• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1244-1248
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• 2005

In this paper, we propose fuzzy c-means (FCM) to solve recognition errors in invariant range image, multi-pose face recognition. Scale, center and pose error problems were solved using geometric transformation. Range image face data was digitized into range image data by using the laser range finder that does not depend on the ambient light source. Then, the digitized range image face data is used as a model to generate multi-pose data. Each pose data size was reduced by linear reduction into the database. The reduced range image face data was transformed to the gradient face model for facial feature image extraction and also for matching using the fuzzy membership adjusted by fuzzy c-means. The proposed method was tested using facial range images from 40 people with normal facial expressions. The output of the detection and recognition system has to be accurate to about 93 percent. Simultaneously, the system must be robust enough to overcome typical image-acquisition problems such as noise, vertical rotated face and range resolution.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.8
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• pp.73-85
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• 1995

The sensor system to measure the distance precisely from the center of the sensor system to the obstacle is needed to recognize the surrounding environments, and the sensor system is to be calibrated thoroughly to get the range information exactly. This study covers the calibration of the active range sensor which consists of camera and laser slit emitting device, and provides the equations to get the 3D range data. This can be possible by obtaining the extrinsic parameters of laser slit emitting device through image processing the slits measured during the constant distance intervals and the intrinsic parameters from the calibration of camera. The 3D range data equation derived from the simple geometric assumptions is proved to be applicable to the general cases using the calibration parameters. Also the exact 3D range data were obtained to the object from the real experiment.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.9 no.1
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• pp.102-110
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• 2000

This paper presents an algorithm of local map building for autonomous robot navigation using LASER range finder information. We develop a model of sensor output for a LASER range finder, and obtain an output data of the LASER range finder for a given environment. From the output data, a local map is obtained through the following procedures: (1) filtering of output data to remove noisy and unnecessary data, (2) comparison of filtered data with the original data to restore useful data, (3) thickening of the map obtained from the restored data, and (4) skeletonizing of the thickened map to get a final local map. Through some simulation studies, a map is obtained from the LASER range finder information for a given indoor environment, and is compared with the environment.

• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.3
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• pp.413-420
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• 2010

An Estimation of VHF data link range for EW(Electronic Warfare) equipment in the sea environment was studied to predict the data link range between transmitting and receiving station. The theoretical estimation predicts within 3% error with actual measurement of VHF data link range at sea. Data link range factors including refraction and reflection are added in the basic wave propagation equation. The effect of refraction and reflection to the range is analysed with quantity level.

• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.6
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• pp.1006-1012
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• 2010

For the autonomous navigation of an unmanned ground vehicle in the rough terrain and combat, the dust environment should necessarily be overcome. Therefore, we propose a robust obstacle detection methodology using laser range sensor and radar. Laser range sensor has a good angle and distance accuracy, however, it has a weakness in the dust environment. On the other hand, radar has not better the angle and distance accuracy than laser range sensor, it has a robustness in the dust environment. Using these characteristics of laser range sensor and radar, we use laser range sensor as a main sensor for normal times and radar as a assist sensor for the dust environment. For fusion of laser range sensor and radar information, the angle and distance data of the laser range sensor and radar are separately transformed to the angle and distance data of virtual range sensor which is located in the center of the vehicle. Through distance comparison of laser range sensor and radar in the same angle, the distance data of a fused virtual range sensor are changed to the distance data of the laser range sensor, if the distance of laser range sensor and radar are similar. In the other case, the distance data of the fused virtual range sensor are changed to the distance data of the radar. The suggested methodology is verified by real experiment.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.11
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• pp.1695-1699
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• 2012

This paper is proposed all digital wide-range clock and data recovery circuit. The Proposed clock data recovery circuit is possible input data rate which is suggested is wide-range that extends from 100Mb/s to 3Gb/s and used an phase error detector which can use a way of over-sampling a data by using a 1/2-rate multi-phase clock and phase rotator which is regular size per $2{\pi}$/16 and can make a phase rotation. So it could make the phase rotating in range of input data rate. Also all circuit is designed as a digital which has a specificity against a noise. This circuit is designed to 0.13um CMOS process and verified simulation to spectre tool.

