• Proceedings of the IEEK Conference
• /
• 1998.06a
• /
• pp.255-258
• /
• 1998

이동로봇이 움직이는 물체를 추적하는 기능을 갖도록 하기 위해서는 움직이는 물체의 존재를 판단하고 위치 및 속도벡터를 측정해야 한다. 본 논문은 단시간에 이동 물체의 위치와 속도벡터 추정하여 실시간 추적이 가능하도록 하기 위해 초음파센서를 이용한 가상의 초음파영상 해석방법을 제안한다. 초음파 영상은 초음파센서의 매회 측정값을 누적하여 구성하며 거리축과 시간축을 갖는 2차원 영상으로 표현된다. 영상에서 측정된 물체가 만드는 선분의 기울기에 따라 이동하는 물체와 정지한 물체를 분리하고 속도를 측정한다. 제안된 방법은 시뮬레이션을 통해 타당성을 입증하였다.

• Korean Journal of Cognitive Science
• /
• v.34 no.3
• /
• pp.181-196
• /
• 2023

Size, velocity, and time equivalence are mechanisms that allow us to perceive objects in three-dimensional space consistently, despite errors on the two-dimensional retinal image. These mechanisms work on common cues, suggesting that the perception of motion distance, motion speed, and motion time may share common processing. This can lead to the hypothesis that, despite the spatial nature of visual stimuli distorting temporal perception, the perception of motion speed and the perception of motion duration will tend to oppose each other, as observed for objects moving in the environment. To test this hypothesis, the present study measured perceived speed using Müller-Lyer illusion stimulus to determine the relationship between the time-perception consequences of motion stimuli observed in previous studies and the speed perception measured in the present study. Experiment 1 manipulated the perceived motion trajectory while controlling for the retinal motion trajectory, and Experiment 2 manipulated the retinal motion trajectory while controlling for the perceived motion trajectory. The result is that the speed of the inward stimulus, which is perceived to be shorter, is estimated to be higher than that of the outward stimulus, which is perceived to be longer than the actual distance traveled. Taken together with previous time perception findings, namely that time perception is expanded for outward stimuli and contracted for inward stimuli, this suggests that when the perceived trajectory of a stimulus manipulated by the Müller-Lyer illusion is controlled for, perceived speed decreases with increasing duration and increases with decreasing duration when the perceived distance of the stimulus is constant. This relationship suggests that the relationship between time and speed perceived by spatial cues corresponds to the properties of objects moving in the environment, i.e, an increase in time decreases speed and a decrease in time increases speed when distance remains the same.

• Journal of Navigation and Port Research
• /
• v.36 no.8
• /
• pp.631-635
• /
• 2012

Underwater acoustic communication has multipath error because of reflection by sea-level and sea-bottom. The multipath of underwater channel causes signal distortion and error floor. In this paper, in order to design an efficient packet structure, we employ channel coding scheme and phase recovery algorithm. For channel coding scheme, half rate LDPC channel coding scheme with N=1944 and K=972 was used. Also, decision directed phase recovery was used for correcting phase offset induced by multipath. Based on these algorithms, we propose length of data for optimal packet structure in the environment of oceanic experimentation.

• Journal of the Institute of Electronics Engineers of Korea CI
• /
• v.48 no.6
• /
• pp.114-122
• /
• 2011

We propose an automatic localization technique based on Uniform Arc Length Sampling (UALS) of 360 degree range sensor data. The proposed method samples 3D points from dense a point-cloud which is acquired by the sensor, registers the sampled points to a digital surface model(DSM) in real-time, and determines the location of an Unmanned Ground Vehicle(UGV). To reduce the sampling and registration time of a sequence of dense range data, 3D range points are sampled uniformly in terms of ground sample distance. Using the proposed method, we can reduce the number of 3D points while maintaining their uniformity over range data. We compare the registration speed and accuracy of the proposed method with a conventional sample method. Through several experiments by changing the number of sampling points, we analyze the speed and accuracy of the proposed method.

