• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.12
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• pp.2184-2188
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• 2007

We developed a novel method of partial discharge(PD) location based on the fact that the waveform of PD signal propagate along the GIB (Gas Insulated Bus) is composed of several modes of electromagnetic wave with different group velocities and cut-off frequencies. From the PD waveform, measured at a broadband PD sensor attached on the GIB, we could derive arrival time and frequency components of different modes using the short term Fourier transform or etc. After the group velocities of different modes are calculated, the location of the PD source could be estimated. To show the effectiveness of this new locating method in a real on site application, we used this method to locate the position of a PD source at a 76 m long 345 kV GIB substation. The estimated location of the PD source using the method proposed above was in good agreement with the actual location found from the inspection result of internal component in the GIB with 2.4% of the estimation error.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.4
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• pp.805-810
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• 2011

This paper deals with the method and algorithm used to find fault locations in gas insulated transmission line. The method uses UHF sensors and digital oscilloscope to detect discharge signals emitted to the outside through insulating spacer in the event of breakdown inside GIL. UHF sensors are the external type and installed at outside of insulating spacers of GIL. And we used wavelet signal processing to analyze the discharge signals and confirm the exact fault location findings in the GIL test line. This method can overcome demerit of TDR(Time Domain Reflectometer) method having been applied to detect fault location for conventional underground transmission lines, and Ground Fault Sensors used in conventional GIS systems. TDR method requires high level of specialty and experience in analyzing the measured signals. Ground fault sensors are installed inside GIL and can be destroyed by high transient voltage. This paper's method can simplify the fault location process and minimize the damage of sensors. In addition, this method can estimate the fault location only by the time difference when discharge signals are arrived to detecting sensors at the ends of GIL sections without reasons of breakdown. To test the performance of our method, we installed sensors at the ends of test line of GIL(84m) and sensed discharge signals occurred in GIL, energized with AC voltage generator up to 700kV.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.4
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• pp.497-502
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• 2010

The accurate estimation of position and direction of the mobile robot is essential for preparing precise movement and works in the inner complex environment. In this paper, we propose a robust estimation method of location and direction using the velocity of mobile robot in the inner GPS environment. The estimation using the inner GPS with ultrasonic sensors have to consider with various acoustic noise and sensor errors. We design a robust estimation method using a membership function based on uncertainty of the obtained information and robot velocity. The simulation results of the proposed method show effectiveness in the contaminated environment with position errors.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.24 no.12
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• pp.1697-1703
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• 2020

Sensor nodes that directly collect data from the surrounding environment have many constraints, such as power supply and memory size, thus efficient use of resources is required. In this paper, in a sensor node that receives location data of a vehicle on a lane, the data reception period is changed by the target's speed estimated by the Kalman filter and distance weight. For a slower speed of the vehicle, the longer data reception interval of the sensor node can reduce the processing time performed in the entire sensor network. The proposed method was verified through a traffic simulator implemented as MATLAB, and the results achieved that the processing time was reduced in the entire sensor network using the proposed method compared to the baseline method that receives all data from the vehicle.

• IEMEK Journal of Embedded Systems and Applications
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• v.12 no.5
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• pp.267-275
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• 2017

Time of difference of arrival (TDOA) method using passive sonar sensor array has normally been used to estimate the location of a concealed moving target in underwater environment. Particle filter has been introduced for effective target estimation for non-Gaussian and nonlinear systems. In this paper, we propose a GPU-based acceleration of target position estimation using particle filter and propose efficient embedded system and software architecture. For the TDOA measurement from the passive sonar sensor, we use the generalized cross correlation phase transform (GCC-PHAT) method to obtain the correlation coefficient of the signal using FFT and we try to accelerate the calculation of GCC-PHAT based TDOA measurements using FFT with GPU CUDA. We also propose parallelization method of the target position estimation algorithm using the GPU CUDA to update the state of each particle for the target position estimation using the measured values. The target estimation algorithm was verified using Matlab and implemented using GPU CUDA. Then, we realized the proposed signal processing acceleration system using NVIDIA Jetson TX1 as the target board to analyze in terms of the execution time. The execution time of the algorithm is reduced by 55% to the CPU standalone-operation on the target board. Experiment results show that the proposed architecture is a feasible solution in terms of high-performance and area-efficient architecture.

