• Journal of the Korea Society of Computer and Information
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• v.24 no.11
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• pp.29-39
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• 2019

As mobile robot applications increase in real life, the need of low cost autonomous driving are gradually increasing. We propose a novel vision-based real-time lane detection and tracking system that supports autonomous driving of mobile robots in constrained tracks which are designed considering indoor driving conditions of mobile robots. Considering the processing of lanes with various shapes and the pre-adjustment of operation parameters, the system structure with multi-operation modes are designed. In parameter tuning mode, thresholds of the color filter is dynamically adjusted based on the geometric property of the lane thickness. And in the unstable input mode of curved tracks and the stable input mode of straight tracks, lane feature pixels are adaptively extracted based on the geometric and temporal characteristics of the lanes and the lane model is fitted using the least-squared method. The track centerline is calculated using lane models and the motion model is simplified and tracked by a linear Kalman filter. In the driving experiments, it was confirmed that even in low-performance robot configurations, real-time processing produces the accurate autonomous driving in the constrained track.

• Journal of the Korea Society of Computer and Information
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• v.5 no.3
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• pp.29-32
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• 2000

Layered video coding schemes allow the video information to be transmitted in multiple video bitstreams to achieve scalability. they are attractive in theory for two reasons. First, they naturally allow for heterogeneity in networks and receivers in terms of client processing capability and network bandwidth. Second, they correspond to optimal utilization of available bandwidth when several video qualify levels are desired. In this paper we propose a scalable video codec architectures with motion estimation, which is suitable for real-time audio and video communication over packet networks. The coding algorithm is compatible with ITU-T recommendation H.263+ and includes various techniques to reduce complexity. Fast motion estimation is Performed at the H.263-compatible base layer and used at higher layers, and perceptual macroblock skipping is performed at all layers before motion estimation. Error propagation from packet loss is avoided by Periodically rebuilding a valid Predictor in Intra mode at each layer.

• Journal of the Korea Society of Computer and Information
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• v.6 no.3
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• pp.78-83
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• 2001

In this paper, we are considered Nakagami-m fading, which can model variable multipath mobile radio communication channel, in DS-CDMA system. System modeling using nakagami -m fading is suited for urban mobile communication channel with multipath. We used adaptive serial search PN code acquisition scheme and derived the detection probability($P_D$) and false alarm probability($P_FA$) which have influence on code acquisition time, over Nakagami-m fading. Detection probability($P_D$) and false alarm probability($P_FA$) are detection variable to decide PN code acquisition time and should use to calculate mean and variance. of acquisition time. From computer simulation, we analyzed mean and variance about PN code acquisition of fading channel. Then we can apply it to the H/W design of mobile communication.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.50 no.5
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• pp.349-357
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• 2022

Since the flight control computer of unmanned aerial vehicle (UAV) is a flight critical equipment, it is necessary to ensure reliability and safety from the development step, and a redundancy-based fault management design is required in order to operate normally even a failure occurs. To reduce cost, weight and power consumption, the dual-redundant flight control system design is considered in UAV. However, there are various restrictions on the fault management design. In this paper, we propose the fault detection and isolation designs for the dual-redundant flight control computer to satisfy the safety requirements of an UAV. In addition, the flight control computer developed by applying the fault management design performed functional tests in the integrated test environment, and after performing FMET in the HILS, its reliability was verified through flight tests.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.4
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• pp.144-159
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• 2014

Techniques for making a single panoramic image using multiple pictures are widely studied in many areas such as computer vision, computer graphics, etc. The panorama image can be applied to various fields like virtual reality, robot vision areas which require wide-angled shots as an useful way to overcome the limitations such as picture-angle, resolutions, and internal informations of an image taken from a single camera. It is so much meaningful in a point that a panoramic image usually provides better immersion feeling than a plain image. Although there are many ways to build a panoramic image, most of them are using the way of extracting feature points and matching points of each images for making a single panoramic image. In addition, those methods use the RANSAC(RANdom SAmple Consensus) algorithm with matching points and the Homography matrix to transform the image. The SURF(Speeded Up Robust Features) algorithm which is used in this paper to extract featuring points uses an image's black and white informations and local spatial informations. The SURF is widely being used since it is very much robust at detecting image's size, view-point changes, and additionally, faster than the SIFT(Scale Invariant Features Transform) algorithm. The SURF has a shortcoming of making an error which results in decreasing the RANSAC algorithm's performance speed when extracting image's feature points. As a result, this may increase the CPU usage occupation rate. The error of detecting matching points may role as a critical reason for disqualifying panoramic image's accuracy and lucidity. In this paper, in order to minimize errors of extracting matching points, we used $3{\times}3$ region's RGB pixel values around the matching points' coordinates to perform intermediate filtering process for removing wrong matching points. We have also presented analysis and evaluation results relating to enhanced working speed for producing a panorama image, CPU usage rate, extracted matching points' decreasing rate and accuracy.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.47 no.8
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• pp.99-107
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• 2010

