• Journal of Sensor Science and Technology
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• v.19 no.3
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• pp.246-257
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• 2010

Autonomous guided robot navigation which consists of following unknown paths and avoiding unknown obstacles has been a fundamental technique for unmanned robots in outdoor environments. The unknown path following requires techniques such as path recognition, path planning, and robot pose estimation. In this paper, we propose a novel sensor fusion system for autonomous guided robot navigation in outdoor environments. The proposed system consists of three monocular cameras and an array of nine infrared range sensors. The two cameras equipped on the robot's right and left sides are used to recognize unknown paths and estimate relative robot pose on these paths through bayesian sensor fusion method, and the other camera equipped at the front of the robot is used to recognize abrupt curves and unknown obstacles. The infrared range sensor array is used to improve the robustness of obstacle avoidance. The forward camera and the infrared range sensor array are fused through rule-based method for obstacle avoidance. Experiments in outdoor environments show the mobile robot with the proposed sensor fusion system performed successfully real-time autonomous guided navigation.

• Journal of Microbiology and Biotechnology
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• v.22 no.11
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• pp.1575-1579
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• 2012

Paenibacillus polymyxa is known to be a plant-growth-promoting rhizobacterium. The present study describes a quantitative polymerase chain reaction (qPCR) assay for the specific detection and quantitation of P. polymyxa using a primer pair based on the sequence of a membrane-fusion protein for the amplification of a 268 bp DNA fragment. This study reports that the qPCR-based method is applicable for the rapid and sensitive detection of P. polymyxa and can be used as an alternative method for agricultural soil monitoring.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1702-1703
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• 2007

KSTAR(Korea Superconducting Tokamak Advanced Research)의 보조 가열장치 중에 하나인 중성입자 빔 가열장치의 열량을 실시간으로 측정할 수 있는 시스템을 개발하였다. 실시간으로 열량을 측정하기위해 중성입자 빔 발생장치의 말단에 위치한 열량계(Calorimeter)의 냉각수 입 출구 온도를 온도센서 중의 하나인 열전대를 이용하여 측정하고 이를 열량 측정을 위해 개발한 알고리듬을 이용하여 실시간으로 중성입자 빔의 열량으로 연산한다. 연산된 열량은 사용자 인터페이스 화면에 출력하여 매 실험마다 열량계에 입사된 열량을 실시간으로 확인이 가능하도록 하였다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.16 no.2
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• pp.544-564
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• 2022

Underwater images often suffer from color distortion, blurring and low contrast, which is caused by the propagation of light in the underwater environment being affected by the two processes: absorption and scattering. To cope with the poor quality of underwater images, this paper proposes a multiscale fusion underwater image enhancement method based on channel attention mechanism and local binary pattern (LBP). The network consists of three modules: feature aggregation, image reconstruction and LBP enhancement. The feature aggregation module aggregates feature information at different scales of the image, and the image reconstruction module restores the output features to high-quality underwater images. The network also introduces channel attention mechanism to make the network pay more attention to the channels containing important information. The detail information is protected by real-time superposition with feature information. Experimental results demonstrate that the method in this paper produces results with correct colors and complete details, and outperforms existing methods in quantitative metrics.

• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.103-106
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• 2003

In this paper, we present a hybrid inertial and vision-based tracking system for VR applications. One of the most important aspects of VR (Virtual Reality) is providing a correspondence between the physical and virtual world. As a result, accurate and real-time tracking of an object's position and orientation is a prerequisite for many applications in the Virtual Environments. Pure vision-based tracking has low jitter and high accuracy but cannot guarantee real-time pose recovery under all circumstances. Pure inertial tracking has high update rates and full 6DOF recovery but lacks long-term stability due to sensor noise. In order to overcome the individual drawbacks and to build better tracking system, we introduce the fusion of vision-based and inertial tracking. Sensor fusion makes the proposal tracking system robust, fast, accurate, and low jitter and noise. Hybrid tracking is implemented with Kalman Filter that operates in a predictor-corrector manner. Combining bluetooth serial communication module gives the system a full mobility and makes the system affordable, lightweight energy-efficient. and practical. Full 6DOF recovery and the full mobility of proposal system enable the user to interact with mobile device like PDA and provide the user with natural interface.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.3
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• pp.179-186
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• 2015

In this paper, a novel lateral control system is proposed for the purpose of improving lane keeping performance which is independent from GPS signals. Lane keeping is a key function for the realization of unmanned driving systems. In order to obtain this objective, a vision sensor based real-time lane detection scheme is developed. Furthermore, we employ a data fusion along with a real-time steering angle of the test vehicle to improve its lane keeping performance. The fused direction data can be obtained by an IMU sensor and vision sensor. The performance of the proposed system was verified by computer simulations along with field tests using MOHAVE, a commercial vehicle from Kia Motors of Korea.

