• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.9
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• pp.465-473
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• 2019

This paper is meaningful as the first case where a 4 - sided hull-fixed phased array radar was installed on a mast separated from Korea and the alignment was verified. The mechanical alignment method was studied for accurately mounting two separate masts for naval ships and the 3D scanner for alignment. Hull-fixed phased array radar uses very high frequency, so the short wavelength can cause a phase difference of the device due to the small positional error. Since the array antenna is fixed with the hull, it has higher accuracy control than the rotary radar for 4 array surfaces. The study describes a method of checking the flatness of two radar masts manufactured at a factory, a method of aligning masts in a shipyard, and a method of aligning four array pad mounting surfaces. As a tool for this, a 3D laser scanner and a software-based method for comparing survey results with 3D CAD are used. This paper is meaningful as the first example of installing a four-sided hull-fixed phased array radar on a separate mast from a Korean naval ship and deriving a mechanical alignment method.

• Journal of Auto-vehicle Safety Association
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• v.9 no.4
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• pp.32-37
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• 2017

For automated vehicles, the integrity and fault tolerance of environment perception sensor have been an important issue. This paper presents radar, vision, lidar(laser radar) fusion-based fault detection algorithm for autonomous vehicles. In this paper, characteristics of each sensor are shown. And the error of states of moving targets estimated by each sensor is analyzed to present the method to detect fault of environment sensors by characteristic of this error. Each estimation of moving targets isperformed by EKF/IMM method. To guarantee the reliability of fault detection algorithm of environment sensor, various driving data in several types of road is analyzed.

• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.1
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• pp.1-8
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• 2012

Obstacle detection is much studied by using sensors such as laser, vision, radar and ultrasonic in path planning for UGV(Unmanned Ground Vehicle), but not much reported about its characterization. In this paper not only an obstacle classification method using 2-dimensional LMS(Laser Measurement System) but also a decision making method whether to avoid or traverse the obstacle is proposed. The basic idea of decision making is to classify the characteristics by 2D laser scanned data and intensity data. Roughness features are obtained by range data using a simple linear regression model. The standard deviations of roughness and intensity data are used as measures for decision making by comparing with those of reference data. The obstacle classification and decision making for the UGV can facilitate a short path to the target position and the survivability of the robot.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.26 no.6
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• pp.572-580
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• 2015

RF skin tracking of instrumentation RADAR cannot acquire stable track data, because of effect of multipath interference especially elevation direction. In this paper, low altitude target tracking method using laser tracking system is suggested to overcome this restriction. The effect of multipath can be reduced by increasing angle resolution with laser characteristics of very short pulse and narrow beamwidth. RF skin track, beacon track and laser track data for the integrated calibration target on the ground and target ship on the sea are gathered. And they are compared and analyzed to confirm the performance of laser tracking system. As a result, it shows that the suggested laser track method has better performance than RF skin track under multipath conditions.

• Proceedings of the Optical Society of Korea Conference
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• 2009.02a
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• pp.219-220
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• 2009

• The Journal of Korean Institute of Communications and Information Sciences
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• v.19 no.10
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• pp.1957-1964
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• 1994

In this thesis, a Synthetic Aperture Rarar Processor that is possible real-time handling is implemented using CW(Continuose Wave) laser as a light source, CCD(charge Coupled Device) as a time integrator, and AOD(Acousto-Optic Device) as the space integrator. One of the advantages of the proposed system is that it does not require driving circuits of the light source. To implement the system, the linear frequency modulation(chirp) technique has been used for radar signal. The received data for the unit target was processed using 7.80 board and accompanying electronic circuits. In order to reduce the smear effect of the focused chirp signal which occurs Bragg diffrection angle of the AOD has been utilized to make sharp pulses of the laser source, and the pulse made synchronized with the chirp signal. Experiment and analysis results of the data and images detected from CCD of the proposed SAR system demonstrated that detection effect is degrated as the unit target distance increases, and the resolving power is improved as the bandwidth of the chirp signal increases. Also, as the pulse width of the light source decreases, the smear effect has been reduced. The experimental results assured that the proposed system in this papre can be used as a real time SAR processor.

