• Journal of Ocean Engineering and Technology
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• v.31 no.2
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• pp.170-176
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• 2017

In this paper, we propose an underwater localization scheme through the fusion of an inertial navigation system (INS) and the received signal strength (RSS) of electromagnetic (EM) wave sensors to guarantee precise localization performance with high sampling rates. In this localization scheme, the INS predicts the pose of the unmanned underwater vehicle (UUV) by dead reckoning at every step, and the RF sensors corrects the UUV position functions using the Earth-fixed reference when the UUV is located in underwater wireless sensor networks (UWSN). The localization scheme and state modeling were conducted in the extended Kalman filter framework, and UUV localization experiments were conducted in a basin environment. The scheme achieved reliable localization accuracy during long-term navigation, demonstrating the feasibility of exploiting EM wave attenuation as Earth-fixed reference sensors.

• Proceedings of the Korea Water Resources Association Conference
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• 2018.05a
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• pp.193-193
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• 2018

종합적인 물 관리의 필요성이 대두되면서 증발산량의 연구가 최근 활발히 진행되고 있다. 그 중 국제식량농업기구(FAO, Food and Agriculture Organization)는 여러 기후에서 비교적 정확하고 일정한 경향을 갖는 Penman-Monteith(FAO-PM) 공식을 제시하였다. 이 공식은 다양한 환경을 무시하고 기준작물인 알팔파를 기준으로하여 기준증발산량을 산정하는 식으로써 각 환경에 맞는 작물계수를 곱하여 실제 증발산을 산정한다. FAO-56 Irrigation and Drainage에서는 작물계수를 단일작물계수(Single crop coefficent)와 이중작물계수(Dual crop coefficent)를 제시하고 있다. 단일작물계수는 토양의 증발과 식생의 증산을 하나의 계수로 고려하여 나타냈으며, 이중작물계수는 기저토양의 습윤을 통한 증산뿐 아니라 다양한 영향들을 고려하여 작물계수를 나타냈다. 그 외에도 원격탐사를 통한 식생지수를 통한 작물계수를 통하여 계수를 산출하기도 한다. 현재 국토교통부 및 한국수자원조사기술원에서는 에디공분산(Eddy covariance) 방법을 통해 실제증발산량을 관측하고 있으며, 품질관리 과정에서 Kalman filter를 이용하고 시스템 모델로써 FAO-PM 방법 등을 이용하고 있다. 따라서 FAO-PM 방법의 정확성을 증대시키기 위해선 작물계수에 관한 정확성을 연구가 진행되어야 한다. 본 연구에서는 여러 방법을 통해 산출한 작물계수를 이용한 FAO-PM 방법을 통한 실제증발산과 에너지 보존 방정식에 근거한 에디공분산 방법 통해 관측된 실제증발산량과 비교를 하였다. 평가 결과는 보다 정확하고 물리적인 증발산량 산정하는데 활용할 수 있을 것으로 기대된다.

• Proceedings of the Korea Water Resources Association Conference
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• 2018.05a
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• pp.301-301
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• 2018

본 연구에서는 위성 기반 토양수분 자료를 수문모형에 자료동화하여 격자 단위에서 수문기상인자를 산출하고 그 정확성을 평가하였다. 수문모형으로는 Variable Infiltration Capacity(VIC) model을 선정하여 국내 주요 8개 댐 유역에 구축하였으며, 입력자료는 2008년 이후 10년간 자료를 수집하였으며, 2008-2012년의 관측 유량 자료를 사용하여 모형을 보정하였다. 모형의 보정을 위해 Isolated-Speciation Particle Swarm Optimization(ISPSO) 기법을 적용하여 매개변수를 추정하였고, 2013-2017년의 관측유량 자료를 통하여 모형의 성능을 검증하였다. VIC 모형에 자료 동화한 토양수분 자료는 AMSR2 위성 토양 수분 자료와 지상관측 토양수분 자료를 합성한 자료를 사용하였으며, 인공위성자료와 지상 자료를 조건부합성기법으로 합성한 토양수분자료는 각 격자별 토양수분을 더 정확히 산정하여 자료동화시 모형의 모의 정확도가 향상되는 경향을 보였다. 본 연구결과는 지상관측자료를 통해 보정된 위성관측 토양수분자료를 자료동화하여 수문모형의 정확도를 향상시키고, 미계측 유역에 대한 향상된 수문기상인자 정보를 제공함으로써 다양한 수문분석의 기초자료로 활용될 수 있을 것으로 기대된다.

• Journal of the Korean Geophysical Society
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• v.9 no.3
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• pp.151-158
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• 2006

Highly accurate surface velocity estimation using modern geodetic techniques plays very important role in the geological and geophysical interpretation. Researches with GPS are ongoing in many countries of the world. This study aims to estimate the amount of crustal deformation and the direction of deformation in the Korean Peninsula and in its neighbor. We used GAMIT that is a comprehensive GPS analysis package developed at MIT. Then, a Global Kalman filter called GLOBK is used to combine the results from GAMIT and to estimate the relative and absolute velocity vector for the crustal deformations. To estimate station velocity accuracy and reliably, it is extremely important to pay great attention to the reference frame. Firstly, using the Suwon (SUWN) of Eurasian plate as main frame, we estimate the relative amount of crustal deformation and a direction of Eurasian plate and North American plate, Secondly, using ITRF 2000 as main frame, we estimate the absolute crustal deformation of Eurasian plate and North American plate. The continent of Eurasian where has the Korean Peninsula deforms 33.36 mm per year to East-Southeast (ESE), and Japanese Tsukuba (TSKB) in North American plate deforms to South-Southwest (SSW). Finally, the Korean Peninsula is approaching the Japanese Island and the rate of horizontal crustal deformation between the Suwon and the Tsukuba is about 31.98 mm per year in the moving direction of N85.9oW (274.1o) for the past three years.

