• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.1797-1801
• /
• 2005

SLAM(Simultaneous localization and mapping) and AI(Artificial intelligence) have been active research areas in robotics for two decades. In particular, localization is one of the most important issues in mobile robot research. Until now expensive sensors like a laser sensor have been used for the mobile robot's localization. Currently, as the RFID reader devices like antennas and RFID tags become increasingly smaller and cheaper, the proliferation of RFID technology is advancing rapidly. So, in this paper, the smart floor using passive RFID tags is proposed and, passive RFID tags are mainly used to identify the mobile robot's location on the smart floor. We discuss a number of challenges related to this approach, such as RFID tag distribution (density and structure), typing and clustering. In the smart floor using RFID tags, because the reader just can senses whether a RFID tag is in its sensing area, the localization error occurs as much as the sensing area of the RFID reader. And, until now, there is no study to estimate the pose of mobile robot using RFID tags. So, in this paper, two algorithms are suggested to. We use the Markov localization algorithm to reduce the location(X,Y) error and the Kalman Filter algorithm to estimate the pose(q) of a mobile robot. We applied these algorithms in our experiment with our personal robot CMR-P3. And we show the possibility of our probability approach using the cheap sensors like odometers and RFID tags for the mobile robot's localization on the smart floor.

• Korean Journal of Remote Sensing
• /
• v.33 no.1
• /
• pp.89-95
• /
• 2017

Ship detection in synthetic aperture radar(SAR)imagery has long been an active research topic and has many applications. In this paper,we propose an efficient method for detecting ships from SAR imagery using filtering. This method exploits ship masking using a median filter that considers maximum ship sizes and detects ships from the reference image, to which a Non-Local means (NL-means) filter is applied for speckle de-noising and a differential image created from the difference between the reference image and the median filtered image. As the pixels of the ship in the SAR imagery have sufficiently higher values than the surrounding sea, the ship detection process is composed primarily of filtering based on this characteristic. The performance test for this method is validated using KOMPSAT-5 (Korea Multi-Purpose Satellite-5) SAR imagery. According to the accuracy assessment, the overall accuracy of the region that does not include land is 76.79%, and user accuracy is 71.31%. It is demonstrated that the proposed detection method is suitable to detect ships in SAR imagery and enables us to detect ships more easily and efficiently.

• Proceedings of the KSRS Conference
• /
• 2003.11a
• /
• pp.528-530
• /
• 2003

We present here, some of the studies carried for estimation of rainfall over land and oceanic regions in and around South Korea. We use active and passive microwave measurements from TRMM ? TMI and Precipitation Radar (PR) respectively during a typhoon even named ? RUSA that took place during 30 Aug. 2002. We have followed due approach by Yao at. all (2002) and examined the performance of their algorithm using two main predictor variable, named as Scattering Index (SI) and Polarization Corrected Brightness Temperature (PCT) while using TMI data. The rainfall fnus estimated using PST and SI shows some Underestimation as compared to the 2A25 rainfall products from the PR in common area of overlap. A larger database thus would be used in future. To establish a new rain rate algorithm over Korean region based on the present case study.

• Proceedings of the KSRS Conference
• /
• 2004.10a
• /
• pp.201-203
• /
• 2004

We present here, some of the studies carried for estimation of rainfall over land and oceanic regions in and around South Korea. We use active and passive microwave measurements from TRMM - TMI and Precipitation Radar (PR) respectively during a typhoon even named - RUSA that took place during 30 Aug. 2002. We have followed due approach by Yao at. all (2002) and examined the performance of their algorithm using two main predictor variable, named as Scattering Index (SI) and Polarization Corrected Brightness Temperature (PCT) while using TMI data. The rainfall rate estimated using PCT and SI shows some under-estimation as compared to the AWS rainfall products from the PR in common area of overlap. A larger database thus would be used in future. To establish a new rain rate algorithm over Korean region based on the present case study.

• Smart Structures and Systems
• /
• v.20 no.3
• /
• pp.311-328
• /
• 2017

The characteristics of boundary layers have significant effects on the aerodynamic forces and vibration of the wind turbine blade. The incorporation of active trailing edge flaps (ATEF) into wind turbine blades has been proven as an effective control approach for alleviation of load and vibration. This paper is aimed at investigating the effects of external trailing edge flaps on the flow pattern and velocity distribution within a boundary layer of a NREL 5MW reference wind turbine, as well as designing a new type of velocity sensors for future validation measurements. An aeroelastic-aerodynamic simulation with FAST-AeroDyn code was conducted on the entire wind turbine structure and the modifications were made on turbine blade sections with ATEF. The results of aeroelastic-aerodynamic simulations were combined with the results of two-dimensional computational fluid dynamic simulations. From these, the velocity profile of the boundary layer as well as the thickness variation with time under the influence of a simplified load case was calculated for four different blade-flap combinations (without flap, with $-5^{\circ}$, $0^{\circ}$, and $+5^{\circ}$ flap). In conjunction with the computational modeling of the characteristics of boundary layers, a bio-inspired hair flow sensor was designed for sensing the boundary flow field surrounding the turbine blades, which ultimately aims to provide real time data to design the control scheme of the flap structure. The sensor element design and performance were analyzed using both theoretical model and finite element method. A prototype sensor element with desired bio-mimicry responses was fabricated and validated, which will be further refined for integration with the turbine blade structures.

