• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2015.11a
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• pp.161-164
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• 2015

본 논문에서는 고정된 카메라에서 초기 프레임을 참조하여 현재 프레임에 새롭게 유입된 물체의 실시간 분류 방법을 제안한다. 제안한 알고리즘의 실시간 분류 처리를 위하여 복잡도를 최소화 하였다. 먼저 전경과 배경을 구분하는 이진 분류 영상을 추출하기 위하여 DCT(Discrete Cosine Transform) 기법을 사용한다. DCT는 기존 공간영역에서 Texture를 분석하는 방식보다 더욱 정확하게 Texture를 분석할 수 있다. 이는 주파수 영역에서 Texture 특징 분석이 더욱 용이하고 각 요소 안에 intensity와 texture 정보를 종합적으로 고려할 수 있기 때문이다. 또한 DCT 계산 복잡도를 최소화하기 위하여 DCT 수행 전에 색 정보를 이용하여 미리 분류 영역을 분석함으로써 처리 효율을 극대화 하였다. 마지막으로 생성된 이진 분류 영상을 자연스럽게 matting하기 위하여 Guided 필터 사용을 제안한다. Guided 필터는 guidance 정보를 통해 입력 영상을 전반적으로 개선할 수 있지만 intensity가 평탄한 영역 등에서 그 한계를 보여주므로 본 논문에서는 Guided 필터의 단점을 개선하는 방법을 추가적으로 제안한다.

• Ocean Systems Engineering
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• v.9 no.4
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• pp.391-407
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• 2019

Tracking the location (position) of a surface or underwater marine vehicle is important as part of guidance and navigation. While the Global Positioning System (GPS) works well in an open sea environment but its use is limited whenever testing scaled-down models of such vehicles in the laboratory environment. This paper presents the design, development and implementation of a low energy ultrasonic augmented single beacon-based localization technique suitable for such requirements. The strategy consists of applying Extended Kalman Filter (EKF) to achieve location tracking from basic dynamic distance measurements of the moving model from a fixed beacon, while on-board motion sensor measures heading angle and velocity. Iterative application of the Extended Kalman Filter yields x and y co-ordinate positions of the moving model. Tests performed on a free-running ship model in a wave basin facility of dimension 30 m by 30 m by 3 m water depth validate the proposed model. The test results show quick convergence with an error of few centimeters in the estimated position of the ship model. The proposed technique has application in the real field scenario by replacing the ultrasonic sensor with industrial grade long range acoustic modem. As compared with the existing systems such as LBL, SBL, USBL and others localization techniques, the proposed technique can save deployment cost and also cut the cost on number of acoustic modems involved.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2526-2531
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• 2005

A practical pinch torque estimator based on the Kalman filter is proposed for low-cost anti-pinch window control systems. To obtain the accurate angular velocity from Hall-effect sensor measurements, the angular velocity calculation algorithm is executed with additional procedures for removing the measurement noises. Apart from the previous works using the angular velocity estimates and torque estimates for detecting the pinched condition, the torque rate is augmented to the system model and the proposed pinch estimator is derived by applying the steady-state Kalman filter recursion to the model. The motivation of this approach comes from the idea that the bias errors in torque estimates due to the motor parameter uncertainties can be almost eliminated by introducing the torque rate state. For detecting the pinched condition, a systematic way to determine the threshold level of the torque rate estimates is also suggested via the deterministic estimation error analysis. Simulation results are given to certify the pinch detection performance of the proposed algorithm and its robustness against the motor parameter uncertainties.

• International Journal of Aeronautical and Space Sciences
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• v.16 no.1
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• pp.77-88
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• 2015

The dynamics of relative motion in a perturbed orbital environment are exploited based on Gauss' and Cowell's variational equations. The inertial coordinate frame and relative coordinate frame (Hill frame) are used, and a linear high fidelity model is developed to describe the relative motion. This model takes into account the primary gravitational and atmospheric drag perturbations. Then, this model is used in the design of a navigation, guidance, and control system of a chaser vehicle to approach towards and to depart from a target vehicle in proximity operations. Relative navigation uses an extended Kalman filter based on this relative model to estimate the relative position/velocity of the chaser vehicle with respect to the target vehicle. This filter uses the range and angle measurements of the target relative to the chaser from a simulated LIDAR system. The corresponding measurement models, process noise matrix, and other filter parameters are provided. Numerical simulations are performed to assess the precision of this model with respect to the full nonlinear model. The analyses include the navigation errors and trajectory dispersions.

• KIISE Transactions on Computing Practices
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• v.20 no.11
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• pp.573-578
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• 2014

In this letter, we propose a noise reduction method for use in magnetic resonance images that is based on non-local mean and guided image filters. Our method consists of two phases. In the first phase, the guidance image is obtained from a noisy image by using an adaptive non-local mean filter. The spread of the kernel is adaptively by controlled by implementing the concept of edgeness. In the second phase, the noisy images and the guidance images are provided to the guided image filter as input in order to produce a noise-free image. The improved performance of the proposed method is investigated by conducting experiments on standard datasets that contain magnetic resonance images. The results show that the proposed scheme is superior over the existing approaches.

