• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.4
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• pp.516-523
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• 2009

Recently, the applications of unmanned robots are increasing in various fields including surveillance and reconnaissance, planet exploration and disaster relief. To perform their missions with success, the robots should be able to evaluate terrain's characteristics quantitatively and identify traversable regions to progress toward a goal using mounted sensors. Recently, the authors have proposed techniques that extract terrain information and analyze traversability for off-road navigation of an unmanned robot. In this paper, we examine the use of 3D world models(terrain maps) to classify obstacle and safe terrain for increasing the reliability of the proposed techniques. A world model is divided into several patches and each patch is classified as belonging either to an obstacle or a non-obstacle using three types of metrics. The effectiveness of the proposed method is verified on real terrain maps.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.2
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• pp.271-280
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• 2011

This paper presents a navigation system based on the tactical communication and vision system in outdoor environments which is applied to unmanned robot for perimeter surveillance operations. GPS errors of robot are compensated by the reference station of C2(command and control) vehicle and WiBro(Wireless Broadband) is used for the communication between two systems. In the outdoor environments, GPS signals can be easily blocked due to trees and buildings. In this environments, however, vision system is very efficient because there are many features. With the feature MAP around the operation environments, the robot can estimate the position by the image matching and pose estimation. In the navigation system, thus, operation modes is switched by navigation manager according to some environment conditions. The experimental results show that the unmanned robot can estimate the position very accurately in outdoor environment.

• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.3
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• pp.307-314
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• 2017

Terrain referenced navigation(TRN) system is an attractive method for obtaining position based on terrain measurements and a terrain map. We focus on TRN systems based on the point mass filter(PMF) which is one of the recursive Bayesian method. In this paper, we propose two kinds of performance index for Bayesian filter. The proposed indices are based on entropy and mutual information from information theory. The first index measures roughness of terrain based on entropy of likelihood. The second index named by information gain, which is the mutual information between priori and posteriori distribution, is a quantity of information gained by updating measurement at each step. The proposed two indices are used to determine whether the solution from TRN is adequate for TRN/INS integration or not, and this scheme gives the performance improvement. Simulation result shows that the proposed indices are meaningful and the proposed algorithm performs better than normal TRN algorithm.

• Journal of the Korea Institute of Military Science and Technology
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• v.25 no.3
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• pp.219-230
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• 2022

In implementing a robust automatic target recognition(ATR) system with synthetic aperture radar(SAR) imagery, one of the most important issues is accurate classification of target variants, which are the same targets with different serial numbers, configurations and versions, etc. In this paper, a deep learning network with channel attention modules is proposed to cope with the recognition problem for target variants based on the previous research findings that the channel attention mechanism selectively emphasizes the useful features for target recognition. Different from other existing attention methods, this paper employs the channel attention modules without dimensionality reduction along the channel direction from which direct correspondence between feature map channels can be preserved and the features valuable for recognizing SAR target variants can be effectively derived. Experiments with the public benchmark dataset demonstrate that the proposed scheme is superior to the network with other existing channel attention modules.

• Smart Structures and Systems
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• v.32 no.4
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• pp.195-205
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• 2023

The contact acoustic emission (AE) monitoring system is time-consuming and costly for monitoring concrete structures in large scope, in addition, the great difference in acoustic impedance between air and concrete makes the detection process inconvenient. In this work, we broaden the conventional AE source localization method for concrete to the non-contact (air-coupled) micro-electromechanical system (MEMS) microphones array, which collects the energy-rich leaky Rayleigh waves, instead of the relatively weak P-wave. Finite element method was used for the numerical simulations, it is shown that the propagation velocity of leaky Rayleigh waves traveling along the air-concrete interface agrees with the corresponding theoretical properties of Lamb wave modes in an infinite concrete slab. This structures the basis for implementing a non-contact AE source location approach. Based on the experience gained from numerical studies, experimental studies on the proposed air-coupled AE source location in concrete slabs are carried out. Finally, it is shown that the locating map of AE source can be determined using the proposed system, and the accuracy is sufficient for most field monitoring applications on large plate-like concrete structures, such as tunnel lining and bridge deck.

