• Journal of the Korea Convergence Society
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• v.7 no.1
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• pp.9-15
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• 2016

In this paper, we describe the design of a high speed data acquisition system(DAS) with STM32 processor based on Cortex-M4. The system is used for the sensor devices to collect raw data on production lines at factory and send them to the servo computer in real time. The system is designed for multi functions with universal asynchronous receiver and transmitter(UART), analog to digital converter(ADC), digital to analog converter(DAC), and general purpose input output(GPIO). those are well tested for various data acquisition and high speed motor control in real time.

• Journal of the Korea Institute of Military Science and Technology
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• v.9 no.1 s.24
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• pp.24-32
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• 2006

This paper is to analyze the effectiveness of multistatic sonar network based on detection performance. The multistatic sonar network is a distributed detection system that places a source and multi-receivers apart. So it needs a detection technique that relates to decision rule and optimization of sonar system to improve the detection performance. For this we propose a data fusion procedure using Bayesian decision and optimal sensor arrangement by optimizing a bistatic sonar. Also, to analyze the detection performance effectively, we propose the environmental model that simulates a propagation loss and target strength suitable for multistatic sonar networks in real surroundings. The effectiveness analysis on the multistatic sonar network confirms itself as a promising tool for effective allocation of detection resources in multistatic sonar system.

• Proceedings of the KSRS Conference
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• 2003.11a
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• pp.399-401
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• 2003

This paper presents a geostatistical contextual classifier for the classification of remote sensing data. To obtain accurate spatial/contextual information, a simple indicator kriging algorithm with local means that allows one to estimate the probability of occurrence of certain classes on the basis of surrounding pixel information is applied. To illustrate the proposed scheme, supervised classification of multi-sensor remote sensing data is carried out. Analysis of the results indicates that the proposed method improved the classification accuracy, compared to the method based on the spectral information only.

• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.505-508
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• 2005

Wavelet scheme can be applied to the various remote sensing problems: conventional multi-resolution image analysis, compression of large image sets, fusion of heterogeneous sensor image and segmentation of features. In this study, we attempted wavelet-based filtering and its analysis. Traditionally, statistical methods and adaptive filter are used to manipulate noises in the image processing procedure. While we tried to filter random noise from optical image and radar image using Discrete Wavelet Transform (DW1) and Stationary Wavelet Transform (SW1) and compared with existing methods such as median filter and adaptive filter. In result, SWT preserved boundaries and reduced noises most effectively. If appropriate thresholds are used, wavelet filtering will be applied to detect road boundaries, buildings, cars and other complex features from high-resolution imagery in an urban environment as well as noise filtering

• Proceedings of the Korea Information Processing Society Conference
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• 2017.04a
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• pp.24-25
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• 2017

최근 다양한 3차원 뎁스 센서의 등장은, 3차원 캐릭터가 사람의 움직임에 따라 실시간으로 애니메이션되도록 하였다. 하지만, 센서에 따라, 공간상의 뎁스를 얻는 방식이 다르며, 이 결과 캡처를 가능하는 센싱영역 또한 뎁스의 종류에 따라 많은 차이를 보여 왔다. 본 논문은 두 가지 방식의 멀티의 센서를 결합하여, 동시에 실시간으로 사용함으로서, 하나의 센서만을 사용했을 경우 얻을 수 없는 조인트에 대한 정보를 얻음으로서, 자세한 캐릭터에 대한 스켈레톤을 애니메이션 하는 방법을 제안한다.

