• Journal of Positioning, Navigation, and Timing
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• v.1 no.1
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• pp.35-43
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• 2012

The UGV is one of the special field robot developed for mine detection, surveillance and transportation. To achieve successfully the missions of the UGV, the accurate and reliable navigation data should be provided. This paper presents design and implementation of multi-sensor-based open architecture integrated navigation for localization of UGV. The presented architecture hierarchically classifies the integrated system into four layers and data communications between layers are based on the distributed object oriented middleware. The navigation manager determines the navigation mode with the QoS information of each navigation sensor and the integrated filter performs the navigation mode-based data fusion in the filtering process. Also, all navigation variables including the filter parameters and QoS of navigation data can be modified in GUI and consequently, the user can operate the integrated navigation system more usefully. The conventional GPS/INS integrated system does not guarantee the long-term reliability of localization when GPS solution is not available by signal blockage and intentional jamming in outdoor environment. The presented integration algorithm, however, based on the adaptive federated filter structure with FDI algorithm can integrate effectively the output of multi-sensor such as 3D LADAR, vision, odometer, magnetic compass and zero velocity to enhance the accuracy of localization result in the case that GPS is unavailable. The field test was carried out with the UGV and the test results show that the presented integrated navigation system can provide more robust and accurate localization performance than the conventional GPS/INS integrated system in outdoor environments.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.582-587
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• 2004

Ultrasonic sensors are widely used in mobile robot applications to recognize external environments, because they are cheap, easy to use, and robust under varying lighting conditions. However, the recognition of objects using a ultrasonic sensor is not so easy due to its characteristics such as narrow beam width and no reflected signal from a inclined object. As one of the alternatives to resolve these problems, use of multiple sensors has been studied. A sequential driving system needs a long measurement time and does not take advantage of multiple sensors. Simultaneous and pulse coding driving system of ultrasonic sensor array cannot measure short distance as the length of the code becomes long. This problem can be resolved by multi-frequency driving of ultrasonic sensors, which allows multi-sensors to be fired simultaneously and adjacent objects to be distinguished. Accordingly, this paper presents a simultaneous and multi-frequency driving system for an ultrasonic sensor array for object recognition. The proposed system is designed and implemented using a DSP and FPGA. A micro-controller board is made using a DSP, Polaroid 6500 ranging modules are modified for firing the multi-frequency signals, and a 5-channel frequency modulated signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances for each sensor were obtained from filtering of the received overlapping signals and calculation of the time-of-flights.

• Journal of Broadcast Engineering
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• v.20 no.2
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• pp.265-272
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• 2015

A new technology on video frame rate up-conversion (FRUC) is presented by combining the median filter and motion estimation (ME) with an occlusion detection (OD) method. First, ME is performed to have a motion vector. Then, the OD method is used to refine motion vector in the occlusion region. Since the wrong motion vector can be obtained with high possibility in the occluded area, a median filtering that less depends on the motion vector is applied to that area, and since the motion vector is continuous and robust in the non-occluded area, BDMC(Bi-Directional Motion Compensated interpolation) is applied to obtain interpolated image in that area. BDMC using the bi-directional motion vectors achieves good results when continuity and robustness of the motion vector is higher. Experimental results show that the proposed algorithm provides better performance than the conventional approach. The average gain of PSNR (Peak Signal to Noise Ratio) is approximately 0.16 dB in the test sequences compared with BDMC.

• 한국HCI학회:학술대회논문집
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• 2008.02a
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• pp.200-204
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• 2008

In this paper, to solve localization problem for out-door navigation of robotic vehicles, a particle filter based 3D object recognition framework that can estimate the pose of a building or its entrance is presented. A particle filter framework of multiple evidence fusion and model matching in a sequence of images is presented for robust recognition and pose estimation of 3D objects. The proposed approach features 1) the automatic selection and collection of an optimal set of evidences 2) the derivation of multiple interpretations, as particles representing possible object poses in 3D space, and the assignment of their probabilities based on matching the object model with evidences, and 3) the particle filtering of interpretations in time with the additional evidences obtained from a sequence of images. The proposed approach has been validated by the stereo-camera based experimentation of 3D object recognition and pose estimation, where a combination of photometric and geometric features are used for evidences.

• Journal of Broadcast Engineering
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• v.18 no.3
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• pp.455-462
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• 2013

This paper introduces the Spatially Preprocessed Speech Distortion Weighted Multi-channel Wiener Filter (SP-SDW-MWF) for multi-microphone noise reduction and proposes a method to determine the speech distortion weights. The SP-SDW-MWF is known as a robust noise reduction algorithm against the error caused by the mismatch in microphones. The SP-SDW-MWF adopts weights which determine the amount of noise reduction at the expense of introducing speech distortion in the noise-suppressed speech. In this paper, we use the error of power spectral density between the estimated signal and the desired signal as the evaluation measure. Thus the a priori SNR is used to control the speech distortion weights in the frequency domain. In the experimental results, the proposed method yields better result in terms of MFCC distortion compared to the conventional method.