• Journal of the Earthquake Engineering Society of Korea
• /
• v.3 no.1
• /
• pp.21-28
• /
• 1999

The objective of the study is to develop attenuation equations of the ground motions in the southern part of the Korean peninsula. The earthquake source characteristics and the medium properties were estimated from available instrumental earthquake records and used as input parameters. The peak ground accelerations(PGA) and pseudo-velocity response spectra(PSV) were simulated by the random vibration theory. The attenuation equations for the PGA and PSV were constructed in terms of local magnitudes and hypocentral distances.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.39 no.11
• /
• pp.1013-1020
• /
• 2011

This paper deals with the tracking problem of a moving target using multiple unmanned aerial vehicles. A decentralized extended information filter is designed to cooperatively estimate the position and the velocity of the moving target. The extended information filter is adopted to consider the range and the line-of-sight angle as measurement data. The decentralized scheme is applied to enhance the estimation performance using the information provided by other vehicles. Numerical simulation is performed to verify the tracking performance of the proposed decentralized filters.

• The Journal of The Korea Institute of Intelligent Transport Systems
• /
• v.19 no.6
• /
• pp.208-221
• /
• 2020

The objective of this study is to estimate and analyze the traffic density of continuous flow using the trajectory of individual vehicles and the headway of sample probe vehicles-front vehicles obtained from ADAS (Advanced Driver Assitance System) installed in sample probe vehicles. In the past, traffic density of continuous traffic flow was mainly estimated by processing data such as traffic volume, speed, and share collected from Vehicle Detection System, or by counting the number of vehicles directly using video information such as CCTV. This method showed the limitation of spatial limitations in estimating traffic density, and low reliability of estimation in the event of traffic congestion. To overcome the limitations of prior research, In this study, individual vehicle trajectory data and vehicle headway information collected from ADAS are used to detect the space on the road and to estimate the spatiotemporal traffic density using the Generalized Density formula. As a result, an analysis of the accuracy of the traffic density estimates according to the sampling rate of ADAS vehicles showed that the expected sampling rate of 30% was approximately 90% consistent with the actual traffic density. This study contribute to efficient traffic operation management by estimating reliable traffic density in road situations where ADAS and autonomous vehicles are mixed.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.50 no.6
• /
• pp.62-71
• /
• 2013

The passive emitter location method using TDOA and FDOA measurements has higher accuracy comparing to the single TDOA or FDOA based method. Moreover, it is able to estimate the velocity vector of a moving platform. Recently, several non-iterative methods were suggested using the nuisance parameter but the common reference sensor is needed for each pair of sensors. They show also relatively low performance in the case of a long range between the sensor groups and the emitter. To solve this, we derive the estimation method of the position and velocity of a moving platform based on the Gauss-Newton method. In addition, to analyze the estimation performance of the position and velocity, respectively, we decompose the CRLB matrix into each subspace. Simulation results show the estimation performance of the derived method and the CEP planes according to the given geometry of the sensors.

• Journal of Advanced Navigation Technology
• /
• v.19 no.5
• /
• pp.389-394
• /
• 2015

This paper considers the transfer alignment in the inertial navigation system which has lever-arm and the time delay in the velocity measurement. We suggest a method to improve the performance of the velocity matching. First, we analyze the estimation performance of the velocity matching through the tuning of the two covariance matrices of process noise and measurement noise. Next we provide some maneuvering conditions of the vehicles to improve the estimation performance using the observability analysis. The analysis results are verified using the computer simulations, which show that cruise movements do not provide the azimuth estimation of the vehicles, while east or north accelerating movement can provide.

• Explosives and Blasting
• /
• v.33 no.3
• /
• pp.29-50
• /
• 2015

Safe blast criteria based on the concept of scaled distances can be obtained from the statistical analysis on measured peak particle velocity data of blast vibrations. Two types of scaled distance widely used in Korea are the square root scaled distance (SRSD) and cube root scaled distance (CRSD). In contrast to SRSD scheme, however, the function of maximum charge per delay for CRSD increases without bound after the intersection point of these two functions despite of the similar goodness of fits. To prevent structural damage that may be caused by the excessive charge in the case of CRSD, it is suggested that CRSD be used within a specified distance slightly beyond the intersection point. On the other hand, there are several attempts that predict vibration level(VL) from the peak particle velocity(PPV) or estimate VL based on the scaled distances without considering their frequency spectra. It appears that these attempts are conducted in blasting contracts only for the purpose of satisfying the environment-related law, which mainly deals with the annoyance aspects of noises and vibrations in human life. But, in principle there could no correlation between peaks of velocity and acceleration over entire frequency spectrum. Therefore, such correlations or estimations should be conducted only between the waves with the same or very similar frequency spectra. Finally, it is a known fact that structural damage due to ground vibration is related to PPV level, the safety level criteria for structures should be defined by allowable PPV levels together with their zero crossing frequencies (ZCF).