• Proceedings of the Korea Institute of Convergence Signal Processing
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• 2000.08a
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• pp.333-336
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• 2000

In this paper, a profile management system consisting of global and local range finders is presented for the automat ion of material pile handling. A global range finder detects range data of the front part of the piles of material and a profile map is obtained from a 3D profile detection algorithm. A local range finder attached on the side of the arm of the reclaimer detects range data with the handling function dynamically, and a local profile patch is acquired from the range data A yard profile map manager constructs a map by using the 3D profile of the global range finder and revises the map by replacing it with the local profile patch obtained Iron the local range finder. The developed vision system was applied to a simulator and the results of test show that it is appropriate to use for automating the material handling.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.38 no.3
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• pp.64-77
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• 2015

An effective method for produce munitions effectiveness data is to calculate weapon effectiveness indices in the US military's Joint Munitions Effectiveness Manuals (JMEM) and take advantage of the damage evaluation model (GFSM) and weapon Effectiveness Evaluation Model (Matrix Evaluator). However, a study about the Range Safety that can be applied in the live firing exercises is very insufficient in the case of ROK military. The Range Safety program is an element of the US Army Safety Program, and is the program responsible for developing policies and guidance to ensure the safe operation of live-fire ranges. The methodology of Weapon Danger Zone (WDZ) program is based on a combination of weapon modeling/simulation data and actual impact data. Also, each WDZ incorporates a probability distribution function which provides the information necessary to perform a quantitative risk assessment to evaluate the relative risk of an identified profile. A study of method to establish for K-Range Safety data is to develop manuals (pamphlet) will be a standard to ensure the effective and safe fire training at the ROK military education and training and environmental conditions. For example, WDZs are generated with the WDZ tool as part of the RMTK (Range Managers Tool Kit) package. The WDZ tool is a Geographic Information System-based application that is available to operational planners and range safety manager of Army and Marine Corps in both desktop and web-based versions. K-Range Safety Program based on US data is reflected in the Korean terrain by operating environments and training doctrine etc, and the range safety data are made. Thus, verification process on modified variables data is required. K-Range Safety rather than being produced by a single program, is an package safety activities and measures through weapon danger zone tool, SRP (The Sustainable Range Program), manuals, doctrine, terrain, climate, military defence M&S, weapon system development/operational test evaluation and analysis to continuously improving range safety zone. Distribution of this K-range safety pamphlet is available to Army users in electronic media only and is intended for the standing army and army reserve. Also publication and distribution to authorized users for marine corps commands are indicated in the table of allowances for publications. Therefore, this study proposes an efficient K-Range Safety Manual producing to calculate the danger zones that can be applied to the ROK military's live fire training by introducing of US Army weapons danger zone program and Range Safety Manual

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.8
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• pp.1275-1283
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• 1990

Perception of surfaces from range images plays a key role in 3-D object recognition. Recognition of 3-D objects from range images is performed by matching the perceived surface descriptions with stored object models. The first step of the 3-d object recognition from range images is image segmentation. In this paper, an approach for segmenting 3-D range images into symbolic surface descriptions using spatial Gabor filter is proposed. Since the phase of data has a lot of important information, the phase information with magnitude information can effectively segment the range imagery into regions satisfying a common homogeneity criterion. The phase and magnitude of Gabor filter can represent a unique featur vector at a point of range data. As a result, range images are trnasformed into feature vectors in 3-parameter representation. The methods not only to extract meaningful features but also to classify a patch information from range images is presented.

• Journal of KIISE:Databases
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• v.33 no.1
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• pp.32-41
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• 2006

In data-centric networks, various data items, such as temperature, humidity, etc. are sensed and stored in sensor nodes. As these attributes are mostly scalar values and inter-related, multi-dimensional range queries are useful. To process multi-dimensional range queries efficiently in data-centric storage, data addressing is essential. The Previous work focused on efficient query processing without considering overall network lifetime. To prolong network lifetime and support multi-dimensional range queries, we propose a dynamic data distribution method for multi-dimensional data, where data space is divided into equal-sized regions and linearized by using Hilbert space filling curve.