• The Transactions of the Korean Institute of Power Electronics
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• v.26 no.5
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• pp.357-363
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• 2021

Eco-friendly hybrid railroad propulsion system with fuel-cell and battery was suggested to reduce carbon dioxide gas and replace retired diesel railroads. Lithium-ion battery with high energy/power density and long lifetime is selected as the energy source at the battery side due to its excellent performance. However, the performance of lithium-ion batteries was affected by temperature, current rate, and operating condition. Temperature is known to be the most influential factor in changing battery parameters. In addition, appropriate thermal management is required to ensure the safe and effective operation of lithium-ion battery. Electro-thermal coupled model with varying parameter depends on temperature, and state-of-charge (SOC) is suggested to estimate battery temperature. The electric-thermal coupled model contains diffusion current using parameter identification by adaptive control algorithm when considering thermal diffusion effect. An experiment under forced convection was conducted using cylindrical cell and 18 parallel-connected battery module to demonstrate the method.

• Journal of Korea Multimedia Society
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• v.22 no.2
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• pp.167-177
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• 2019

Even though so much progresses have been achieved in Multiple Object Tracking (MOT), most of reported MOT methods are not still satisfactory for commercial embedded products like Pan-Tilt-Zoom (PTZ) camera. In this paper, we propose a real-time multiple pedestrians tracking method for embedded environments. First, we design a new light weight convolutional neural network(CNN)-based pedestrian detector, which is constructed to detect even small size pedestrians, as well. For further saving of processing time, the designed detector is applied for every other frame, and Kalman filter is employed to predict pedestrians' positions in frames where the designed CNN-based detector is not applied. The pose orientation information is incorporated to enhance object association for tracking pedestrians without further computational cost. Through experiments on Nvidia's embedded computing board, Jetson TX2, it is verified that the designed pedestrian detector detects even small size pedestrians fast and well, compared to many state-of-the-art detectors, and that the proposed tracking method can track pedestrians in real-time and show accuracy performance comparably to performances of many state-of-the-art tracking methods, which do not target for operation in embedded systems.

• Journal of Korea Multimedia Society
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• v.21 no.12
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• pp.1396-1406
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• 2018

Lane detection is a key function in developing autonomous vehicle technology. In this paper, we propose a lane marker detection algorithm robust to environmental variation targeting low cost embedded computing devices. The proposed algorithm consists of two phases: initialization phase which is slow but has relatively higher accuracy; and the tracking phase which is fast and has the reliable performance in a limited condition. The initialization phase detects lane markers using a set of filters utilizing the various features of lane markers. The tracking phase uses Kalman filter to accelerate the lane marker detection processing. In a tracking phase, we measure the reliability of the detection results and switch it to initialization phase if the confidence level becomes below a threshold. By combining the initialization and tracking phases we achieved high accuracy and acceptable computing speed even under a low cost computing resources in which we cannot use the computing intensive algorithm such as deep learning approach. Experimental results show that the detection accuracy is about 95% on average and the processing speed is about 20 frames per second with Raspberry Pi 3 which is low cost device.

• Journal of IKEEE
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• v.22 no.4
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• pp.1031-1035
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• 2018

A compensation algorithm targeting for torque development from a SPMSM including a low speed operation is presented in this paper. As known, PM flux linkage in SPMSM is varied by temperature. Maximum Torque per Ampere (MTPA) uses the calculated PM flux linkage, and torque error occurs due to change of PM flux linkage. In the manuscript, estimated PM flux linkage is obtained using a stator flux observer. The torque error is corrected using the estimated PM flux linkage. The proposed algorithm is implemented and verified in simulation and experiment.

• The Journal of the Korea institute of electronic communication sciences
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• v.14 no.4
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• pp.637-644
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• 2019

This paper describes an implementation of a graph-based simultaneous localization and mapping(SLAM) method called the General Graph Optimization. The General Graph Optimization formulates the SLAM problem using nodes and edges. The nodes represent the location and attitude of a robot in time sequence, and the edge between the nodes depict the constraint between the nodes. The constraints are imposed by sensor measurements. The General Graph Optimization solves the problem by optimizing the performance index determined by the constraints. The implementation is verified using the measurement data sets which are open for test of various SLAM methods.

• Journal of Korea Multimedia Society
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• v.22 no.9
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• pp.1011-1019
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• 2019

In this paper, we propose a system that can more precisely identify and monitor the position of the tool used in the assembling workplace such as automobile production. The proposed positioning monitoring system is a combination of UWB communication module and MEMS IMU sensor. Since UWB does not need modulation and demodulation function and has low power density, UWB is widely used in indoor positioning field. However, it may cause positioning error due to errors in RF transmission and reception process, which may cause positioning accuracy. Therefore, in this paper, we propose an algorithm that uses IMU as an auxiliary means to compensate for errors that may occur in positioning using only UWB. The tag and anchor of UWB module measure the transmission / reception time by transmitting signals to each other and then estimate the distance between tag and anchor. The MEMS IMU sensor serves to provide positioning calibration information. The tag, which is a mobile node and attached to a moving tool, measures the three-dimensional position of the tool and transfers the coordinate data to the anchor. Thus, it is possible to confirm whether or not the specific tool is properly used according to the prescribed regulations.