• Journal of Institute of Control, Robotics and Systems
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• v.14 no.12
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• pp.1238-1243
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• 2008

This paper presents an HILS(Hardware in the Loop Simulations) based experimental study for the UAV's flight trajectory planning/generation algorithms and guidance/control laws. For the various mission that is loaded on each waypoint, proper trajectory planning and generation algorithms are applied to achieve best performances. Specially, the 'smoothing path' generation and the 'tangent orbit path' guidance laws are presented for the smooth path transitions and in-circle loitering mission, respectively. For the control laws that can minimize the effects of side wind, side slip angle($\beta$) feedback to the rudder scheme is implemented. Finally, being implemented on real hardwares, all the proposed algorithms are validated with integrations of hardware and software altogether via HILS.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.11 no.3
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• pp.63-69
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• 2012

In this paper, we introduced design of intelligent surveillance camera system and typical event processing scenario for urban transit. To analyze video, we studied events that frequently occur in surveillance camera system. Event processing scenario is designed for seven representative situations(designated area intrusion, object abandon, object removal in designated area, object tracking, loitering and congestion measurement) in urban transit. Our system is optimized for low hardware complexity, real time processing and scenario dependent solution.

• Proceedings of the KSR Conference
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• 2009.05a
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• pp.866-871
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• 2009

In this paper, we introduced design of intelligent surveillance camera system and typical event processing scenario for urban transit. To analyze video, we studied events that frequently occur in surveillance camera system. Scenario is designed for estimation in the case of seven representative situations(designated area invasion, an object left alone, removed object in designated area, object tracking, loitering and congestion measurement) in urban transit. Our system is optimized for low hardware complexity, real time processing and scenario dependent solution.

• Proceedings of the Korean Information Science Society Conference
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• 2012.06c
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• pp.353-355
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• 2012

본 논문에서는 지능형 감시 시스템을 위한 3가지 이상행위 검출 방법을 제안한다. 단순히 직접 감시나 센서에 의존한 문제점 검출이 아닌 비전 기반 기술을 적용하여 특정지역 및 모든 감시구역에 대하여 객체의 이상 행동을 감지하는 방법들을 소개한다. 제안하는 이상행위의 분류는 배회, 도주, 특정 감시 지역 침입 3가지로 정의한다. 휘도 기반의 평균 배경 모델링 방법을 통하여 움직임 물체를 검출하고, 검출된 객체를 분석(위치, 크기, 방향, 속도) 및 정의한다. 이때 이상행위의 판단에 따라 정의된 시나리오 환경으로 구성하고 분석하였다. 제안하는 방법은 실험에 사용된 3가지 이상행위에 대해 1초 안에 검출되는 것을 보였다.

• Journal of Korea Multimedia Society
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• v.24 no.3
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• pp.345-354
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• 2021

Recently, deep learning-based image recognition systems have been adopted to various surveillance environments, but most of them are still picture-type object recognition methods, which are insufficient for the long term temporal analysis and high-dimensional situation management. Therefore, we propose a method recognizing the specific dangerous situation generated by human in real-time, and utilizing deep learning-based object analysis techniques. The proposed method uses deep learning-based object detection and tracking algorithms in order to recognize the situations such as 'trespassing', 'loitering', and so on. In addition, human's joint pose data are extracted and analyzed for the emergent awareness function such as 'falling down' to notify not only in the security but also in the emergency environmental utilizations.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.48 no.1
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• pp.111-121
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• 2011

Intelligent video analysis systems require techniques which can predict accidents and provide alarms to the monitoring personnel. In this paper, we present an abnormal behavior analysis technique based on adaptive background generation. More specifically, abnormal behaviors include fence climbing, abandoned objects, fainting persons, and loitering persons. The proposed video analysis system consists of (i) background generation and (ii) abnormal behavior analysis modules. For robust background generation, the proposed system updates static regions by detecting motion changes at each frame. In addition, noise and shadow removal steps are also were added to improve the accuracy of the object detection. The abnormal behavior analysis module extracts object information, such as centroid, silhouette, size, and trajectory. As the result of the behavior analysis function objects' behavior is configured and analyzed based on the a priori specified scenarios, such as fence climbing, abandoning objects, fainting, and loitering. In the experimental results, the proposed system was able to detect the moving object and analyze the abnormal behavior in complex environments.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.12
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• pp.981-988
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• 2021