• Resources Recycling
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• v.27 no.1
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• pp.84-91
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• 2018

In this study, a novel soft information based most probable classification scheme is proposed for sorting recyclable metal alloys with laser induced breakdown spectroscopy (LIBS). Regression analysis with LIBS captured spectrums for estimating concentrations of common elements can be efficient for classifying unknown arbitrary metal alloys, even when that particular alloy is not included for training. Therefore, partial least square regression (PLSR) is employed in the proposed scheme, where spectrums of the certified reference materials (CRMs) are used for training. With the PLSR model, the concentrations of the test spectrum are estimated independently and are compared to those of CRMs for finding out the most probable class. Then, joint soft information can be obtained by assuming multi-variate normal (MVN) distribution, which enables to account the probability measure or a prior information and improves classification performance. For evaluating the proposed schemes, MVN soft information is evaluated based on PLSR of LIBS captured spectrums of 9 metal CRMs, and tested for classifying unknown metal alloys. Furthermore, the likelihood is evaluated with the radar chart to effectively visualize and search the most probable class among the candidates. By the leave-one-out cross validation tests, the proposed scheme is not only showing improved classification accuracies but also helpful for adaptive post-processing to correct the mis-classifications.

• Journal of Auto-vehicle Safety Association
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• v.9 no.3
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• pp.24-30
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• 2017

This paper presents the development of laser scanner based static obstacle detection algorithm for vehicle localization on lane lost section. On urban autonomous driving, vehicle localization is based on lane information, GPS and digital map is required to ensure. However, in actual urban roads, the lane data may not come in due to traffic jams, intersections, weather conditions, faint lanes and so on. For lane lost section, lane based localization is limited or impossible. The proposed algorithm is designed to determine the lane existence by using reliability of front vision data and can be utilized on lane lost section. For the localization, the laser scanner is used to distinguish the static object through estimation and fusion process based on the speed information on radar data. Then, the laser scanner data are clustered to determine if the object is a static obstacle such as a fence, pole, curb and traffic light. The road boundary is extracted and localization is performed to determine the location of the ego vehicle by comparing with digital map by detection algorithm. It is shown that the localization using the proposed algorithm can contribute effectively to safe autonomous driving.

• Structural Monitoring and Maintenance
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• v.1 no.2
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• pp.197-211
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• 2014

An investigation of tunnel linings is performed at two tunnels in the US using complimentary noncontact techniques: air-coupled ground penetrating radar (GPR), and a vehicle-mounted scanning system (SPACETEC) that combines laser, visual, and infrared thermography scanning methods. This paper shows that a combination of such techniques can maximize inspection coverage in a comprehensive and efficient manner. Since ground-truth is typically not available in public tunnel field evaluations, the noncontact techniques used are compared with two reliable in-depth contact nondestructive testing methods: ground-coupled GPR and ultrasonic tomography. The noncontact techniques are used to identify and locate the reinforcement mesh, structural steel ribs, internal layer interfaces, shallow delamination, and tile debonding. It is shown that this combination of methods can be used synergistically to provide tunnel owners with a comprehensive and efficient approach for monitoring tunnel lining conditions.

• Journal of Astronomy and Space Sciences
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• v.35 no.4
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• pp.227-233
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• 2018

This study presents the generation and accuracy assessment of predicted orbital ephemeris based on satellite laser ranging (SLR) for geostationary Earth orbit (GEO) satellites. Two GEO satellites are considered: GEO-Korea Multi-Purpose Satellite (KOMPSAT)-2B (GK-2B) for simulational validation and Compass-G1 for real-world quality assessment. SLR-based orbit determination (OD) is proactively performed to generate orbital ephemeris. The length and the gap of the predicted orbital ephemeris were set by considering the consolidated prediction format (CPF). The resultant predicted ephemeris of GK-2B is directly compared with a pre-specified true orbit to show 17.461 m and 23.978 m, in 3D root-mean-square (RMS) position error and maximum position error for one day, respectively. The predicted ephemeris of Compass-G1 is overlapped with the Global Navigation Satellite System (GNSS) final orbit from the GeoForschungsZentrum (GFZ) analysis center (AC) to yield 36.760 m in 3D RMS position differences. It is also compared with the CPF orbit from the International Laser Ranging Service (ILRS) to present 109.888 m in 3D RMS position differences. These results imply that SLR-based orbital ephemeris can be an alternative candidate for improving the accuracy of commonly used radar-based orbital ephemeris for GEO satellites.