• Proceedings of the IEEK Conference
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• summer
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• pp.237-243
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• 2004

A multichannel smart sound sensor capable to detect and identify sound events in noisy conditions is presented in this paper. Sound information extraction is a complex task and the main difficulty consists is the extraction of high­level information from an one-dimensional signal. The input of smart sound sensor is composed of data collected by 5 microphones and its output data is sent through a network. For a real time working purpose, the sound analysis is divided in three steps: sound event detection for each sound channel, fusion between simultaneously events and sound identification. The event detection module find impulsive signals in the noise and extracts them from the signal flow. Our smart sensor must be capable to identify impulsive signals but also speech presence too, in a noisy environment. The classification module is launched in a parallel task on the channel chosen by data fusion process. It looks to identify the event sound between seven predefined sound classes and uses a Gaussian Mixture Model (GMM) method. Mel Frequency Cepstral Coefficients are used in combination with new ones like zero crossing rate, centroid and roll-off point. This smart sound sensor is a part of a medical telemonitoring project with the aim of detecting serious accidents.

• Korean Journal of Artificial Intelligence
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• v.6 no.1
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• pp.1-10
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• 2018

Compressed Air is an important energy source used in most factories nowadays. The automation trend using air compressor has been gradually increasing with the interest of the 4th industry in recent years. With the air compressor system, it is possible to construct the device at low cost and easily achieve automation and energy saving. In addition, With trend of FA, miniaturation and light weight manufacturing trend expand their use in the electronics, medical, and food sectors. Research method is to design the technology for the remote control of the following information as USN base. Development of flexible sensing module from real time observation module for fusion of IT technology in compressed air systems, design and manufacture of flexible sensing module, and realiability assessment. Design of real-time integrated management system for observation data of compressed air system - Ability to process observation data measured in real time into pre-processing and analysis data. This study expects unconventionally decreasing effect of energy cost that takes up 60~70% of air compressor layout and operation and maintenance management cost through USN(Ubiquitous Sensor Network) technology by using optimum operational condition from real time observation module. In addition, by preventing maintenance cost from malfunction of air compressor beforehand, maintenance cost is anticipated to cut back.

• Smart Structures and Systems
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• v.24 no.6
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• pp.693-707
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• 2019

This paper proposes an integrated safety assessment method that can take multiple sources data into consideration based on a data fusion approach. Data cleaning using the Kalman filter method (KF) was conducted first for monitoring data from each sensor. The inclination data from the four tilt sensors of the same monitoring section have been associated to synchronize in time. Secondly, the finite element method (FEM) model was established to physically correlate the external forces with various structural responses of the shield tunnel, including the measured inclination. Response surface method (RSM) was adopted to express the relationship between external forces and the structural responses. Then, the external forces were updated based on the in situ monitoring data from tilt sensors using the extended Kalman filter method (EKF). Finally, mechanics parameters of the tunnel lining were estimated based on the updated data to make an integrated safety assessment. An application example of the proposed method was presented for an urban tunnel during a nearby deep excavation with multiple source monitoring plans. The change of tunnel convergence, bolt stress and segment internal forces can also be calculated based on the real time deformation monitoring of the shield tunnel. The proposed method was verified by predicting the data using the other three sensors in the same section. The correlation among different monitoring data has been discussed before the conclusion was drawn.

• Progress in Superconductivity and Cryogenics
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• v.10 no.4
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• pp.23-28
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• 2008

As a part of the plasma control system (PCS) for the first plasma campaign of KSTAR, seven sets of fast feedback control loop for the superconducting poloidal field magnet power supply (PF MPS) have been implemented. A special real-time digital communication interface has been developed for the simultaneous exchanges of the current/voltage data from the 7 sets of 12-thyristor power supplies in a 200 microsecond control cycle. Preliminary power supply tests have been performed before actual cooldown of the device. A $29mH/50m{\Omega}$ solenoid dummy has been fabricated for a series of single power supply tests. Connectivity and response speed of the plasma control system have been verified. By changing hardware cabling, this load was also used to estimate mutual inductance coupling effects of two geometrically adjacent solenoid coils on each power supply. After the cooldown was complete, each pair of the up/down symmetric PF coils has been serially connected and tested as part of the device commissioning process. Bipolar operation and longer pulse attempts have been investigated. The responses of the coils and power supplies corresponding to the plasma magnetic controls in plasma discharges are also analyzed for the future upgrades.