In a single frequency network (SFN) for Advanced Television Systems Committee (ATSC) terrestrial digital television (DTV) system, the interferences induced by the multiple transmitters and/or repeaters using the same frequency are inevitable. Since the presence of interferences results in performance degradation of the SFN, it is crucial to manipulate the interferences by adjusting the transmit power and timing of each transmitter and repeater. In the ATSC terrestrial DTV system, in order to facilitate the interference manipulation process, a transmitter identification (TxID) signal which is uniquely embedded in the signal to be transmitted from each transmitter and repeater is recommended. Even though the injection level of the TxID signal is much lower than the DTV signal, the TxID signal injection infects the DTV signal. Hence, the effect of the TxID signal on the DTV signal must be investigated before deployment. In this paper, the effect of the TxID signal on the performance of legacy DTV receivers under additive white Gaussian noise and multipath channel environments is investigated not only with computer simulation but also with laboratory and field tests. The test results show that the average threshold of visibility degradation of the legacy DTV receivers due to the TxID signal injection is less than 0.2 dB at the TxID injection level of -30 dB.

• Proceedings of the Korean Vacuum Society Conference
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• 2013.02a
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• pp.448-448
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• 2013

최근 생물학적 분석 기구에서 시료를 처리, 분리, 검출, 샘플링 또는 분석하기 위해 사용되는 마이크로펌프(Micropump)에 대한 관심이 높아지고 있다. 또한 전자소자의 성능과 신뢰성의 증진을 위한 전자소자의 열 문제를 해결하기 위해 냉각장치로 마이크로 펌프가 적용되기도 한다. 그 외에도 마이크로펌프는 다양한 분야에 응용이 가능하다. 마이크로펌프는 작동 방식에 따라 압전형, 공압형, 열공압형, 연동형 등의 여러 종류로 분류되고 있다. 그중에서도 최근에는 연동형 마이크로 펌프의 개발이 각광받고 있다. 기존의 연동형 펌프들은 다중 챔버를 가지고 있으며, 각각의 챔버 내에서 Dead volume이 많이 발생할 뿐만 아니라 이상적인 연동운동과는 차이가 많이 나는 문제점을 가지고 있다. 또한 압전방식과 열공압방식은 느린 응답성으로 인해 효율적인 유체 이동이 어렵다. 본 논문에서는 이상적인 연동운동을 구현하기 위하여 기존의 연동형 펌프의 단점을 보완하고, 하나의 챔버에 다중전극 구조를 가지는 정전기력방식의 연동형 펌프를 개발하였다. 정전기력방식으로 펌프를 구동함으로써, 저전력으로 펌프구동이 가능하며, 하나의 챔버에 다중전극을 설치함으로써 이상적인 연동운동을 재현하였다. 그리고 Dead volume을 최소화 하였다. 또한, 빠른 반응속도로 인해 효율적인 유체 이동을 실현시킬 수 있었다. 본 연구에서 제안된 마이크로 펌프의 구성은 크게 챔버, 박막, Inlet/outlet hole으로 구성되었다. 챔버는 Si-wafer에 wet etching 공정으로 제작 하였고 그 위에 알루미늄 박막을 200 nm 증착시켰다. 챔버는 가로 32 mm, 세로 5 mm, 깊이는 $15{\mu}m$, 부피는 $200{\mu}l$으로 제작되었다. 박막은 폴리이미드(polyimide)를 사용하여 $3{\mu}m$의 두께로 제작 되었으며, 폴리이미드 박막 사이에는 200 nm 두께의 4개의 알루미늄 박막 전극을 삽입시켰다. 삽입된 4개의 전극에 개별적인 전기신호를 보냄으로써 연동운동이 가능하다. Inlet/outlet hole은 직경 2 mm의 크기로 제작되었으며, 튜브를 연결하여 유체가 흐를 수 있는 체널을 형성하였다. 제작된 마이크로 펌프의 구동전압은 115 V이며, 인가되는 주파수를 1 Hz~100 KHz까지 변화시켜 유량을 측정하였다. 작동 유체는 공기이며, 유량측정은 튜브 내에 물방울을 삽입하여 시간에 따른 이동거리를 관측하였다. 측정결과 2.2 KHz에서 2.4 mm/min의 가장 높은 유량을 확인할 수 있었다. 본 연구를 통해 제안된 연동형 마이크로펌프는 이상적인 연동운동이 가능함으로써 기존의 연동형 방식의 문제점을 보완하였으며, 생명과학, 의학, 화학 등의 분야에서 적용이 가능하리라 기대된다.

