• Journal of Navigation and Port Research
• /
• v.28 no.4
• /
• pp.305-309
• /
• 2004

The problem for parameters estimation of the received signals impinging on array sensors has long been of great research Interest in a great variety of applications, such as radar, sonar, and land mobile communications systems. Conventional subspace-based algorithms, such as MUSIC and ESPRIT, require an extensive computation of inverse matrix and eigen-decomposition In this paper, we propose a new parameters estimation algorithm via nonlinear minimization, which is simplified computationally and estimates signal parameters simultaneously.

• The Journal of the Acoustical Society of Korea
• /
• v.36 no.1
• /
• pp.30-38
• /
• 2017

In this paper, we propose an underwater acoustic sensor fault detection method for passive sonar systems. In general, a passive sonar system displays processed results of array signals obtained from tens of the acoustic sensors as a two-dimensional image such as displays for broadband or narrowband analysis. Since detection result display in the operation software is to display the accumulated result through the array signal processing, it is difficult to determine the possibility where signal may be contaminated by the fault or failure of a single channel sensor. In this paper, accordingly, we propose a detection method based on the analysis of RMSCR (Root Mean Square Crossing-Rate), and the processing techniques for the faulty sensors are analyzed. In order to evaluate the performance of the proposed method, the precision of detecting fault sensors is measured by using signals acquired from real array being operated in several coastal areas. Besides, we compare performance of fault processing techniques. From the experiments, it is shown that the proposed method works well in underwater environments with high average RMS, and mute (set to zero) shows the best performance with regard to fault processing techniques.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.53 no.2
• /
• pp.133-140
• /
• 2016

In active sonar field, a target detection and localization based on a distributed sensor network has been much studied for the underwater surveillance of the coast. Zhou et al. proposed a target localization method utilizing the positions of target-detected sensors in distributed sensor network which consists of detection-only sensors. In contrast with a conventional method, Zhou's method dose not require to estimate the propagation model parameters of detection signal. Also it needs the lower computational complexity, and to transmit less data between network nodes. However, it has large target localization error. So it has been modified for reducing localization error by Ryu. Modified Zhou's method has better estimation performance than Zhou's method, but still relatively large estimation error. In this paper, a target localization method based on modified Zhou's method is proposed for reducing the localization error. The proposed method utilizes the geometry of the positions of target-detected sensors and a line that represents the bearing of target, a line can be found by modified Zhou's method. This paper shows that the proposed method has better target position estimation performance than Zhou's and modified Zhou's method by computer simulations.

• Transactions on Control, Automation and Systems Engineering
• /
• v.2 no.1
• /
• pp.69-75
• /
• 2000

The aim of the work described in this paper is to develop a complex underground acoustic system which detects and localizes the origin of an underground hammering sound using an array of hydrophones located about 100m underground. Three different methods for the sound localization will be presented, a time-delay method, a power-attenuation method and a hybrid method. In the time-delay method, the cross correlation of the signals received from the array of sensors is used to calculate the time delays between those signals. In the power-attenuation method, the powers of the received signals provide a measure of the distances of the source from the sensors. In the hybrid method, both informations of time-delays and power-ratios are coupled together to produce better performance of position estimation. A new acoustic imaging technique has been developed for improving the hybrid method. This new acoustic imaging method shows the multi-dimensional distribution of the normalized cost function, so as to indicate the trend of the minimizing direction toward the source location. For each method the sound localization is carried out in three dimensions underground. The distance between the true and estimated origins of the source is 28m for a search area of radius 250m.

• Proceedings of the Acoustical Society of Korea Conference
• /
• spring
• /
• pp.103-108
• /
• 1999

The aim of the work described in this paper is to develop a complex underground acoustic system which detects and localizes the origin of an underground hammering sound using an array of hydrophones located about loom underground. Three different methods for the sound localization will be presented, a time-delay method, a power-attenuation method and a hybrid method. In the time-delay method, the cross correlation of the signals received from the array of sensors is used to calculate the time delays between those signals. In the power-attenuation method, the powers of the received signals provide a measure of the distances of the source from the sensors. In the hybrid method, both informations of time-delays and power-ratios are coupled together to produce better performance of position estimation. A new acoustic imaging technique has been developed for improving the hybrid method. This new acoustic imaging method shows the multi-dimensional distribution of the normalized cost function, so as to indicate the trend of the minimizing direction toward the source location. For each method the sound localization is carried out in three dimensions underground. The distance between the true and estimated origins of the source is 28m for a search area of radius 250m.

