• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1788-1789
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• 2011

In order to develop a one-axis gimbaled acoustic source tracker for mobile robots, a pseudo-linear direction of arrival(DOA) estimator is proposed using a linear ultrasonic sensor array. Under the assumption that the sensor measurement errors are negligible, a linear measurement model is derived using the linear prediction relation of the received sinusoidal acoustic signals. Applying the Kalman filtering technique for this model, the linear recursive DOA estimator is designed. For its linear recursive filter structure, it is preferable for real-time implementation on a commercial DSP. Through the experiments, the effectiveness of the suggested method is demonstrated.

• Proceedings of the Korea Information Processing Society Conference
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• 2002.04b
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• pp.1415-1418
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• 2002

본 논문에서는 비동기 방식 IMT-2000 시스템에서의 망관리 시스템 구축 방안을 위한 방법에 대하여 기술한다. IMT-2000에서 제공되는 다양한 대역폭 기반의 고 성능 멀티미디어 서비스를 위한 안정화된 시스템 구축을 주요 목표로, 고품질의 서비스를 위한 망의 안정화 방안으로 망관리 기술을 도입하고, 기본적인 망관리 기술이외에 망 관리 트래픽 관리 기법을 도입함으로써, 망 및 시스템의 최적 상태를 유지할 수 있도록 하기 위함이다. 본 논문에서는 이를 위하여 IMT-2000 에서의 망관리 시스템을 구축하기 위한 방법에 대하여 기술하고, 구축된 시스템을 통하여 발생하는 망 관리 트래픽 관리 기법에 대하여 기술한다.

• Journal of Korea Spatial Information System Society
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• v.10 no.3
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• pp.55-65
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• 2008

For obtaining telematics traffic information(travel time or speed in an individual link), there are many kinds of devices to collect traffic data. Since the GPS satellite signals have been released to civil society, thank to the development of GPS technology, the GPS has become a very useful instrument for collecting traffic data. GPS can reduce the cost of installation and maintenance in contrast with existing traffic detectors which must be stationed on the ground. But. there are Problems when GPS data is applied to the existing filtering techniques used for analyzing the data collected by other detectors. This paper proposes a method to provide users with correct traffic information through filtering abnormal data caused by the unusual driving in collected data based on GPS. We have developed an algorithm that can be applied to real-time GPS data and create more reliable traffic information, by building patterns of past data and filtering abnormal data through selection of filtering areas using Quartile values. in order to verify the proposed algorithm, we experimented with actual traffic data that include probe cars equipped with a built-in GPS receiver which ran through Gangnam Street in Seoul. As a result of these experiments, it is shown that link travel speed data obtained from this algorithm is more accurate than those obtained by existing systems.

• Proceedings of the Korea Association of Information Systems Conference
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• 1997.10a
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• pp.113-125
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• 1997

The objective of this research is to construct and build a software platform to enable collaboration among enterprise headquarters, product designers, software engineers, manufacturing plants, and suppliers which are located at different remote locations via internet. In specific, agent technology is adopted as a software vehicle to automate demand as a software vehicle to automate demand and supply process in the internet environment. Agents are programs that act an behalf of their human users to perform laborious tasks such as information locating, accessing, filtering, integrating, adapting and resolving inconsistencies. Global competition is forcing the present day industry to produce high quality product more fast and inexpensively. In Korea, most labor-intensive industries have moved to China and other Asian countries for cost reduction. The need for fast information exchange has increased among the remote locations for the cooperation and coordination. In this research, a virtual global manufacturing system will be constructed that distributes production schedule among remote places, acts as a bridge between the headquarters and manufacturing plants, distributes tasks and collates different solutions between demand and supply using agent. The external communication protocol takes HTML format, internal message handling requires SGML for document exchange, and KQML for agent implementation. The expected benefits will be : reduced cost of real-time information exchange, realization of global manufacturing environment, the maximum utilization of internet for the enterprise data exchange.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.2
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• pp.314-324
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• 2018

This paper proposes a linear distributed target tracking filter for multiple unmanned aerial vehicles(UAVs) sharing their passive sensor measurements through communication channels. Different from the conventional nonlinear filtering schemes, the distributed passive target tracking problem is newly formulated within the framework of a linear robust state estimation theory incorporated with a linear uncertain measurement equation including the coordinate transform uncertainty. To effectively cope with the performance degradation due to the coordinate transform uncertainty, a linear consistent robust Kalman filter(CRKF) theory is devised and applied for designing a distributed passive target tracking filter. Through the simulations for typical UAV surveillance mission, the superior performance of the proposed method over the existing schemes of distributed passive target tracking are demonstrated.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.482-486
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• 2009

