• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.1
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• pp.159-165
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• 2010

The moving object monitoring and transforming personal robot system based on remote controls is designed and implemented, and the performance of the system is analyzed in this paper. The major considering factors in the system design are such as 1) the control scheme design (button based and the remote control schemes); 2) the operation modes design (wheel driving mode/pedestrian mode/auto driving mode/observation mode); 3) the remote control function design; 4) the design of the monitoring function of the changes in neighbor environments; 5) the design of the detection of obstruction. From the experiments, it is assured that the developed personal robot can walk to the grounds that covered with doorsill or electric wires in indoors by control the leg articulations, and can escape from the obstruction using three infrared sensors in the 30cm*30cm obstruction styled space under the auto driving mode.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.3
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• pp.45-50
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• 2007

We present a auto compensating quantum key distribution system based on optical fiber at 1550nm. In the quantum key transmission system, main control board and phase modulation driving board are fabricated for auto controlling quantum key distribution(QKD). We tested the single photon counts per dark counts for a single photon detector, quantum key distribution rate($R_{sift}$) and the quantum bit error rate (QBER). Quantum bit error rate of 3.5% in 25km QKD is obtained. This system is commercially available.

• Journal of Auto-vehicle Safety Association
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• v.5 no.1
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• pp.44-49
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• 2013

This paper presents a lateral collision risk index between an ego vehicle and a rear-side vehicle. The lateral collision risk is designed to represent a lateral collision risk and provide the appropriate threshold value of activation of the lateral collision management system such as the Blind Spot Detection(BSD). The lateral collision risk index is designed using the Time to Line Crossing(TLC) and the longitudinal collision index at the predicted TLC. TLC and the longitudinal collision index are calculated with the signals from the exterior sensor such as the radar equipped on the rear-side of a vehicle and a vision sensor which detects the distance and time to the lane departure. For the robust situation assessment, the perception of driving environment determining whether the road is straighten or curved should be determined. The relative motion estimation method has been proposed with the road information via the integrated estimator using the environment sensors and vehicle sensor. A lateral collision risk index was composed with the estimated relative motion considering the relative yaw angle. The performance of the proposed lateral collision risk index is investigated via computer simulations conducted using the vehicle dynamics software CARSIM and Matlab/Simulink.

• Journal of Animal Environmental Science
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• v.9 no.1
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• pp.45-56
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• 2003

$TAO^{TM}$ System is an auto-heated thermophilic aerated digestion process using a proprietary microbe called as a Phototropic Bacteria (PTB). High metabolic activity results in heat generation, which enables to produce a pathogen-free and digested liquid fertilizer at short retention times. TAO$^{TM}$ system has been developed to reduce a manure volume and convert into the liquid fertilizer using swine manure since 1992. About 100 units have been installed and operated in Korean swine farms so far. TAO$^{TM}$ system consists of a reactor vessel and ejector-type aeration pumps and foam removers. The swine slurry manure enters into vessel with PTB and is mixed and aerated. The process is operated at detention times from 2 to 4 days and temperature of 55 to $65^{\circ}C$. Foams are occurred and broken down by foam removers to evaporate water contents. Generally, at least 30% of water content is evaporated, 99% of volatile fatty acids caused an odor are removed and pathogen destruction is excellent with fecal coliform, rotavirus and salmonella below detection limits. The effluent from TAO$^{TM}$ system, called as the "TAO EFFLUX", is screened and has superb properties as a fertilizer. Normally N-P-K contents of screened TAO Efflux are 4.7 g/L, 0.375 g/L and 2.8 g/L respectively. The fertilizer effect of TAO EFFLUX compared to chemical fertilizer has been demonstrated and studied with various crops such as rice, potato, cabbage, pumpkin, green pepper, parsley, cucumber and apple. Generally it has better fertilizer effects and excellent soil fertility improvement effects. Moreover, the TAO EFFLUX is concentrated through membrane technology without fouling problems for a cost saving of long distance transportation and a commercialization (crop nutrient commodity) to a gardening market, for example.

• Journal of the Korea Society of Computer and Information
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• v.28 no.3
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• pp.35-43
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• 2023

Emotion recognition while driving is an essential task to prevent accidents. Furthermore, in the era of autonomous driving, automobiles are the subject of mobility, requiring more emotional communication with drivers, and the emotion recognition market is gradually spreading. Accordingly, in this research plan, the driver's emotions are classified into seven categories using psychological and behavioral data, which are relatively easy to collect. The latent vectors extracted through the auto-encoder model were also used as features in this classification model, confirming that this affected performance improvement. Furthermore, it also confirmed that the performance was improved when using the framework presented in this paper compared to when the existing EEG data were included. Finally, 81% of the driver's emotion classification accuracy and 80% of F1-Score were achieved only through psychological, personal information, and behavioral data.

• Journal of Auto-vehicle Safety Association
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• v.14 no.2
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• pp.39-44
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• 2022

This paper presents LiDAR static obstacle map based vehicle position correction algorithm for urban autonomous driving. Real Time Kinematic (RTK) GPS is commonly used in highway automated vehicle systems. For urban automated vehicle systems, RTK GPS have some trouble in shaded area. Therefore, this paper represents a method to estimate the position of the host vehicle using AVM camera, front camera, LiDAR and low-cost GPS based on Extended Kalman Filter (EKF). Static obstacle map (STOM) is constructed only with static object based on Bayesian rule. To run the algorithm, HD map and Static obstacle reference map (STORM) must be prepared in advance. STORM is constructed by accumulating and voxelizing the static obstacle map (STOM). The algorithm consists of three main process. The first process is to acquire sensor data from low-cost GPS, AVM camera, front camera, and LiDAR. Second, low-cost GPS data is used to define initial point. Third, AVM camera, front camera, LiDAR point cloud matching to HD map and STORM is conducted using Normal Distribution Transformation (NDT) method. Third, position of the host vehicle position is corrected based on the Extended Kalman Filter (EKF).The proposed algorithm is implemented in the Linux Robot Operating System (ROS) environment and showed better performance than only lane-detection algorithm. It is expected to be more robust and accurate than raw lidar point cloud matching algorithm in autonomous driving.