• The Journal of the Acoustical Society of Korea
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• v.29 no.6
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• pp.374-380
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• 2010

It is known that the problem of FIR filtering with noisy input and output data can be solved by a total least squares (TLS) estimation. It is also known that the performance of the TLS estimation is very sensitive to the ratio between the variances of the input and output noises. In this paper, we propose a convex combination algorithm between the ordinary recursive LS based TLS (RTLS) and the ordinary recursive LS (RLS). This combined algorithm is robust to the noise variance ratio and has almost the same complexity as the RTLS. Simulation results show that the proposed algorithm performs near TLS in noise variance ratio ${\gamma}{\approx}1$ and that it outperforms TLS and LS in the rage of 2 < $\gamma$ < 20. Consequently, the practical workability of the TLS method applied to noisy data has been significantly broadened.

• Journal of the Korean Society for information Management
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• v.28 no.2
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• pp.79-96
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• 2011

Despite the widespread use, critics claim that citation analysis has serious limitations in evaluating the research performance of scholars. First, conventional citation analysis methods yield one-dimensional and sometimes misleading evaluation as a result of not taking into account differences in citation quality, not filtering out citation noise such as self-citations, and not considering non-numeric aspects of citations such as language, culture, and time. Second, the citation database coverage of today is disjoint and incomplete, which can result in conflicting quality assessment outcomes across different data sources. This paper discuss the findings from a citation analysis study that measured the impact of scholarly publications based on the data mined from Web of Science, Scopus, and Google Scholar, and briefly describes a work-in-progress prototype system called CiteSearch, which is designed to overcome the weaknesses of existing citation analysis methods with a robust citation-based quality assessment approach.

• Journal of Korea Multimedia Society
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• v.4 no.3
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• pp.230-237
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• 2001

Adaptive filters are widely used for acoustic echo canceler, adaptive equalizer and adaptive noise canceler. Coefficients of adaptive filters are updated by NLMS algorithm. However, Coefficients are misaligned by ambient noises when they are adapted by NLMS algorithm. In this Paper, a method determined the adaptation constant by low-pass filtered instantaneous gradient vector of LMS algorithm using orthognality principles of optimal filter is proposed. At initial states, instantaneous gradient vector, that is the cross-correlation of input signals and estimation error signals, has large value because input signals are remained in estimation error signals. When an adaptive filter is conversed, the cross-correlation will be close to zero. It isn's affected by ambient noises because ambient noises are uncorrelated with input signals. Determining adaptation constant with the cross-correlation, adaptive filters can be robust to ambient noises and the convergence rate doesn't slower As results of computer simulations, it is shown that the performance of proposed algorithm is betted than that of conventional algorithms.

• Journal of Broadcast Engineering
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• v.6 no.1
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• pp.50-57
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• 2001

A digital watermarking is a newly developed scheme to embed invisible or inaudible information Into the host data in order to insist the copyright of the owner or the creator. This paper describes a robust data embedding scheme that employs inner product and adaptive quantization. Compared to the previous works for digital watermarking, our proposed scheme can embed relatively large amount of Information, since a secrete key Is not directly relaxed to the watermark data. A secret key is used for the design of random direction vectors. which are taken Inner product with the DCT transformed feature set data. In odder to achieve robustness against malicious attacks. we exploit the Properties of human visual system In designing the random direction vectors which behave as embedded noises. Experimental results show that we can recover the embedded information without utilizing the original host data. We also demonstrate that the ownership assertion is possible even though The watermarked data may undergo common signal processing operations, such as JPEG compression. clopping. and filtering.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.17 no.6
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• pp.89-95
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• 2017

UFMC is known as a candidate for the 5G wireless communication system because it is robust against ICI and better performs in asynchronous situation than OFDM. In the UFMC system, the filtering is performed for each subband so the performance of the filter is very important. The Dolph-Chebyshev filter has been used in conventional UFMC system because of its small out-of-band radiation. However it has distortion in the sub-band and skirt characteristics is not good enough. Therefore, it is necessary to study a new type of UFMC filter which reduces the distortion in the subband and has sharp skirt characteristics. In this paper we analyze the effect of filter frequency response in UFMC system and suggest the wavelet based type of filter that substitutes the Dolph-ChebyShev filter used in the conventional UFMC system. The simulation results show that wavelet filter has better BER performance in multipath fading channels than conventional filters.