Scale-invariant feature is an effective method for retrieving and classifying images. In this study, we analyze a scale-invariant planar curve features for developing 2D shapes. Scale-space filtering is used to determine contour structures on different scales. However, it is difficult to track significant points on different scales. In mathematics, curvature is considered to be fundamental feature of a planar curve. However, the curvature of a digitized planar curve depends on a scale. Therefore, automatic scale detection for curvature analysis is required for practical use. We propose a technique for achieving automatic scale detection based on difference of curvature. Once the curvature values are normalized with regard to the scale, we can calculate difference in the curvature values for different scales. Further, an appropriate scale and its position are detected simultaneously, thereby avoiding tracking problem. Appropriate scales and their positions can be detected with high accuracy. An advantage of the proposed method is that the detected significant points do not need to be located in the same contour. The validity of the proposed method is confirmed by experimental results.

• Journal of Korea Multimedia Society
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• v.19 no.8
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• pp.1424-1432
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• 2016

A person often needs to visit a facility that have not been visited before. In this case, it is necessary to easily identify the building in which the facility is located. Indoor navigation is also important, as the person may get lost due to the complex structure of buildings. To solve these problems, this paper presents a mobile application which provides a user with indoor place information and indoor navigation. A user is requested to take a photograph of a building of interest or of the current location. Then, the proposed application identifies the building of interest or the current location of the user by utilizing an image matching technique. For fast matching, database filtering by using GPS/magnetometer data and pre-extraction of features for images in the database are utilized. In case of indoor navigation, the application provides the actual images of check points as well as the moving direction. Simulation results show that the proposed system successfully identifies the location of users and provides place information and indoor navigation.

• Journal of Astronomy and Space Sciences
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• v.20 no.4
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• pp.359-364
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• 2003

In this paper, we present multi-sensor data fusion for telematics application. Successful telematics can be realized through the integration of navigation and spatial information. The well-determined acquisition of vehicle's position plays a vital role in application service. The development of GPS is used to provide the navigation data, but the performance is limited in areas where poor satellite visibility environment exists. Hence, multi-sensor fusion including IMU (Inertial Measurement Unit), GPS(Global Positioning System), and DMI (Distance Measurement Indicator) is required to provide the vehicle's position to service provider and driver behind the wheel. The multi-sensor fusion is implemented via algorithm based on Kalman filtering technique. Navigation accuracy can be enhanced using this filtering approach. For the verification of fusion approach, land vehicle test was performed and the results were discussed. Results showed that the horizontal position errors were suppressed around 1 meter level accuracy under simulated non-GPS availability environment. Under normal GPS environment, the horizontal position errors were under 40㎝ in curve trajectory and 27㎝ in linear trajectory, which are definitely depending on vehicular dynamics.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.8
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• pp.727-732
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• 2008

In this paper, the state-space representation of generalized complimentary filter is proposed. Complementary filter has the suitable structure to merge information from sensors whose frequency regions are complementary. First, the basic concept and structure of complementary filter is introduced. And then the structure of the generalized filter and its state-space representation are proposed. The state-space representation of complementary filter is able to design the complementary filter by applying modern filtering techniques like Kalman filter and $H_{\infty}$ filter. To show the usability of the proposed state-space representation, the design of Inertial Navigation System(INS) vertical channel damping loop using Global Positioning System(GPS) is described. The proposed GPS/INS damping loop lends the structure of Baro/INS(Barometer/INS) vertical channel damping loop that is an application of complementary filter. GPS altitude error has the non-stationary statistics although GPS offers navigation information which is insensitive to time and place. Therefore, $H_{\infty}$ filtering technique is selected for adding robustness to the loop. First, the state-space representation of GPS/INS damping loop is acquired. And next the weighted $H_{\infty}$ norm proposed in order to suitably consider characteristics of sensor errors is used for getting filter gains. Simulation results show that the proposed filter provides better performance than the conventional vertical channel loop design schemes even when error statistics are unknown.

• Smart Structures and Systems
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• v.25 no.5
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• pp.631-641
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• 2020

To meet the urgent requirements of safety surveillance from civil engineering management authorities, this study proposes a refined and efficient approach to generate full-field high-resolution panorama of construction sites using camera-amounted UAV (Unmanned Aerial Vehicle). GPS (Global Position System) information extraction for pre-registration, feature points filtering for efficient registration and optimal seaming line seeking for fusion are performed in sequence to form the full-field panorama generation framework. Advantages of the proposed method are as follows. First, GPS information can sort images for pre-registration, avoiding inefficient repeated pairwise calculations and matching. Second, the feature points are filtered according to the characteristics of the construction site images to reduce the amount of calculation. The proposed framework is validated on a road construction site and results demonstrate that it can generate an accurate and high-quality full-site panorama for the safety supervision in a much efficient manner.