• Journal of Navigation and Port Research
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• v.39 no.3
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• pp.253-260
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• 2015

There are many efforts to mechanize the process for underwater port construction due to the severe and adverse working environment. This paper presents an underwater construction robot to level rubbles on the seabed for port construction. The robot is composed of a blade and a multi-functional arm to flatten the rubble mound with respect to the reference level at uneven terrain and to dig and dump the rubbles. This research analyzes the kinematics of the blade and the multi-functional arm including track and swing motions with respect to a world coordinate assigned to a reference depth sensor. This analysis is conducted interfacing with the position and orientation sensors installed at the robot. A hydraulic control system is developed to control a track, a blade and a multi-functional arm for rubble leveling work. The experimental results of rubble leveling work conducted by the robot are presented in land and subsea. The working speed of the robot is eight times faster than that of a human diver, and the working quality is acceptable. The robot is expected to have much higher efficiency in deep water where a human diver is unable to work.

• Journal of Sensor Science and Technology
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• v.10 no.5
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• pp.304-313
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• 2001

In this research, we investigate wet-etching properties of GaAs in $NH_4OH-H_2O_2-H_2O$, and develop the fabrication method of GaAs microstructures with rectangular cross section using (001) GaAs substrate. For obtaining wet-etching properties with respect to crystallographic orientation, the etch rates and cross-section etch profiles of (001) GaAs with 16 different compositions and the undercut rates with 5 different compositions are measured using $NH_4OH-H_2O_2-H_2O$ mixed solutions. From these experimental data, a new GaAs micromachining method in bulk (001) GaAs is proposed, and used to fabricate a released microbridges with a rectangular cross section. The developed GaAs micromachining method can be very useful for low-loss, highly-tunable capacitors for RF components and for integration with GaAs optical components.

• Journal of Sensor Science and Technology
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• v.8 no.2
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• pp.195-201
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• 1999

C-axis oriented $YBa_2Cu_3O_{7-{\delta}}$ (YBCO) thin films were grown on $Al_2O_3$ (alumina and R-plane sapphire) substrates by a pulsed laser deposition method. The crystallinity of the $CeO_2$ buffer layer on sapphire substrate exhibit a strong dependence on the deposition temperature, resulting in the growth of a-axis orientation at $800^{\circ}C$. The superconducting properties of YBCO thin films on $Al_2O_3$ substrates showed strong dependence on both thickness and crystallinity of the $CeO_2$ buffer layer. Critical temperature of YBCO film on alumina substrate was ${\sim}83\;K$. In the case of R-plane sapphire substrate,

• Korean Journal of Materials Research
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• v.9 no.11
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• pp.1083-1087
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• 1999

Microstructures and the gas-sensing characteristics of the $\textrm{SnO}_2$ thin films were studied, which were deposited at various conditions (rf power, sample temperature, $\textrm{O}_2$/Ar ratio) by the rf magnetron sputtering. As a result, six typical microstructures were derived, such as amorphous(A), amorphous mixed with polycrystalline grains (A+P), polycrystalline with random crystalographic orientation (P), fine columnar (FC), coarse columnar (CC) and Zone T (T) with dense fiberous structure. Typically, A, A+ P, and P structures were formed when no $\textrm{O}_2$ was added to the sputter gas, whereas FC, CC, and T structures were obtained when $\textrm{O}_2$ was added. The A structure formed at low rf power and low temperature, the A+P at high rf power and low temperature, and the P at high rf power and high temperature. The FC structure was obtained at low rf power and low temperature. the CC at low rf power and high temperature, and the T at high rf power and low temperature. Results of the gas-sensing test of the sensor chips fabricated from the typical films indicated that the fine columnar microstructure shows the highest sensitivity both at $300^{\circ}C$ and $400^{\circ}C$. It was proposed that this is due to the high specific surface area of the micro-columns.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.46 no.2
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• pp.84-91
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• 2009

This paper presents an online partial 3D modeling methodology that uses a mobile augmented reality system and aerial photographs, and a tracking methodology that compares the 3D model with a video image. Instead of relying on models which are created in advance, the system generates a 3D model for a real building on the fly by combining frontal and aerial views. A user's initial pose is estimated using an aerial photograph, which is retrieved from a database according to the user's GPS coordinates, and an inertial sensor which measures pitch. We detect edges of the rooftop based on Graph cut, and find edges and a corner of the bottom by minimizing the proposed cost function. To track the user's position and orientation in real-time, feature-based tracking is carried out based on salient points on the edges and the sides of a building the user is keeping in view. We implemented camera pose estimators using both a least squares estimator and an unscented Kalman filter (UKF). We evaluated the speed and accuracy of both approaches, and we demonstrated the usefulness of our computations as important building blocks for an Anywhere Augmentation scenario.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.33 no.4
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• pp.325-331
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• 2015

