영역의 외곽선을 검출하는 알고리즘을 설계하였다. 실험에서 지상물이 없는 경우와 있는 경우의 모두에서 적절하게 바닥 영역을 검출할 수 있는 결과를 보였다.

• 대한전기학회논문지:시스템및제어부문D
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• 제53권3호
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• pp.161-165
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• 2004

In this paper, we have designed the ground faults detection and interrupting controller at normal condition of AC 120v to 240v rating voltage. Ground faults in electrical network have the characteristics of low current, 60㎐ frequency to 2㎑frequency. The load condition are no load and 20A load. The trip level of the controller is 6㎃ with ground faults. The Controller algorithm is implemented using pic16c71 microprocessor.

• 전자공학회논문지
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• 제54권5호
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• pp.97-105
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• 2017

공중폭발탄은 소총용 탄으로 공간의 제약이 크기 때문에 탑재하는 신관의 크기와 탄약의 양에 제한이 있다. 제한된 양의 탄약으로 위력을 높이기 위해 표적의 위에서 지면 방향으로 공중폭발탄을 기폭시켜 화력을 집중하는 새로운 기법을 개발하였다. 본 논문은 1축 지자기 센서를 이용하여 공중폭발탄의 비행거리를 구하고 지면방향을 감지하는 초소형 저전력 지면감지 센서의 설계와 검증 방법에 관해 제시한다. 지면감지 센서를 설계하기 위해 회전하는 탄의 지자기 센서 모델을 분석하고 이 모델을 단순화하여 지면감지 알고리즘을 설계하였다. 공중폭발탄의 회전 환경을 모사하는 고속회전 시험치구를 제작하고 데이터를 획득하기 위한 지자기 센서와 원격측정 장치를 제작하여 지자기 데이터를 획득하고 이 데이터를 후처리하는 방법으로 지면감지 알고리즘을 검증하였다. 검증된 지면감지 알고리즘에 따라 소형 저전력을 고려하여 센서 일부를 아날로그 소자로 구현하고 나머지를 프로세서에서 프로그램으로 구현하여 지면감지 센서를 설계 제작하였다. 지면감지 센서의 출력신호를 육안으로 확인할 수 있게 LED에 연결하고 고속회전 시험치구에서 임의의 속도인 200 Hz로 회전시켰다. 고속카메라로 회전하는 지면감지 센서를 촬영하여 지면감지 출력신호가 발생한 시점을 지자기 센서 모델과 비교하여 검증하였다.

• Journal of Positioning, Navigation, and Timing
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• 제1권1호
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• pp.15-21
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• 2012

For a GNSS receiver's robustness against RFI and the high accuracy of navigation solution in GNSS, interference source detection and mitigation are needed. In this paper, an adaptive lattice IIR notch filter is employed to track single-tone continuous wave and swept continuous wave interference signals, and an interference detection method is proposed. Furthermore, this paper presents interference source characterization algorithm using multiple ground stations' interference detection results. The measurement of the signal powers from each ground station is used to build weighting factors to estimate the type of the interference. The performance of interference detection algorithm is simulated for scenarios of GPS signal in the presence of single-tone continuous wave interference and swept continuous wave interference.

• 대한전자공학회논문지SD
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• 제41권11호
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• pp.69-77
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• 2004

본 논문에서는 ground bounce 영향과 지연고장 검출을 함께 고려한 효율적인 보드레벨 연결선 테스트 생성 알고리즘을 제안한다. 제안된 알고리즘은 IEEE 1149.1의 연결선 테스트, ground bounce 영향에 의한 바운더리 스캔의 오동작 방지, 그리고 연결선의 지연고장 검출 능력을 포함한다. 본 논문에서 제안하는 기법은 기존의 기법에 비해 연결선의 지연고장 검출능력을 새롭게 추가하였지만, 연결선 테스트에 필요한 총 테스트 패턴 수는 기존의 기법과 비교해서 큰 차이를 보이지 않음을 실험결과에서 확인할 수 있다.

• International Journal of Aeronautical and Space Sciences
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• 제13권3호
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• pp.377-385
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• 2012

The Automatic Dependent Surveillance Broadcast (ADS-B) system is a key component of CNS/ATM recommended by the International Civil Aviation Organization (ICAO) as the next generation air traffic control system. ADS-B broadcasts identification, positional data, and operation information of an aircraft to other aircraft, ground vehicles and ground stations in the nearby region. This paper explores the ADS-B based trajectory prediction and the conflict detection algorithm. The multiple-model based trajectory prediction algorithm leads accurate predicted conflict probability at a future forecast time. We propose an efficient and accurate algorithm to calculate conflict probability based on approximation of the conflict zone by a set of blocks. The performance of proposed algorithms is demonstrated by a numerical simulation of two aircraft encounter scenarios.

• 한국물환경학회지
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• 제26권6호
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• pp.954-962
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• 2010

The objective of this study was to develop automatic event detection algorithm for groundwater level rise. The groundwater level data and rainfall data in July and August at 37 locations nationwide were analyzed to develop the algorithm for groundwater level rise due to rainfall. In addition, the algorithm for groundwater level rise by ice melting and ground freezing was developed through the analysis of groundwater level data in January. The algorithm for groundwater level rise by rainfall was composed of three parts, including correlation between previous rainfall and groundwater level, simple linear regression analysis between previous rainfall and groundwater level, and diagnosis of groundwater level rise due to new rainfall. About 49% of the analyzed data was successfully simulated for groundwater level rise by rainfall. The algorithm for groundwater level rise due to ice melting and ground freezing included graphic analysis for groundwater level versus time (day), simple linear regression analysis for groundwater level versus time, and diagnosis of groundwater level rise by new ice melting and ground freezing. Around 37% of the analyzed data was successfully simulated for groundwater level rise due to ice melting and ground freezing. The algorithms from this study would help develop strategies for sustainable development and conservation of groundwater resources.

• International Journal of Aeronautical and Space Sciences
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• 제9권2호
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• pp.114-120
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• 2008

In the vision-based recovery phase, a terminal guidance for the blended-wing UAV requires visual information of high accuracy. This paper presents the light source target design and detection algorithm for vision-based UAV recovery. We propose a recovery target design with red and green LEDs. This frame provides the relative position between the target and the UAV. The target detection algorithm includes HSV-based segmentation, morphology, and blob processing. These techniques are employed to give efficient detection results in day and night net recovery operations. The performance of the proposed target design and detection algorithm are evaluated through ground-based experiments.