• Smart Structures and Systems
• /
• v.6 no.5_6
• /
• pp.641-659
• /
• 2010

Structural Health Monitoring (SHM) gradually becomes a technique for ensuring the health and safety of civil infrastructures and is also an important approach for the research of the damage accumulation and disaster evolving characteristics of civil infrastructures. It is attracting prodigious research interests and the active development interests of scientists and engineers because a great number of civil infrastructures are planned and built every year in mainland China. In a SHM system the sheer number of accompanying wires, fiber optic cables, and other physical transmission medium is usually prohibitive, particularly for such structures as offshore platforms and long-span structures. Fortunately, with recent advances in technologies in sensing, wireless communication, and micro electro mechanical systems (MEMS), wireless sensor technique has been developing rapidly and is being used gradually in the SHM of civil engineering structures. In this paper, some recent advances in the research, development, and implementation of wireless sensors for the SHM of civil infrastructures in mainland China, especially in Dalian University of Technology (DUT) and Harbin Institute of Technology (HIT), are introduced. Firstly, a kind of wireless digital acceleration sensors for structural global monitoring is designed and validated in an offshore structure model. Secondly, wireless inclination sensor systems based on Frequency-hopping techniques are developed and applied successfully to swing monitoring of large-scale hook structures. Thirdly, wireless acquisition systems integrating with different sensing materials, such as Polyvinylidene Fluoride(PVDF), strain gauge, piezoresistive stress/strain sensors fabricated by using the nickel powder-filled cement-based composite, are proposed for structural local monitoring, and validating the characteristics of the above materials. Finally, solutions to the key problem of finite energy for wireless sensors networks are discussed, with future works also being introduced, for example, the wireless sensor networks powered by corrosion signal for corrosion monitoring and rapid diagnosis for large structures.

• Proceedings of the IEEK Conference
• /
• 2001.09a
• /
• pp.117-120
• /
• 2001

Synthetic aperture radar (SAR) is a promising active remote sensing technique to obtain large terrain information of the earth in all-weather conditions. SAR is useful in many applications, including terrain mapping and geographic information system (GIS), which use SAR display images. Usually, these applications need the enormous data storage because they deal with wide terrain images with high resolution. So, compression technique is a useful approach to deal with SAR display images with limited storage. Because there is some indispensable data loss through the conversion of a complex SAR image to a display image, some applications, which need high-resolution images, cannot tolerate more data loss during compression. Therefore, lossless compression is appropriate to these applications. In this paper, we propose a novel lossless compression technique for a SAR display image using one-step predictor and block arithmetic coding.

• International Journal of Contents
• /
• v.7 no.1
• /
• pp.14-22
• /
• 2011

Temporal Sign Language Recognition (TSLR) from hand motion is an active area of gesture recognition research in facilitating efficient communication with deaf people. TSLR systems consist of two stages: a motion sensing step which extracts useful features from signers' motion and a classification process which classifies these features as a performed sign. This work focuses on two of the research problems, namely unknown time varying signal of sign languages in feature extraction stage and computing complexity and time consumption in classification stage due to a very large sign sequences database. In this paper, we propose a combination of Dynamic Time Warping (DTW) and application of the Single hidden Layer Feedforward Neural networks (SLFNs) trained by Extreme Learning Machine (ELM) to cope the limitations. DTW has several advantages over other approaches in that it can align the length of the time series data to a same prior size, while ELM is a useful technique for classifying these warped features. Our experiment demonstrates the efficiency of the proposed method with the recognition accuracy up to 98.67%. The proposed approach can be generalized to more detailed measurements so as to recognize hand gestures, body motion and facial expression.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.6 no.1
• /
• pp.446-467
• /
• 2012

In this paper, the analysis and design of a motion simulator (based on the approach taken by interactive virtual reality (VR) entertainment systems) is conducted. The main components of the system include a bilateral control interface, simulation and a motion simulator control scheme. The space entertainment system uses a virtual environment that enables operators to feel the actual feedback sensing and distorted motion from the virtual environment, just as they would in the real environment. The space entertainment system integrates the dynamics of the motion simulator and the virtual environment and the operator maneuvers a steering wheel to interact with the system. The multiple bilateral control schemes employ a dynamical controller, which is designed by considering the velocity and acceleration that the operator imposes on the joystick, the environmental changes imposed on the motion simulator. In addition, we develop a calculated method to evaluate the Ratio of the simulation results. It is shown that the proposed control scheme can improve the performance of the visual entertainment system. Experiments are conducted on the virtual reality entertainment system to validate the theoretical developments.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.36 no.12A
• /
• pp.994-1005
• /
• 2011

In this paper, we propose a novel approach to optimize the movement of mobile sink node, called AMSP(Adaptive Mobile Sink Path) for mobile sensor network environments. Currently available studies usually suffer from unnecessary data transmission resulting from random way point approach. To address the problem, we propose a method which uses the Hilbert curve to create a path. The proposed method guarantees shorten transmission distance between the sink node and each sensor node by assigning orders of the curve according to sensor node density. Furthermore, The schedule of the sink node is informed to all of the sensing nodes so that the Duty Cycle helps the network be more energy efficient. In our experiments, the proposed method outperforms the existing works such as TTDD and CBPER by up to 80% in energy consumption.