• Journal of the Korean Society for Nondestructive Testing
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• v.34 no.1
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• pp.44-52
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• 2014

Leakage is an important factor to be considered for the management of underground water supply pipelines in a smart water grid system, especially if the pipelines are aged and buried under the pavement or various structures of a highly populated city. Because the exact detection of the location of such leaks in pipelines is essential for their efficient operation, a new methodology for leak location detection based on frequency band variation, windowing filters, and probability is proposed in this paper. Because the exact detection of the leak location depends on the precision of estimation of time delay between sensor signals due to leak noise, some window functions that offer weightings at significant frequencies are applied for calculating the improved cross-correlation function. Experimental results obtained by applying this methodology to an actual buried water supply pipeline, ~ 253.9 m long and made of cast iron, revealed that the approach of frequency band variation with those windows and probability offers better performance for leak location detection.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.11 no.4
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• pp.280-285
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• 2011

Recently, with the development of service robots and the concept of ubiquitous, the position estimation of mobile objects has received great interest. Some of the localization schemes are introduced, which provide the relative location of the moving objects subjected to accumulated errors. To implement a real time localization system, a new absolute position estimation method for a mobile robot in indoor environment is proposed. Design and implementation of the localization system comes from the usage of active beacon systems (based upon RFID technology). The active beacon system is composed of an RFID receiver and an ultra-sonic transmitter. The RFID receiver gets the synchronization signal from the mobile robot and the ultra-sonic transmitter sends out the traveling signal to be used for measuring the distance. Position of a mobile robot in a three dimensional space can be calculated basically from the distance information from three beacons and the absolute position information of the beacons themselves. In some case, the mobile robot can acquire the ultrasonic signals from only one or two beacons, due to the obstacles located along the moving path. In this paper, a position estimation scheme using fewer than three sensors is developed. Also, the extended Kalman filter algorithm is applied for the improvement of position estimation accuracy of the mobile robot.

• Journal of Biomedical Engineering Research
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• v.25 no.6
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• pp.575-580
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• 2004

In this work, a method is presented to find an anatomical site of a current source crudely in a standard brain using grand average of MEG data. Minimum norm estimation algorithm and truncated singular value decomposition were applied to calculate the distributed sources that can reproduce the measured signals. Grand average over all subjects was obtained from the transformed signals, which would be detected in a standard sensor plane by the obtained distributed current sources. In the simulation study, it was shown that the localized dipole using the grand average is consistent with the mean location of localized dipoles of all subjects within several mm even with large inter-individual differences of sensor positions. This result suggests that the mean location of low level signal source can be estimated as a dipole source in grand average and it was confirmed in the localization of the current source of N100m. when the localized dipole is registered on a standard brain. This result also suggests that the activity region obtained from grand average can be crudely estimated on a standard brain using the source location of the N100m as a reference point.

• The KIPS Transactions:PartC
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• v.15C no.1
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• pp.31-36
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• 2008

The clock frequency difference of sensor nodes is one of main parameters in TOF estimation and affect to degrade ranging algorithms to estimate positions of mobile nodes in wireless sensor networks. The specification of IEEE802.15.4a describes asynchronous TWR and SDS-TWR insensitive to frequency difference without any additional network synchronization. But the TWR and SDS-TWR can not eliminate sufficiently the effect of frequency difference of node pair, packet processing delay and its difference. Especially use of low cost oscillator with wide range offset, sensor node with different hardware and software can make the positioning errors worse. We propose an estimation method of frequency differences, and apply the measured frequency differences to TWR and SDS-TWR. We evaluate the performance of the proposed algorithm with simulation, and make certain that the proposed method enhances the performance of existing algorithms with positioning errors less than 25 cm.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38A no.9
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• pp.782-791
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• 2013

This paper proposes the location estimation techniques of distributed targets with the multi-sensor data perceived through IR sensors of the military robots. In order to match up targets with measured azimuths, we apply the maximum likelihood (ML), depth-first, and breadth-first tree search algorithms, in which we use the measured azimuths and the number of pixels on IR screen for pruning branches and selecting candidates. After matching up targets with azimuths, we estimate the coordinate of each target by obtaining the intersection point of the azimuths with the least square error (LSE) algorithm. The experimental results show the probability of missing target, mean of the number of calculating nodes, and mean error of the estimated coordinates of the proposed algorithms.