• Journal of the Korean Society for Precision Engineering
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• v.19 no.8
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• pp.147-154
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• 2002

In this paper, a path navigation algorithm through use of a sensor platform is proposed. The sensor platform is composed of two electric motors which make panning and tilting motions. An algorithm for computing a real path and an obstacle length is developed by using a scanning method that controls rotation of the sensors on the platform. An Autonomous Robot Vehicle(ARV) can perceive the given path by adapting this algorithm. A sensor scanning method is applied to the sensor platform for using small numbers of sensor. The path navigation algorithm is composed of two parts. One is to perceive a path pattern, the other is used to avoid an obstacle. An optimal controller is designed for tracking the reference path which is generated by perceiving the path pattern. The ARV is operated using the optimal controller and the path navigation algorithm. Based on the results of actual experiments, this algorithm for an ARV proved sufficient for path navigation by small number of sensors and for a low cost controller by using the sensor platform with a scanning method.

• Journal of Broadcast Engineering
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• v.13 no.5
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• pp.574-585
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• 2008

3D sound is of central importance for the virtual reality system, and is becoming increasingly important for the auditory displays and for the human-computer interaction. In this paper, we propose a novel real-time 3D sound representation system for virtual reality. At first, we propose a calculation method of the impulse response for virtual space. To transmit the information of the virtual space, we propose an enhanced DXF file type that contains the material information. And then, we implement the multi-channel sound panning system. we perform the experiment based on computer simulation and prove the utility of the proposed method.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.42 no.5 s.305
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• pp.63-72
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• 2005

This paper proposes a new method to construct a panorama image from video sequences captured by the video camcoder revolving on the center axis of the tripod. The proposed method is consisted of two algorithms; frame selection and image mosaics. In order to select frames to construct the panorama image, we employ the interpolation search using the information in overlapped areas. This method can search suitable frames quickly. We construct an image mosaic using the projective transform induced from four pairs of quasi-features. The conventional methods select feature points by using only texture information, but the presented method in this paper uses the position of each feature point as well. We make an experiment on the proposed method with real video sequences. The results show that the proposed method is better than the conventional one in terms of image quality.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.43 no.4 s.310
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• pp.96-107
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• 2006

In this paper, a low bitrate video coding method based on new panoramic modeling is proposed for panning cameras. An input video frame from a panning camera is decomposed into a background image, rectangular moving object regions, and a residual image. In coding the background, we employ a panoramic model that can account for several image formation processes, such as perspective projection, lens distortion, vignetting and illumination effects. Moving objects aredetected, and their minimum bounding rectangular regions are coded with a JPEG-2000 coder. We have evaluated the effectiveness of the proposed algorithm with several indoor and outdoor sequences and found that the PSNR is improved by $1.3{\sim}4.4dB$ compared to that of JPEG-2000.

• The Journal of the Acoustical Society of Korea
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• v.36 no.5
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• pp.338-344
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• 2017

In this paper, an interpolation method of HRTF (Head-Related Transfer Function) is proposed for small-sized measurement data set, especially. The proposed algorithm is based on acoustic modeling of HRTFs, and the algorithm tries to interpolate the HRTFs via estimation the model coefficients. However, the estimation of the model coefficients is hard if there is lack of measurement points, so the algorithm solves the problem by a data augmentation using the VBAP (Vector Based Amplitude Panning). Therefore, the proposed algorithm consists of two steps, which are data augmentation step based on VBAP and model coefficients estimation step by least squares method. The proposed algorithm was evaluated by a simulation with a measured data from CIPIC (Center for Image Processing and Integrated Computing) HRTF database, and the simulation results show that the proposed algorithm reduces mean-squared error by 1.5 dB ~ 4 dB than the conventional algorithms.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.4 no.3
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• pp.126-133
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• 2003