• Proceedings of the Korea Information Processing Society Conference
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• 2021.11a
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• pp.391-392
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• 2021

해마다 실내 냉방기 냉매누설 문제가 고질적으로 반복되며 소비자들의 피해도 커져가고 있다. 특히 제조사와 설치 업체가 다른 경우 냉매 누수의 원인이 제품인지, 설치하자인지 책임소재를 두고 갈등을 빚는 경우가 빈번하다. 이에 더 이상 소비자들의 피해를 막기 위해 냉매누설 검출 방안 마련이 필요해 보인다. 본 연구에서는 실내 냉방기 설치 후 냉매누설 검출을 위한 별도의 하드웨어 장치 추가 없이 냉방기의 운영을 위해 설치된 센서들의 값을 이용하여 냉매누설의 유무를 판단할 수 있는 방안을 제안하는 것을 목적으로 한다. 데이터 분석을 위하여 제조사의 제품 출하 전 현장 테스트 단계에서 측정한 온도값, 전류값, 습도값을 취합하여 데이터 셋을 구축하였다. 이때 자동화된 머신러닝(AutoML)을 이용하여 데이터의 80%를 훈련 데이터로 20%를 테스트 데이터로 사용하여 냉매량 80%는 1, 그 이하는 0으로 훈련시켰다. 구축한 데이터 셋을 이용하여 훈련시킨 결과 99% 정확도로 냉매누설 검출을 분별할 수 있었다. 또한 냉매누설과 관련성이 높은 중요 특징 4개를 추출할 수 있었다. 본 연구를 통하여 별도의 하드웨어 장치 추가 없이 소프트웨어적인 접근 방법으로 문제를 해결할 수 있는 feasibility를 확인할 수 있었다.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.32 no.1D
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• pp.81-88
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• 2012

This present research was carried out by dividing two parts; field surveying and data processing, in order to analyze changed patterns of a shoreline. Firstly, the shoreline information measured by the precise GPS positioning during long duration was collected. Secondly, the algorithm for detecting an auto boundary with regards to the changed shoreline with multi-image data was developed. Then, a comparative research was conducted. Haeundae beach which is one of the most famous ones in Korea was selected as a test site. RTK-GPS surveying had been performed overall eight times from September 2005 to September 2009. The filed test by aerial Lidar was conducted twice on December 2006 and March 2009 respectively. As a result estimated from both sensors, there is a slight difference. The average length of shoreline analyzed by RTK-GPS is approximately 1,364.6 m, while one from aerial Lidar is about 1,402.5 m. In this investigation, the specific algorithm for detecting the shoreline detection was developed by Visual C++ MFC (Microsoft Foundation Class). The analysis result estimated by aerial photo and satellite image was 1,391.0 m. The level of reliability was 98.1% for auto boundary detection when it compared with real surveying data.

• Journal of Broadcast Engineering
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• v.21 no.1
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• pp.36-42
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• 2016

Recently, many 3D contents have been produced through the multiview camera system. In this system, since a difference of the viewpoint between color and depth cameras is inevitable, the camera parameter plays the important role to adjust the viewpoint as a preprocessing step. The conventional camera calibration method is inconvenient to users since we need to choose pattern features manually after capturing a planar chessboard with various poses. Therefore, we propose a semi-auto camera calibration method using a circular sampling and an homography estimation. Firstly, The proposed method extracts the candidates of the pattern features from the images by FAST corner detector. Next, we reduce the amount of the candidates by the circular sampling and obtain the complete point cloud by the homography estimation. Lastly, we compute the accurate position having the sub-pixel accuracy of the pattern features by the approximation of the hyper parabola surface. We investigated which factor affects the result of the pattern feature detection at each step. Compared to the conventional method, we found the proposed method released the inconvenience of the manual operation but maintained the accuracy of the camera parameters.

• Journal of Broadcast Engineering
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• v.19 no.4
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• pp.491-501
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• 2014

Recently, the need for disaster-preventing broadcast has increased gradually to cope with natural disaster like earthquake and tsunami causing enormous losses of both life and property. In disaster-preventing broadcast system, the wake-up signal is used to alert user terminal and switch the current state of channel to the emergency channel, which is for the fast and efficient delivery of emergency information. In this paper, we propose the detection method of wake-up signal for disaster-preventing broadcast systems. The wake-up signals for disaster-preventing broadcast should have a good auto-correlation property in low power and narrow-band conditions that does not affect the existing digital television (DTV) system. The suitability of the m-sequence and complementary code (CC) is analyzed for wake-up signals according to signal to noise ratio. A wake-up signal is proposed by combining the direct sequence spread spectrum (DSSS) technique and pseudo noise (PN) sequences such as Barker and Walsh-Hadamard codes. By using the proposed method, a higher detecting performance can be achieved by the spreading gain compared to the single long m-sequence and the Golay code.