• Journal of the Korean Institute of Landscape Architecture
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• v.44 no.6
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• pp.73-83
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• 2016

This study modified and applied the ecological network(Indicator 2) from the City Biodiversity Index(CBI) to be tailored to Korea. It is calculated by utilizing a biotope map and a land cover map. The ecological network of Gyeryong-Si was 13,713,703(33.8%) with the biotope map and 17,686,966(37.9%) with the land cover map. The result of the biotope map was lower than the land cover map. The ecological network of Goyang-Si was 4,961,922(4.9%) with the biotope map and 4,383,207(3.7%) with the land cover map. The result of the land cover map was lower than the biotope map. As a main result of the research, an error was discovered in which, when calculating the ecological network, the types of the military unit facilities were distinguished into a special area on the biotope map and into an urbanization promotion area and a forest area on the land cover map. In the case of a middle-classified, land cover map, the land use in the surroundings of the forest area was not subdivided. An error in the development area expressed as a forest green was discovered. When selecting the natural elements, too, regarding the types of artificially-created rivers, artificial ponds, and artificial grasslands, etc. on a biotope map, the exclusions were necessary. Regarding the natural, bare ground on a land cover map, there was a need to calculate by including the natural elements. It was judged that, in the future, the ecological network in the unit of the entire nation can be analyzed roughly by utilizing a land cover map. It was judged that, in a city having a biotope map, the calculation of the ecological network utilizing a map of the present situation of the urban ecology will be a more accurate diagnosis of the present situation.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.48 no.5
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• pp.8-15
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• 2011

The goal of this paper is to describe how to construct an integrated simulation system that integrates limited perception-based mapping with spatial reasoning, path planning, and human motion style in order for a virtual soldier to effectively communicate with other virtual solders and/or human participants in a simulation. Virtual human research often ignores or simplifies perception by using a full map (with omniscient perception). In addition, previous research used a placement node where virtual environment designers save in advance the required information. However, this paper also shows that the human-like movement behavior can be achieved by the integrated ECA system with the mapping that supports a spatial understanding and does not require the omniscient perception.

• Proceedings of the KSRS Conference
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• 2002.10a
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• pp.275-279
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• 2002

Change Detection is a useful technology that can be applied to various fields, taking temporal change information with the comparison and analysis among multi-temporal satellite images. Especially, Change Detection that utilizes high-resolution satellite imagery can be implemented to extract useful change information for many purposes, such as the environmental inspection, the circumstantial analysis of disaster damage, the inspection of illegal building, and the military use, which cannot be achieved by low- or middle-resolution satellite imagery. However, because of the special characteristics that result from high-resolution satellite imagery, it cannot use a pixel-based method that is used for low-resolution satellite imagery. Therefore, it must be used a feature-based algorithm based on the geographical and morphological feature. This paper presents the system that builds the change map by digitizing the boundary of the changed object. In this system, we can make the change map using manual or semi-automatic digitizing through the user interface implemented with a floating window that enables to detect the sign of the change, such as the construction or dismantlement, more efficiently.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.11
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• pp.1017-1026
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• 2015

Infrared (IR) target detection is one of the key technologies in Automatic Target Detection/Recognition (ATD/R) for military applications. However, IR sensors have limitations due to the weather sensitivity and atmospheric effects. In recent years, sensor information fusion study is an active research topic to overcome these limitations. SAR sensor is adopted to sensor fusion, because SAR is robust to various weather conditions. In this paper, a Boolean Map Visual Theory-Morphology (BMVT-M) method is proposed to detect targets in SAR and IR images. Moreover, we suggest the IR and SAR image registration and decision level fusion algorithm. The experimental results using OKTAL-SE synthetic images validate the feasibility of sensor fusion-based target detection.

• Journal of architectural history
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• v.21 no.5
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• pp.33-46
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• 2012

The purpose of this study lies on reinterpreting the geography books in Joseon dynasty as records of the cities and consequently suggesting directions for further urban research. Geography books of Joseon dynasty are valuable references to understand the national policy, and imply that the focus of the contents is on the system. Especially, military system is an important concept to understand city type in that period, relationships between cities, selection of location, etc. The results of review are as following: First, military system is not a permanent fixture and therefore reflects changes in urban policies along with the history. The system suggests valuable clues on urban development as it is state-run, and closely associated with national land development. Second, counties and prefectures under jurisdiction of district called Eupchi(邑治) had cities as important as or even more important than local government such as Yeong-a(營衙), Jinbo(鎭堡), Yeok(驛: administrative cities). Such special regions need to be studied as other type of cities in Joseon dynasty by defining their architectural characteristics and roles. Third, the relationship of cities such as Eupch, Yeong-a, and Jinbo, was reorganized according to the local military system. Eupchi, administrative city, along with Yeong-a and Jinbo evolved into a military city as it became systematically organized. The characteristics of Yeok needs to be reconsidered in the context of such new inter-city relationship. Fourth, considerations which should be reviewed in the geography based on this concept can be mainly classified into architecture and landscape. This will also lay the foundation, and suggest new directions for further research for Eupchi, Yeong-a, Jinbo, and Yeok. Fifth, description of the geography looks simple at first sight, but with thorough understating on the system, there are chances to interpret objective reasoning of position and landscape in the overall flow of region, area, etc. Bongsu(烽燧), signal-fire, can be an object of comparison with geographical features and position. Furthermore, advantageous position is a historical and geographical element showing the major context of the region.