This paper is related to a morphological segmentation method for extracting the moving object in video sequence using global motion compensation and two-dimensional spatio-temporal entropic thresholding. First, global motion compensation is performed with camera panning vector estimated in the hierarchical pyramid structure constructed by wavelet transform. Secondly, the regions with high possibility to include the moving object between two consecutive frames are extracted block by block from the global motion compensated image using two-dimensional spatio-temporal entropic thresholding. Afterwards, the LUT classifying each block into one among changed block, uncertain block, stationary block according to the results classified by two-dimensional spatio-temporal entropic thresholding is made out. Next, by adaptively selecting the initial search layer and the search range referring to the LUT, the proposed HBMA can effectively carry out fast motion estimation and extract object-included region in the hierarchical pyramid structure. Finally, after we define the thresholded gradient image in the object-included region, and apply the morphological segmentation method to the object-included region pixel by pixel and extract the moving object included in video sequence. As shown in the results of computer simulation, the proposed method provides relatively good segmentation results for moving object and specially comes up with reasonable segmentation results in the edge areas with lower contrast.

• Proceedings of the Acoustical Society of Korea Conference
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• spring
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• pp.121-126
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• 2004

다채널 입체음향 시스템은 다수의 스피커를 사용하여 입체음향을 재현하므로 바이너럴 사운드 시스템에 비해 정확한 정위감과 넓은 sweet spot를 얻을 수 있다. 다채널 입체음향 시스템의 스피커 구동 기법은 각 스피커들 사이의 크기를 조절하는 amplitude panning 방법이 주로 사용된다. 그러나 이 방법은 각 스피커들 사이의 거리가 다르게 배치될 경우 성능이 저하되므로 본 논문에서는 각 스피커들의 위치가 다를 경우에도 손쉽게 설계가 가능한 스피커 구동방법을 제안한다.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2014.10a
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• pp.955-956
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• 2014

Active noise control is noise reduction method by generate anti-phase control signal for destructive interference of through control speaker. purpose of this paper is create a virtual control source at a using the DBAP(Distance Based Amplitude Panning) algorithm which is one of the three-dimensional sound reproduction method, and verified through the experimentally for noise control method through the virtual control source. We compared active noise method by using one control speaker with active noise control method by using DBAP algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.12
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• pp.1115-1121
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• 2012

This paper proposes a method to extract accurate plane of an object in unstructured environment for a humanoid robot by using a laser scanner. By panning and tilting 2D laser scanner installed on the head of a humanoid robot, 3D depth map of unstructured environment is generated. After generating the 3D depth map around a robot, the proposed plane extraction method is applied to the 3D depth map. By using the hierarchical clustering method, points on the same plane are extracted from the point cloud in the 3D depth map. After segmenting the plane from the point cloud, dimensions of the planes are calculated. The accuracy of the extracted plane is evaluated with experimental results, which show the effectiveness of the proposed method to extract planes around a humanoid robot in unstructured environment.

• Journal of Environmental Science International
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• v.23 no.6
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• pp.1101-1109
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• 2014

In this study we followed biofilm formation and development in a granular activated carbon (GAC) filter on pilot-scale during the 12 months of operation. GAC particles and water samples were sampled from four different depths (-5, -25, -50 and -90 cm from surface of GAC bed) and attached biomass were measured with adenosine tri-phosphate (ATP) analysis and heterotrophic plate count (HPC) method. The attached biomass accumulated rapidly on the GAC particles of top layer throughout all levels in the filter during the 160 days (BV 23,000) of operation and maintained a steady-state afterward. During steady-state, biomass (ATP and HPC) concentrations of top layer in the BAC filer were $2.1{\mu}g{\cdot}ATP/g{\cdot}GAC$ and $3.3{\times}10^8cells/g{\cdot}GAC$, and 85%, 83% and 99% of the influent total biodegradable dissolved organic carbon ($BDOC_{total}$), $BDOC_{slow}$ and $BDOC_{rapid}$ were removed, respectively. During steady-state process, biomass (ATP and HPC) concentrations of middle layer (-50 cm) and bottom layer (-90 cm) in the BAC filter were increased consistently. Biofilm development (growth rate) proceed highest rate in the top layer of filter (${\mu}_{ATP}=0.73day^{-1}$; ${\mu}_{HPC}=1,74day^{-1}$) and 78%~87% slower in the bottom layer (${\mu}_{ATP}=0.14day^{-1}$; ${\mu}_{HPC}=0.34day^{-1}$). This study shows that the combination of different analytical methods allows detailed quantification of the microbiological activity in drinking water biofilter.