• Proceedings of the Korea Multimedia Society Conference
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• 2012.05a
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• pp.262-263
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• 2012

다중 센서의 영상, 예를 들어 가시광 영상과 적외선 영상은 서로 다른 특징을 가지고 있기 때문에 본 논문에서는 IR 영상의 특징을 보존한 새로운 혼합기법을 제안하다. 이러한 혼합기법은 의료 영상, 보안 영상 등에서 매우 중요하고 다양하게 다루어진다. 일반적인 혼합기법을 사용하게 되면 영상간의 특색 때문에 혼합 시 조화롭지 못하는 문제점을 가진다. 이러한 문제점을 해결하기 위해서 본 논문에서는 중요도 맵을 추출하고 그 영역에 대하여 포아송 블랜딩을 통해 두 개의 다른 특징을 가시광 영상을 혼합한다. 제안한 알고리즘은 기존의 연구와 다르게 혼합할 영역을 수동으로 지정하는 것이 아니라 자동적으로 추출하고, 가시광 영상에 IR 영상에서만 검출되는 영역을 결합한 새로운 결과를 얻을 수 있었다.

• Smart Structures and Systems
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• v.13 no.6
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• pp.891-899
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• 2014

Over the past several decades, substantial amounts of sensors and sensing systems have been developed for civil infrastructure systems. This special issue focuses on state-of-the-art robotics and automation technologies, including construction automation, robotics, instrumentation, monitoring, inspection, control, and rehabilitation for civil infrastructure. The issue also covers construction informatics supporting sensing, analysis and design activities needed to operate smart and sustainable civil infrastructure. Examples include robotic systems applied to civil infrastructure and equipped with various sensing technologies, such as optical sensors, laser sensors, wireless sensors, multi-sensor fusion, etc. This special issue is published in an effort to disseminate current advances of various robotics and automation technologies for civil infrastructure and built environment.

• Proceedings of the Korea Information Processing Society Conference
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• 2005.05a
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• pp.263-266
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• 2005

다중센서데이터 융합시스템(MSDFS)은 여러 센서로부터 획득된 이질의 데이터를 정규화된 포맷으로 융합하고 단일 센서에서의 획득오차를 최소한으로 줄여 표적의 정확한 식별 및 판단을 지원하는 시스템이다. 이 시스템들은 고유의 기능을 수행하는 모듈들에 대한 고수준의 재사용성을 요구하므로, 현재의 소프트웨어공학 기법을 적용시 공통부분에 대한 효율적 설계가 어렵다. 따라서 본 논문에서는 시스템 개발에 이러한 비효율적인 요소를 제거하는 제품-계열 개발방법론을 MSDFS의 임베디드 소프트웨어 설계에 적용한다. 이를 위해 분석 대상에 대한 영역지정에서부터 재사용가능한 컴포넌트의 식별까지 설계 하며, 마지막으로 설계된 모델에 대한 검증을 위해 GQM 패러다임을 적용한다. 또한 산출물에 대한 성능평가 기준을 제시하여 시스템 개발을 효과적으로 향상시킬 수 있는 방안을 제시한다.

• The Journal of Korea Robotics Society
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• v.6 no.2
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• pp.182-188
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• 2011

This paper describes a method of road tracking by using a vision and laser with extracting road boundary (road lane and curb) for navigation of intelligent transport robot in structured road environments. Road boundary information plays a major role in developing such intelligent robot. For global navigation, we use a global positioning system achieved by means of a global planner and local navigation accomplished with recognizing road lane and curb which is road boundary on the road and estimating the location of lane and curb from the current robot with EKF(Extended Kalman Filter) algorithm in the road assumed that it has prior information. The complete system has been tested on the electronic vehicles which is equipped with cameras, lasers, GPS. Experimental results are presented to demonstrate the effectiveness of the combined laser and vision system by our approach for detecting the curb of road and lane boundary detection.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.400-400
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• 2000

This paper purposed that verify the validity of Petri Net method for control progressive increase of system complexity, before extend the realized single robot system to multi-robot system. An autonomous mobile robot(AMR) needs decision making, motion control, path planning, tracking a path, obstacle avoidance, and sensor fusion, to complete its task. An AMR integrates and operates these technics through a consistent command system. An error in a command hierarchy which is like duplication or omission of a control command hierarchy for each module results in serious problems. This paper minimizes the error by modeling each module and whole system using Petri Net graphical representation and applies it to the exploration task of an AMR