• Journal of Platform Technology
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• v.11 no.2
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• pp.26-38
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• 2023

This paper is a study on a transport robot capable of autonomously driving to a destination using a QR code in an indoor environment. The transport robot was designed and manufactured by attaching a lidar sensor so that the robot can maintain a certain distance during movement by detecting the distance between the camera for recognizing the QR code and the left and right walls. For the location information of the delivery robot, the QR code image was enlarged with Lanczos resampling interpolation, then binarized with Otsu Algorithm, and detection and analysis were performed using the Zbar library. The QR code recognition experiment was performed while changing the size of the QR code and the traveling speed of the transport robot while the camera position of the transport robot and the height of the QR code were fixed at 192cm. When the QR code size was 9cm × 9cm The recognition rate was 99.7% and almost 100% when the traveling speed of the transport robot was less than about 0.5m/s. Based on the QR code recognition rate, an experiment was conducted on the case where the destination is only going straight and the destination is going straight and turning in the absence of obstacles for autonomous driving to the destination. When the destination was only going straight, it was possible to reach the destination quickly because there was little need for position correction. However, when the destination included a turn, the time to arrive at the destination was relatively delayed due to the need for position correction. As a result of the experiment, it was found that the delivery robot arrived at the destination relatively accurately, although a slight positional error occurred while driving, and the applicability of the QR code-based destination self-driving delivery robot was confirmed.

• Korean Journal of Remote Sensing
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• v.35 no.3
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• pp.415-431
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• 2019

The satellite-viewed cloudiness, a ratio of cloudy pixels to total pixels ($C_{sat,\;prev}$), inevitably differs from the "ground-viewed" cloudiness ($C_{grd}$) due to different viewpoints. Here we develop an algorithm to retrieve the satellite-viewed, but adjusted cloudiness to $C_{grd} (C_{sat,\;adj})$. The key process of the algorithm is to convert the cloudiness projected on the plane surface into the cloudiness on the celestial hemisphere from the observer. For this conversion, the supplementary satellite retrievals such as cloud detection and cloud top pressure are used as they provide locations of cloudy pixels and cloud base height information, respectively. The algorithm is tested for Himawari-8 level 1B data. The $C_{sat,\;adj}$ and $C_{sat,\;prev}$ are retrieved and validated with $C_{grd}$ of SYNOP station over Korea (22 stations) and China (724 stations) during only daytime for the first seven days of every month from July 2016 to June 2017. As results, the mean error of $C_{sat,\;adj}$ (0.61) is less that than that of $C_{sat,\;prev}$ (1.01). The percent of detection for 'Cloudy' scenario of $C_{sat,\;adj}$ (73%) is higher than that of $C_{sat,\;prev}$ (60%) The percent of correction, the accuracy, of $C_{sat,\;adj}$ is 61%, while that of $C_{sat,\;prev}$ is 55% for all seasons. For the December-January-February period when cloudy pixels are readily overestimated, the proportion of correction of $C_{sat,\;adj$ is 60%, while that of $C_{sat,\;prev}$ is 56%. Therefore, we conclude that the present algorithm can effectively get the satellite cloudiness near to the ground-viewed cloudiness.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.40 no.11
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• pp.51-62
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• 2003

This paper presents a novel survivor memeory management and decoding techniques with sequential backward state transition control in the trace back Viterbi decoder. The Viterbi algorithm is an maximum likelihood decoding scheme to estimate the likelihood of encoder state for channel error detection and correction. This scheme is applied to a broad range of digital communication such as intersymbol interference removing and channel equalization. In order to achieve the area-efficiency VLSI chip design with high throughput in the Viterbi decoder in which recursive operation is implied, more research is required to obtain a simple systematic parallel ACS architecture and surviver memory management. As a method of solution to the problem, this paper addresses a progressive decoding algorithm with sequential backward state transition control in the trace back Viterbi decoder. Compared to the conventional trace back decoding techniques, the required total memory can be greatly reduced in the proposed method. Furthermore, the proposed method can be implemented with a simple pipelined structure with systolic array type architecture. The implementation of the peripheral logic circuit for the control of memory access is not required, and memory access bandwidth can be reduced Therefore, the proposed method has characteristics of high area-efficiency and low power consumption with high throughput. Finally, the examples of decoding results for the received data with channel noise and application result are provided to evaluate the efficiency of the proposed method.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.39 no.3
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• pp.218-229
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• 2003

