• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.4
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• pp.438-444
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• 2004

The intelligent robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, robots need to recognize their position and posture in known environment as well as unknown environment. Moreover, it is necessary for their localization to occur naturally. It is desirable for a robot to estimate of his position by solving uncertainty for mobile robot navigation, as one of the best important problems. In this paper, we describe a method for the localization of a mobile robot using image information of a moving object. This method combines the observed position from dead-reckoning sensors and the estimated position from the images captured by a fixed camera to localize a mobile robot. Using the a priori known path of a moving object in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a moving object and the estimated robot's position. Since the equations are based or the estimated position, the measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the mobile robot. The Kalman filter scheme is applied for this method. its performance is verified by the computer simulation and the experiment.

• KSBB Journal
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• v.16 no.6
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• pp.603-608
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• 2001

In this study, we studied on the remeval of toluene vapors in a lab-scale biofilter. Biofiltration was performed in a column fed downflow with contaminated air at ambient conditions. The column was packed with mixture of Peat and Calstene(5:3 vol. Ratio), Synthesized media, Bark and Wood chip, which were inoculated with microbial population of selected stains(Pseudomonas. putida, KCCM 11343, ATCC 12633). The microorganisms were immobilized on the bed medium and then biofilm were formed. The biofilter was operated under the conditions of various inlet toluene concentrations for 180 days and treated up to the elimination capacity of maximum 40 g/㎥hr at the inlet load of 30 g/㎥ hr with percentage removals of 20∼90% and gas retention times between 1 and 2 min. The pressure drop was very negligible through the biofilter columps because its value of 0.054 cmH$_2$O/m was much less than others. The effect of operating conditions such as flow rate, inlet toluene concentration and moisture contents on the performance of the biofilter was sequentially investigated in this study.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.6
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• pp.102-109
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• 2014

A particle system is used for modeling the physical phenomenon. There are many traditional ways for simulation modeling which can be well suited for application including the landscapes of branches, clouds, waves, fog, rain, snow and fireworks in the three-dimensional space. In this paper, we present a new fireworks modeling technique for modeling 3D firework based on Firework Particle Tracking (FPT) using the particle system. Our method can track and recognize the launched and exploded particle of fireworks, and extracts relatively accurate 3D positions of the particles using 3D depth values. It can realize 3D simulation by using tracking information such as position, speed, color and life time of the firework particle. We exploit Region of Interest (ROI) for fast particle extraction and the prevention of false particle extraction caused by noise. Moreover, Kalman filter is used to enhance the robustness in launch step. We propose a new fireworks particle tracking method for the efficient tracking of particles by considering maximum moving range and moving direction of particles, and shall show that the 3D speeds of particles can be obtained by finding the rotation angles of fireworks. Also, we carry out the performance evaluation of particle tracking: tracking speed and accuracy for tracking, classification, rotation angle respectively with respect to four types of fireworks: sphere, circle, chrysanthemum and heart.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.3
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• pp.164-173
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• 2014

In underwater robotics, vision would be a key element for recognition in underwater environments. However, due to turbidity an underwater optical camera is rarely available. An underwater imaging sonar, as an alternative, delivers low quality sonar images which are not stable and accurate enough to find out natural objects by image processing. For this, artificial landmarks based on the characteristics of ultrasonic waves and their recognition method by a shape matrix transformation were proposed and were proven in Part 1. But, this is not working properly in undulating and dynamically noisy sea-bottom. To solve this, we propose a framework providing a selection phase of likelihood candidates, a selection phase for final candidates, recognition phase and tracking phase in sequence images, where a particle filter based selection mechanism to eliminate fake candidates and a mean shift based tracking algorithm are also proposed. All 4 steps are running in parallel and real-time processing. The proposed framework is flexible to add and to modify internal algorithms. A pool test and sea trial are carried out to prove the performance, and detail analysis of experimental results are done. Information is obtained from tracking phase such as relative distance, bearing will be expected to be used for control and navigation of underwater robots.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.17 no.8 s.111
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• pp.773-787
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• 2006

An airborne radar is an essential aviation electronic system for the aircraft to perform various civil and/or military missions in all weather environments. This paper presents the design, development, and test results of the multi-mode X-band pulsed Doppler radar system test model for helicopter-borne flight test. This radar system consists of 4 LRUs(Line-Replacement Unit), which include antenna unit, transmitter and receiver unit, radar signal & data processing unit and display Unit. The developed core technologies include the planar array antenna, TWTA transmitter, coherent I/Q detector, digital pulse compression, MTI, DSP based Doppler FFT filter, adaptive CFAR, moving clutter compensation, platform motion stabilizer, and tracking capability. The design performance of the developed radar system is verified through various ground fixed and moving vehicle test as well as helicopter-borne field tests including MTD(Moving Target Detector) capability for the Doppler compensation due to the moving platform motion.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.27 no.7
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• pp.635-645
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• 2016

In this paper, we showed the phase noise of voltage controlled oscillator(VCO) can be radically improved using FLL(Frequency Locked Loop). At first, a 5 GHz VCO is fabricated using a hair-pin resonator. The fabricated VCO shows a phase noise of -53.1 dBc/Hz at 1 kHz frequency offset. In order to improve the phase noise of the fabricated VCO, a FLL is constructed using the feedback loop that consists of the VCO, a frequency detector composed of 5 GHz resonator, loop-filter, and level shifter. The fabricated FLL is designed to oscillate at a frequency of 5 GHz, and its measured phase noise is about -120.6 dBc/Hz at 1 kHz offset frequency. As a result, the phase noise of VCO can be radically improved by about 67.5 dB applying FLL. In addition, the measured phase noise performance is close to that of crystal oscillator.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.42 no.3 s.333
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• pp.25-32
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• 2005