• Journal of the Korean Society for Nondestructive Testing
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• v.28 no.2
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• pp.184-190
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• 2008

Various ECT techniques have been applied basically to assess the integrity of steam generator tithing in nuclear power plant. Among these techniques, the bobbin probe technique is applied generally to examine the volumetric flaws such as a crack-like defect and wear which is generally occurred on steam generator tubing, and additionally MRPC probe is used to examine closely tile top of tubesheet and bending regions due to the high possibility of cracking. Dent and bulge also may be formed on tube during installation process and operation of steam generator, but the dent and bulge indications greater than specific size criteria are recorded on examination report because these indications are not considered as flaw. These indications can be easily detected with bobbin probe and approximately sized with profile bobbin probe, but the size and shape can not be accurately verified. Accordingly, in this study, the $8{\times}1$ multi-array EC probe was designed to increase the measurement accuracy of the sectional profiling EC testing of tube. As a result, we would like to propose the application of $8{\times}1$ multi-array EC probe for the measurement of size and shape of profile change on steam generator tube in OPR-1000 nuclear power plant.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.36S no.8
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• pp.8-16
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• 1999

In this paper, the performance of a hybrid DS/SFH-SS(direct-sequence/slow-frequency-hopped spread-spectrum) system with coherent BPSK modulation over Nakagami fading channel in the presence of multiple tone jamming is analyzed. Because the Nakagami m-distribution can describe not only Rayleigh fading but also more general fluctuations involving a specular component by adjusting the value of the fading index m. It is known that for m=1 corresponds to Rayleigh fading, for $1/2{\le}m{\le}1$ corresponds to the worst case fading condition, for m>1 corresponds to Rician fading, and for $m{\to}{\infty}$ corresponds to the nonfading condition. The bit error probability is derived over Nakagami model and numerical evaluations are presented for some combinations of system parameters. The results show that as m increases, the bit error probability is better. Also, at a low JSR(jamming-to-signal power ratio), a pure DS-SS system can achieve lower bit error probability than a hybrid DS/SFH-SS system. But at a high JSR, a hybrid DS/SFH-SS system is shown to be superior to a pure DS-SS system. Therefore, it is demonstrated that without increasing the total system bandwidth, the performance of a hybrid DS/SFH-SS is superior to that of a pure DS-SS system in the presence of multiple tone jamming.

• Journal of Life Science
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• v.27 no.7
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• pp.746-753
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• 2017

In order to rapidly identify four drums species, Larimichthys polyactis, L. crocea, Atrobucca nibe, and Pseudotolithus elongates, a highly efficient and quick method has been developed using multiplex polymerase chain reaction (PCR) with species-specific primers. Around 1.4 kbp of the mitochondrial COI gene sequences from the four drums species were aligned, and species-specific forward primers were designed, based on the single nucleotide polymorphism (SNP). The optimal conditions for PCR amplification were selected through cross-reactivity, using a gradient PCR method. The PCR results demonstrated species-specific amplification for each species at annealing temperatures between 50 and $62^{\circ}C$. Multiplex species-specific PCR (MSS-PCR) amplification reactions with four pairs of primers were performed for sixteen specimens of each species. MSS-PCR lead to a species-specific amplification of a 1,540 bp fragment in L. polyactis, 1,013 bp in A. nibe, 474 bp in L. crocea, and 182 bp in P. elongates, respectively. The four different sizes of each PCR product can be quickly and easily detected by single gel electrophoresis. The sensitivity of the MSS-PCR of the DNA was up to $0.1ng/{\mu}l$ as a starting concentration for the four different species tested. These results suggest that MSS-PCR, with species-specific primers based on SNP, can be a powerful tool in the rapid identification of the four drums species, L. polyactis, L. crocea, A. nibe, and P. elongates.