A new biotelemetry method that the installation and the treatment of equipment is convenient and the instantaneously detailed location of the fish attached the pinger is able to track comparatively easily was developed. The receiving system in this biotelemetry method was advanced for track the detailed behavior of the fish by the miniature tracking pinger, because it was a burden to fish to add the pinger with the water temperature and the pressure sensor. By combining of the super short base line (SSBL) method to detect the direction of pinger and the pinger synchronizing method to measure the range from receiving transducer to pinger, the three dimensional locations of fish to the receiving transducer is gotten instantaneously. The receiving system is devised to realize the high precision or wide detection range by application of the basic design method for receiving system of biotelemetry developed by the present authors and the hydrophone array configuration. The measurement distance error in the pinger synchronizing method is minimized through the correction of which the deviation of transmission pluse period of pinger is caused by changing water temperature. A prototype system which is able to track the instantaneously detailed location of the fish by the SSBL and pinger synchronizing biotelemetry (SPB) method was produced.

• Journal of the Korean Society of Radiology
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• v.7 no.5
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• pp.333-338
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• 2013

Generally, it's known fact that intensity of radioactivity satisfies inverse-square law. However, the law was dissatisfied with practical experiment because of limited shape of scintillation detector. Especially, in the case of near distance between the surface of detector and the radioactive source, the difference grows larger. In the present study, reason of this difference was confirmed by experiment with $2^{{\prime}{\prime}}{\times}2^{{\prime}{\prime}}{\phi}$ NaI(Tl) scintillation detector and $^{60}Co$(1.174 MeV, 1.333 MeV)and $^{137}Cs$(0.662 MeV) gamma ray sources. From the experiment, the correction coefficient was obtained with gamma ray detection efficiency and geometrical volume. In the result of the present study, the efficiency difference of the detector was corrected with the coefficient. In the present result, we obtained that the inverse-square law experiment have to consider the efficiency and geometrical value of the detector.

• The KIPS Transactions:PartC
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• v.16C no.1
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• pp.51-56
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• 2009

Time synchronization algorithm in wireless sensor networks is essential to various applications such as object tracking, data encryption, duplicate detection, and precise TDMA scheduling. This paper describes CDRS that is a time synchronization algorithm using the Clock Drift rate and Reference Signals between two sensor nodes. CDRS is composed of two steps. At first step, the time correction is calculated using offset and the clock drift rate between the two nodes based on the LTS method. Two nodes become a synchronized state and the time variance can be compensated by the clock drift rate. At second step, the synchronization node transmits reference signals periodically. This reference signals are used to calculate the time difference between nodes. When this value exceeds the maximum error tolerance, the first step is performed again for resynchronization. The simulation results on the performance analysis show that the time accuracy of the proposed algorithm is improved, and the energy consumption is reduced 2.5 times compared to the time synchronization algorithm with only LTS, because CDRS reduces the number of message about 50% compared to LTS and reference signals do not use the data space for timestamp.

• Radiation Oncology Journal
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• v.26 no.2
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• pp.118-125
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• 2008

Purpose: On-line image guided radiation therapy(on-line IGRT) and(kV X-ray images or cone beam CT images) were obtained by an on-board imager(OBI) and cone beam CT(CBCT), respectively. The images were then compared with simulated images to evaluate the patient's setup and correct for deviations. The setup deviations between the simulated images(kV or CBCT images), were computed from 2D/2D match or 3D/3D match programs, respectively. We then investigated the correctness of the calculated deviations. Materials and Methods: After the simulation and treatment planning for the RANDO phantom, the phantom was positioned on the treatment table. The phantom setup process was performed with side wall lasers which standardized treatment setup of the phantom with the simulated images, after the establishment of tolerance limits for laser line thickness. After a known translation or rotation angle was applied to the phantom, the kV X-ray images and CBCT images were obtained. Next, 2D/2D match and 3D/3D match with simulation CT images were taken. Lastly, the results were analyzed for accuracy of positional correction. Results: In the case of the 2D/2D match using kV X-ray and simulation images, a setup correction within $0.06^{\circ}$ for rotation only, 1.8 mm for translation only, and 2.1 mm and $0.3^{\circ}$ for both rotation and translation, respectively, was possible. As for the 3D/3D match using CBCT images, a correction within $0.03^{\circ}$ for rotation only, 0.16 mm for translation only, and 1.5 mm for translation and $0.0^{\circ}$ for rotation, respectively, was possible. Conclusion: The use of OBI or CBCT for the on-line IGRT provides the ability to exactly reproduce the simulated images in the setup of a patient in the treatment room. The fast detection and correction of a patient's positional error is possible in two dimensions via kV X-ray images from OBI and in three dimensions via CBCT with a higher accuracy. Consequently, the on-line IGRT represents a promising and reliable treatment procedure.