This paper suggests an intersection method to improve the accuracy of three-dimensional position from heterogeneous satellite stereo images, and addresses validation of the suggested method following the experimental results. The three-dimensional position is achieved by determining an intersection point of two rays that have been precisely adjusted through the sensor orientation. In case of conventional homogeneous satellite stereo images, the intersection point is generally determined as a mid-point of the shortest line that links two rays in at least square fashion. In this paper, a refined method, which determines the intersection point upon the ray adjusted at the higher resolution image, was used to improve the positioning accuracy of heterogeneous satellite images. Those heterogeneous satellite stereo pairs were constituted using two KOMPSAT-2 and QuickBird images of covering the same area. Also, the positioning results were visually compared in between the conventional intersection and the refined intersection, while the quantitative analysis was performed. The results demonstrated that the potential of refined intersection improved the positioning accuracy of heterogeneous satellite stereo pairs; especially, with a weak geometry of the heterogeneous satellite stereo, the greater effects on the accuracy improvement.

• Korean Journal of Remote Sensing
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• v.26 no.5
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• pp.593-603
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• 2010

Most spatial data acquisition systems employing a set of frame cameras may have suffered from their small fields of view and poor base-distance ratio. These limitations can be significantly reduced by employing an omni-directional camera that is capable of acquiring images in every direction. Bundle Block Adjustment (BBA) is one of the existing georeferencing methods to determine the exterior orientation parameters of two or more images. In this study, by extending the concept of the traditional BBA method, we attempt to develop a mathematical model of BBA for omni-directional images. The proposed mathematical model includes three main parts; observation equations based on the collinearity equations newly derived for omni-directional images, stochastic constraints imposed from GPS/INS data and GCPs. We also report the experimental results from the application of our proposed BBA to the real data obtained mainly in urban areas. With the different combinations of the constraints, we applied four different types of mathematical models. With the type where only GCPs are used as the constraints, the proposed BBA can provide the most accurate results, ${\pm}5cm$ of RMSE in the estimated ground point coordinates. In future, we plan to perform more sophisticated lens calibration for the omni-directional camera to improve the georeferencing accuracy of omni-directional images. These georeferenced omni-directional images can be effectively utilized for city modelling, particularly autonomous texture mapping for realistic street view.

• Journal of Intelligence and Information Systems
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• v.18 no.1
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• pp.1-21
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• 2012

In recent years, mobile phone has experienced an extremely fast evolution. It is equipped with high-quality color displays, high resolution cameras, and real-time accelerated 3D graphics. In addition, some other features are includes GPS sensor and Digital Compass, etc. This evolution advent significantly helps the application developers to use the power of smart-phones, to create a rich environment that offers a wide range of services and exciting possibilities. To date mobile AR in outdoor research there are many popular location-based AR services, such Layar and Wikitude. These systems have big limitation the AR contents hardly overlaid on the real target. Another research is context-based AR services using image recognition and tracking. The AR contents are precisely overlaid on the real target. But the real-time performance is restricted by the retrieval time and hardly implement in large scale area. In our work, we exploit to combine advantages of location-based AR with context-based AR. The system can easily find out surrounding landmarks first and then do the recognition and tracking with them. The proposed system mainly consists of two major parts-landmark browsing module and annotation module. In landmark browsing module, user can view an augmented virtual information (information media), such as text, picture and video on their smart-phone viewfinder, when they pointing out their smart-phone to a certain building or landmark. For this, landmark recognition technique is applied in this work. SURF point-based features are used in the matching process due to their robustness. To ensure the image retrieval and matching processes is fast enough for real time tracking, we exploit the contextual device (GPS and digital compass) information. This is necessary to select the nearest and pointed orientation landmarks from the database. The queried image is only matched with this selected data. Therefore, the speed for matching will be significantly increased. Secondly is the annotation module. Instead of viewing only the augmented information media, user can create virtual annotation based on linked data. Having to know a full knowledge about the landmark, are not necessary required. They can simply look for the appropriate topic by searching it with a keyword in linked data. With this, it helps the system to find out target URI in order to generate correct AR contents. On the other hand, in order to recognize target landmarks, images of selected building or landmark are captured from different angle and distance. This procedure looks like a similar processing of building a connection between the real building and the virtual information existed in the Linked Open Data. In our experiments, search range in the database is reduced by clustering images into groups according to their coordinates. A Grid-base clustering method and user location information are used to restrict the retrieval range. Comparing the existed research using cluster and GPS information the retrieval time is around 70~80ms. Experiment results show our approach the retrieval time reduces to around 18~20ms in average. Therefore the totally processing time is reduced from 490~540ms to 438~480ms. The performance improvement will be more obvious when the database growing. It demonstrates the proposed system is efficient and robust in many cases.