• Aerospace Engineering and Technology
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• v.9 no.1
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• pp.50-59
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• 2010

In this paper, the alignment and navigation results by INGU(Inertial Navigation and Guidance Unit) onboard software and by Inertial Explorer which is a post-processing software specialized for IMU(Inertial Measurement Unit) are compared for identification of inertial sensor error models and estimation of alignment and navigation errors for KSLV-I INGU. For verification of the IMU error estimated by Kalman Filter of Inertial Explorer, the covariance parameters of inertial sensor error model state are identified by using stochastic error model of inertial sensors estimated by Allan variance and the alignment and navigation test with static condition and the land navigation test with dynamic condition are carried out. The validity of inertial sensor model for KSLV-I INGU is verified by comparison the alignment and navigation results of INGU on-board software and Inertial Explorer.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.4
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• pp.277-284
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• 2020

The remaining range between missile and target can be used to calculate the guidance command as well as to determine the explosion time of the warhead. Since the range, however, is not directly measured by on-board sensors of the missile, it is usually estimated by filter-based techniques using angle-only measurements. Conventional filter-based techniques are complex and require huge computation. In this paper, we propose a range estimation algorithm based on the geometrical triangulation principle for two points of missiles and a target. The proposed algorithm has a simple structure but the accuracy is largely dependent on the measurement errors. To improve the accuracy of estimation, Digital Fading Memory Filter (DFMF) is applied. The performance of the proposed algorithm is analyzed through numerical simulations.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.2
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• pp.81-86
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• 2015

GPS position errors were corrected for guidance of autonomous vehicles. From the vision, we can obtain the lateral distance from the center of lane and the angle difference between the left and right detected line. By using a controller which makes these two measurements zero, a lane following system can be easily implemented. However, the problem is that if there's no lane, such as crossroad, the guidance system of autonomous vehicle does not work. In addition, Line detection has problems working on curved areas. In this case, the lateral distance measurement has an error because of a modeling mismatch. For this reason, we propose GPS error correction filter based on curve-modeled lane detection and evaluated the performance applying it to an autonomous vehicle at the test site.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2207-2210
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• 2005

Guest guidance system based on the compact battery-less information terminal, Aimulet, which has been developed by the authors of the National Institute of Advanced Industrial Science and Technology (AIST), Japan. Conventional Aimulet, which is Aimulet ver.1 or CoBIT, has features of location and direction sensitive information service device without batteries. On the other hand, the Aimulet has two subjects, one is multiplex and demultiplex of some contents, and the other is operation under sunshine. Former subject is of solved by the wavelength multiplex technique using LED emitter with different wavelength and dielectric optical filters. Latter subject is solved by new micro spherical solar cells with a visible-light-eliminating optical filter and a new design of light irradiation. These techniques are applied to the EXPO 2005, Aichi Japan and introduced in public. Aimulet GH is Former technique is applied on Aimulet GH, which is used in Orange Hall of the Global House, scientific museum with a fossil of a frozen mammoth.

• The Korean Journal of Nuclear Medicine Technology
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• v.12 no.1
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• pp.91-98
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• 2008

Purpose: Radio-isotopes (RI) use has been steadily developing due to industrial and technical development in the modern medical society. Particularly, popularization of domestic cyclotrons dramatically enable hospitals to produce and use diagnostic radio-isotopes. Generally, only specific facilities such as hospitals, research institutes, nuclear power plants and universities can use radio-isotopes, they are also responsible for ventilation system. The strength of radioactivity in the air is strongly regulated and controlled by korea atomic energy law in Korea Institue of Nuclear Safety (KINS), so that air radioactivity exposure can lead to environmental pollution surrounding places. In this study, we'd like to find out the investigation and the present condition of the controlled ventilation system in domestic hospitals by an emission standard from KINS, and try to reach an agreement about how to use the ventilation system. Result: Definition of filters, features and structures of pre-filters, hepa-filters, charcol filters, filter exchange procedures and precautions are explained. RI deflation concentration and filter exchange cycle have been presented as a standard prescribed in the rules of KINS. The Radiation Control Management System (RCMS) introduced by Seoul National University Bundang Hospital linking to digital pressure gauge with computer controller in another medical facilities were described in details. Conclusions: The system of medical facilities using RI has been remarkably developing in 21 century. Especially, radiation safety control system has also been grown rapidly into the subdivision, specialization, advanced technology along with international technical improvement. However, As far as current RI ventilation system is concerned, it has nothing better than doing in the past. Preferentially, to reinforce this, more sophisticated system with strict periodic filter exchange and exhaust air control guidance should be introduced by applying brilliant domestic information technology for RCMS and digital gauge method. From personal point of view as a radiation safety manager, I have provide with present problems and improvements. Futhermore, more improved guidance should be conducted.