This paper presents a decentralized guidance algorithm for swarm flight of fixed-wing UAVs (Unmanned Aerial Vehicles). Considering swarm flight missions, we assume four representative swarm tasks: gathering, loitering, waypoint/path following, and individual task. Those tasks require several distinct maneuvers such as path following, flocking, and collision avoidance. In order to deal with the required maneuvers, this paper proposes an integrated guidance algorithm based on vector field, augmented Cucker-Smale model, and potential field methods. Integrated guidance command is synthesized with heuristic weights designed for each guidance method. The proposed algorithm is verified through flight tests using up to 19 small fixed-wing UAVs.

• Korean Institute of Interior Design Journal
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• v.24 no.1
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• pp.43-53
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• 2015

As part of alternative of elderly problems in the future super-aging society, this study aims to extract an improvement plan of interior environment design of Seoul-type day care centers to expand in future by observing day care centers as medical and healing environments, from the perspective of user experience. For this study, after selecting major activity areas of representative cases of Seoul-type day care centers, user behaviors in the space were observed and 4 seniors of baby-boom generation who are potential uses were chosen as personas by reflecting characteristics of healthy elderly, physical aging, mental aging and infirm elderly, from the perspective of user experience. Based on previous studies on healing environments, these characteristics and demands of personas were classified into environmental aspects, physical aspects and mental aspects to extract an improvement plan. The study results are as follows. First, interior environment design reflecting persona characteristics helps the elderly adapt to the environment and provides a comfortable environment like home for stability, treatment and recovery of memory. Second, interior environment design reflecting persona characteristics helps psychological healing through light entering the large windows and natural environment elements. Third, for interior environment design reflecting persona characteristics, finish materials with bright and soft colors should be used to change the images of facilities positively. Fourth, spatial composition should be remedied through division of space and built-in furniture depending on the needs of users for loitering of extra time and programs.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.6
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• pp.3832-3840
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• 2014

The rapidly aging population is also increasing the number of dementia patients rapidly. Studies have revealed the early signs of slowing progress. Therefore, dementia patient safety, continuous care, daily living, and health care are becoming more important. In this paper, a smart home care system using smart phones and Bluetooth communication technology was used to monitor the state of dementia patients of based on the results of grading dementia, health care of the dementia patients at home and provide for the safety of the system using motion sensors and gas leak sensors to respond to various emergency situations, such as fire, gas leak protection, and loitering. Using this system, the patient can stay longer in their home due to the nature of Korean culture before admission, while reducing the family's economical, physical and psychological burden and allowing the consultation of specialists through the system by building a database of individuals and providing professional service and specialty care referral agencies through the link.

• Journal of Digital Contents Society
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• v.17 no.5
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• pp.375-381
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• 2016

Recently, a foreground-background segmentation using codebook model has been researched actively. The codebook is created one for each pixel in the image. The codewords are vector-quantized representative values of same positional training samples from the input image sequences. The training is necessary for a long time in the most of codebook-based algorithms. In this paper, the initial codebook model is generated simply using median operation with several image frames. The initial codebook is updated to adapt the dynamic changes of backgrounds based on the frequencies of codewords that matched to input pixel during the detection process. We implemented the proposed algorithm in the environment of visual c++ with opencv 3.0, and tested to some of the public video sequences from PETS2009. The test sequences contain the various scenarios including quasi-periodic motion images, loitering objects in the local area for a short time, etc. The experimental results show that the proposed algorithm has good performance compared to the GMM algorithm and standard codebook algorithm.