In this papers, we first, therefore, designed VCO(voltage controlled oscillator) that is composed of the dielectric resonator and the varactor diode, and then designed and fabricated PLDRO(phase locked dielectric resonator oscillator) that is combined with the sampling phase detector and loop filter. The measured results of the fabricated PLDRO at 12.05 [GHz] show the output power is 13.54 [dBm], frequency tuning range approximately +/- 7.5 [MHz], and Power variation over the tuning range less than 0.2 [dB], respectively. The phase noise which effects on bits error rate in digital communication is obtained with -114.5 [dBc/Hz] at 100 [KHz] offset from carrier, and The second harmonic suppression is less than -41.49 [dBc]. These measured results are found to be more improved than those of VCO without adopting PLL, and the phase noise and power variation performance characteristics show the better performances than those of conventional PLL.

• Journal of Digital Contents Society
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• v.19 no.8
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• pp.1603-1615
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• 2018

In order to achieve the low complexity and area, power in the design of Optical Image Stabilization (OIS) suitable for the smart phone, this paper presents the following design explorations, such as; optimization of gyroscope sampling rate, simple and accurate gyroscope filters, and reduced operating frequency of motion compensation, optimized bit width in ADC and DAC, evaluation of noise effects due to PWM driving. In experiments of gyroscope sampling frequencies, it is found that error values are unvaried in the frequency above 5KHz. The gyroscope filter is efficiently designed by combining the Fuzzy algorithm, to illustrate the reasonable compensation for the angle and phase errors. Further, in the PWM design, the power consumption of 2MHz driving is shown to decrease up to 50% with respect to the linear driving, and the imaging noises are reduced in the driving frequency above 2MHz driving frequency. The operating frequency could be reduced to 5KHz in controller and 10KHz in driver, respectively, in the motion compensation. For ADC and DAC, the optimized exploration experiments verify the minimum bit width of 11bits in ADC as well as 10bits in DAC without the performance degradation.

• The Bulletin of The Korean Astronomical Society
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• v.35 no.1
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• pp.40.1-40.1
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• 2010

The Main payload of the STSAT-3 (Korea Science & Technology Satellite-3), MIRIS (Multipurpose Infra-Red Imaging System) has been developed for last 3 years by KASI, and its Flight Model (FM) is now being developed as the final stage. All optical lenses and the opto-mechanical components of the FM have been completely fabricated with slight modifications that have been made to some components based on the Engineering Qualification Model (EQM) performances. The components of the telescope have been assembled and the test results show its optical performances are acceptable for required specifications in visual wavelength (@633 nm) at room temperature. The ensuing focal plane integration and focus test will be made soon using the vacuum chamber. The MIRIS mechanical structure of the EQM has been modified to develop FM according to the performance and environment test results. The filter-wheel module in the cryostat was newly designed with Finite Element Analysis (FEM) in order to compensate for the vibration stress in the launching conditions. Surface finishing of all components were also modified to implement the thermal model for the passive cooling technique. The FM electronics design has been completed for final fabrication process. Some minor modifications of the electronics boards were made based on EQM test performances. The ground calibration tests of MIRIS FM will be made with the science grade Teledyne PICNIC IR-array.

• Journal of Environmental Health Sciences
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• v.42 no.1
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• pp.53-60
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• 2016

Objectives: Preservatives are commonly used in pharmaceuticals, cosmetics and other products to extend the expiration date and prevent the growth of microorganisms. Preservatives are generally effective in controlling mold and inhibiting yeast growth, and against a wide range of bacterial attacks as well. They also adversely affect the quality of sperm and cause precocious puberty in children. This study was performed to analyze seven preservatives used in pharmaceuticals and personal care products. Methods: Five kinds of pharmaceuticals and personal care products (PPCPs) were examined for analysis with a high performance liquid chromatography-diode array detector. Each sample was homogenized and the targeted compounds were extracted with methanol. The suspended particulate was removed by syringe filter. Next, the sample was injected into an HPLC system. The separation of the seven preservatives was achieved with a C18 column and gradient mode. The accuracies were between 73% and 120% and precision was lower than 11.58% (RSD). Results: All of the calibration curves showed good linearity with a coefficient of determination ($r^2$) over 0.999. Among the PPCP samples, the detection rate of preservatives was 32.5% for pharmaceuticals, 44.8% for toothpaste, 76.9% for mouthwash, 40.0% for body lotion and 56.0% for wet tissues. The average concentrations of the preservatives in PPCPs were BA 1141.0 mg/kg, MP 709.8 mg/kg, EP 624.9 mg/kg, PP 216.9 mg/kg, BP 167.8 mg/kg, and TCS 538.2 mg/kg. The most frequently detected preservatives in pharmaceuticals and personal care products were BA, MP and PP. The concentrations of preservatives exceeded Korean regulatory standards in 11 samples of medicines, three of mouthwash and two of body lotion. Conclusion: We found that most of the PPCP samples contained various preservatives. It is necessary to identify which preservatives were used and to determine the level of preservatives in PPCPs and to assess the health risk to susceptible populations such as children.