• The Journal of Korea Robotics Society
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• v.5 no.1
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• pp.14-22
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• 2010

Recently researches on the window cleaning robot are being conducted actively. Moving mechanismsof these window cleaning robots are divided into two categories, which are towed type and walking type. Towed type is focused on fast cleaning on the flat surface of building and walking type has priority on cleaning task on relatively complex surface with overcoming obstacles. Currently commercialized towed type window cleaning robot has weakness that it is hard to adhere closely with the wall and easy to be affected by wind. In case of walking type it has the problem that the position errors are continuously accumulated during motion. In this paper, we propose new towed and walking type mechanism which can compensate previous weaknesses. After that we estimate the performance of each proposed mechanism by simulation.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.758-761
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• 2003

This paper introduces a method that can detect obstacles and corridor environments from the images captured by a CCD camera in an automobile or mobile robot is proposed. Processing the input dynamic images in real time requires high performance hardware as well as efficient software. In order to relieve these requirements for detecting the useful information from the images in real time, a "Moving Window" scheme is proposed. Therefore, detecting the useful information, it becomes possible to search the obstacles within the driving corridor of an automobile or mobile robot. The feasibility of the proposed algorithm is demonstrated through the simulated experiments of the corridor driving.

• Journal of the Korean Institute of Telematics and Electronics D
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• v.35D no.9
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• pp.70-76
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• 1998

By controlling the pixel of a LCD spatial light modulator electronically, we made a real-time moving window passing through the light on a LCD spatial light modulator. By using this LCD moving window, we suggested an angular multiplexed holographic memory system and in case of windows of 10$\times$10 pixels and 2$\times$2 pixels the total numbers of address are 1,536 and 38,400, respectively. To demonstrate the feasibility of the proposed method, we recorded and reconstructed 30 images by 30 input addresses.

• Journal of the Korean Association of Geographic Information Studies
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• v.10 no.3
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• pp.22-30
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• 2007

It is difficult to generate DTM using aerial photographs because trees usually cover disaster occurred areas. So, this study proposed how to filter by moving window using digital aerial photographs and generate accurate DTM. The results were compared with those of adaptive filtering by commercial digital photogrammetry software (Socet set) to find out the effect of tree removal by window size in forest soil sediment disaster. And then they were compared with DTM generated from LiDAR data. As a result, it was showed that the accuracy of moving filtering DTM was lower than that of LiDAR DTM while it was higher by 6m than that of Adaptive filtering.

• Journal of Mechanical Science and Technology
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• v.16 no.4
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• pp.427-435
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• 2002

This paper presents a development result for image processed tracking system of multiple moving objects based on Kalman filter and a simple window tracking method. The proposed algorithm of foreground detection and background adaptation (FDBA) is composed of three modules: a block checking module(BCM), an object movement prediction module(OMPM), and an adaptive background estimation module (ABEM). The BCM is processed for checking the existence of objects. To speed up the image processing time and to precisely track multiple objects under the object's mergence, a concept of a simple window tracking method is adopted in the OMPM. The ABEM separates the foreground from the background in the reset simple tracking window in the OMPM. It is shown through experimental results that the proposed FDBA algorithm is robustly adaptable to the background variation in a short processing time. Furthermore, it is shown that the proposed method can solve the problems of mergence, cross and split that are brought up in the case of tracking multiple moving objects.

• Proceedings of the SAREK Conference
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• 2008.06a
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• pp.282-287
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• 2008

Identification of steady-state is the first step in developing a fault detection and diagnosis (FDD) system. In a complete FDD system, the steady-state detector will be included as a module in a self-learning algorithm which enables the working system's reference model to "tune" itself to its particular installation. In this study, a steady-state detector of a residential air conditioner based on moving windows was designed. Seven representing measurements were selected as key features for steady-state detection. The optimized moving window size and the feature thresholds was suggested through startup transient test and no-fault steady-state test. Performance of the steady-state detector was verified during indoor load change test. From the research, the general methodology to design a moving window steady-state detector was provided for vapor compression applications.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.26 no.3B
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• pp.280-287
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• 2001

본 논문에서는 기존의 LCD MW를 이용한 각 다중화 시스템에서 인접한 수직방향 MW 사이의 crosstalk를 제거하기 위하여 MW의 뒷단에 수직방향으로 주기적으로 서로 다른 초점 길이를 갖는 이중초점 렌즈를 삽입하여 인접한 MW의 기준빔이 서로 다른 공간에 기록되게 함으로써 기준빔의 전자적 제어뿐만 아니라 고밀도의 정보저장 및 복원이 가능한 새로운 공간-각 다중화 기법을 제안하고 이에 대한 광학 실험을 통해 구현가능성을 제시하였다.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.38 no.4
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• pp.11-21
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• 2015

In order to achieve success in ground operations, searching for moving targets is one of critical factors. Usually, the system of searching for adversary ground moving targets has complex properties which includes target's moving characteristics, camouflage level, terrain, weather, available search time window, distance between target and searcher, moving speed, target's tactics, etc. The purpose of this paper is to present a practical quantitative method for effectively searching for infiltrated moving targets considering aforementioned complex properties. Based upon search theories, this paper consists of two parts. One is infiltration route analysis, through terrain and mobility analysis. The other is building dynamic probability maps through Monte Carlo simulation to determine the prioritized searching area for moving targets. This study primarily considers ground moving targets' moving pattern. These move by foot and because terrain has a great effect on the target's movement, they generally travel along a constrained path. With the ideas based on the terrain's effect, this study deliberately performed terrain and mobility analysis and built a constrained path. In addition, dynamic probability maps taking terrain condition and a target's moving speed into consideration is proposed. This analysis is considerably distinct from other existing studies using supposed transition probability for searching moving targets. A case study is performed to validate the effectiveness and usefulness of our methodology. Also, this study suggests that the proposed approach can be used for searching for infiltrated ground moving target within critical time window. The proposed method could be used not only to assist a searcher's mission planning, but also to support the tactical commander's timely decision making ability and ensure the operations' success.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.4
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• pp.684-693
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• 2011

Measurement time delay in the transfer alignment is very important. It has been well known that the time delay degrades the alignment performance and makes some navigation errors on the transfer alignment of slave INS(SINS). Therefore there are many schemes to eliminate that time delay but the compensation technique through the estimation by Kalman filter through modeling the time delay as a random constant is generally used. In the case of change over measurement time delay or the large measurement time delay, estimation performance in the existing compensation technique is degraded because model of time delay is not correct any more. In this paper, we propose the method to keep the time delay almost constant even though in the abnormal communication state and very small through feedback compensation using double buffer. Double buffer consists of two moving window to temporarily store measurements from master INS and slave INS in real time.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.7
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• pp.569-581
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• 1989

This paper deals with a tracking algorithm based on integral projection which tracks moving targets with varying brightness and size. An adaptive windowing technique is employed to reduce the sensitivity of the system to the complex background image and also to reduce the computational load. The threshold value is determined by considering both the size and the threshold value of the brightness intensity of the recognized target obtained in the previous processing step. Window position is estimated by using the information of the velocity and acceleration of the target. And integral projection is applied to find the position of the target in the window accurately. Experimental results show that moving targets with varying brightness and size can be tracked properly in noisy environments.