• The Journal of the Acoustical Society of Korea
• /
• v.32 no.4
• /
• pp.317-328
• /
• 2013

In this paper, the optimization has been performed to design a multi-layer structure that is used as a structure for noise reduction of acoustic sonar sensors in underwater vehicles. Two design goals are considered to reduce self-noise from own machineries and to enhance acoustic signals detected from outside. Both distinct and continuous design parameters have been used such as selection of material properties of each layer and thickness of each layer, respectively. The sensitivity of design parameters has been analyzed and the evolutionary algorithm has been implemented for design optimization. For design optimization process, each of the design goals and the two combined design goals have been considered to analyze the achievement of those design goals.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.17 no.6
• /
• pp.132-145
• /
• 2008

We propose a new technique for autonomous navigation and travelling of mobile robot based on ultrasonic sensors through the narrow labyrinth that leave only distance of a few centimeters on each side between the guides and the robot. In our current implementation the ultrasonic sensor system fires at a rate of 100 ms, that is, each of the 8 sensors fires once during each 100 ms interval. This is a very good firing rate, implemented here for optimal performance. This paper presents an extensively tested and verified solution to the problem of obstacle avoidance. Our solution is based on the optimal placement of ultrasonic sensors at strategic locations around the robot. Both the sensor location and the associated navigation algorithm are defined in such a way that only the accurate radial sonar data is used for accurate travelling.

• Journal of the Korean Society of Industry Convergence
• /
• v.22 no.2
• /
• pp.209-218
• /
• 2019

This study proposes a new approach to Control the Orientation and position based on obstacle avoidance technology by multi sensors fusion and autonomous travelling control of mobile robot system for implimentation of Smart FA. The important focus is to control mobile robot based on by the multiple sensor module for autonomous travelling and obstacle avoidance of proposed mobile robot system, and the multiple sensor module is consit with sonar sensors, psd sensors, color recognition sensors, and position recognition sensors. Especially, it is proposed two points for the real time implementation of autonomous travelling control of mobile robot in limited manufacturing environments. One is on the development of the travelling trajectory control algorithm which obtain accurate and fast in considering any constraints. such as uncertain nonlinear dynamic effects. The other is on the real time implementation of obstacle avoidance and autonomous travelling control of mobile robot based on multiple sensors. The reliability of this study has been illustrated by the computer simulation and experiments for autonomous travelling control and obstacle avoidance.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.6 no.2
• /
• pp.161-166
• /
• 2006

Localization of mobile agent within a sensing network is a fundamental requirement for many applications, using networked navigating systems such as the sonar-sensing system or the visual-sensing system. To fully utilize the strengths of both the sonar and visual sensing systems, This paper describes a networked sensor-based navigation method in an indoor environment for an autonomous mobile robot which can navigate and avoid obstacle. In this method, the self-localization of the robot is done with a model-based vision system using networked sensors, and nonstop navigation is realized by a Kalman filter-based STSF(Space and Time Sensor Fusion) method. Stationary obstacles and moving obstacles are avoided with networked sensor data such as CCD camera and sonar ring. We will report on experiments in a hallway using the Pioneer-DX robot. In addition to that, the localization has inevitable uncertainties in the features and in the robot position estimation. Kalman filter scheme is used for the estimation of the mobile robot localization. And Extensive experiments with a robot and a sensor network confirm the validity of the approach.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.12 no.2
• /
• pp.159-169
• /
• 2009

In this paper, optimum design of distributed detection is considered for a parallel sensor network system consisting of a fusion center and two passive sonar nodes. AND rule and OR rule are employed as the fusion rules of the sensor network. For the fusion rules, it is shown that a threshold rule of each sensor node has uniformly most powerful properties. Optimum threshold for each sensor is investigated that maximizes the probability of detection under the constraint of a specified probability of false alarm. It is also investigated through numerical experiments how signal strength, false alarm probability, and the distance between two sensor nodes affect the system detection performances.