• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.6
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• pp.1002-1008
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• 2011

The mine-detection system, which is one of the various mission equipments for Ground Vehicle System, detects mine under the ground. The mine detection sensors comprised of Metal Detection(MD) sensor and Ground Penetration Radar(GPR) are attached on the end of the multi-DOF manipulator. The manipulator moves the sensor to sweep mine areas keeping the pre-determined distance between the sensor and ground to enhance mine detection performance. The detection system can be operated automatically, semi-automatically and manually. When the detection system is operated automatically, the sensor should avoid collisions with unexpected obstacles which may exist on the ground. Two types of ultra-sonic sensors were developed for the mine detection sensor system to keep the appropriate gap between sensor and the ground to avoid the obstacles. Also, mine place marking device was developed.

• Journal of Korean Tunnelling and Underground Space Association
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• v.24 no.4
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• pp.341-353
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• 2022

Pipelines are buried in urban area, and the position (depth and orientation) of buried pipeline should be clearly identified before ground excavation. Although various geophysical methods can be used to detect the buried pipeline, it is not easy to identify the exact information of pipeline due to heterogeneous ground condition. Among various non-destructive geo-exploration methods, ground penetration radar (GPR) can explore the ground subsurface rapidly with relatively low cost compared to other exploration methods. However, the exploration data obtained from GPR requires considerable experiences because interpretation is not intuitive. Recently, researches on automated detection technology for GPR data using deep learning have been conducted. However, the lack of GPR data which is essential for training makes it difficult to build up the reliable detection model. To overcome this problem, we conducted a preliminary study to improve the performance of the detection model using finite difference time domain (FDTD)-based numerical analysis. Firstly, numerical analysis was performed with homogeneous soil media having single permittivity. In case of heterogeneous ground, numerical analysis was performed considering the ground heterogeneity using fractal technique. Secondly, deep learning was carried out using convolutional neural network. Detection Model-A is trained with data set obtained from homogeneous ground. And, detection Model-B is trained with data set obtained from homogeneous ground and heterogeneous ground. As a result, it is found that the detection Model-B which is trained including heterogeneous ground shows better performance than detection Model-A. It indicates the ground heterogeneity should be considered to increase the performance of automated detection model for GPR exploration.

• Journal of Korea Game Society
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• v.17 no.6
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• pp.139-152
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• 2017

In this paper, we propose a ground area detection technique based on region segmentation in the spherical image. We modified the Watershed planar image segmentation method to segment spherical images. After regions are segmented, the ground area is detected by comparing colors and textures of pixels of the assumed ground region with the pixels of other regions. The ground detection technique for planar images cannot be used for spherical images due to the spherical distortion. Considering the spherical distortion, we designed the ground shape detection algorithm to detect the ground area in the spherical images. Our experimental results show that the proposed technique properly detects ground areas both for the flat ground and the obstacle-filled ground environments.

• Journal of the Institute of Electronics and Information Engineers
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• v.54 no.5
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• pp.97-105
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• 2017

An air-burst munition is limited in space, so there is a limit on the size of the fuze and the amount of ammunition. In order to increase a firepower to a target with limited ammunition, it is necessary to concentrate the firepower on the ground instead of the omnidirectional explosion after flying to the target. This paper explores the design and verification of a ground-detection sensor that detects the direction of the ground and determines the flight-distance of an air-burst munition using a single axis geomagnetic sensor. Prior to the design of the ground detection sensor, a geomagnetic sensor model mounted on the spinning air-burst munition is analyzed and a ground-detection algorithm by simplifying this model is designed. A high speed rotating device to simulate a rotation environment is designed and a geomagnetic sensor and a remote-recording system are fabricated to obtain geomagnetic data. The ground detection algorithm is verified by post-processing the acquired geomagnetic data. Taking miniaturization and low-power into consideration, the ground detection sensor is implemented with analog devices and the processor. The output signal of the ground detection sensor rotating at an arbitrary rotation speed of 200 Hz is connected to the LED (Light Emitting Diode) in the high speed rotating device and the ground detection sensor is verified using a high-speed camera.

• Proceedings of the KIEE Conference
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• 2006.10d
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• pp.238-240
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• 2006

For the method of train position detection, ground-based train position estimation mainly has been applied so far. Ground-based position detection is the way to detect train current positions by installing train position equipments on railroad lines. However, the ground-based methods should install detection equipments on each section, and can only be able to detect train positions from main command center. So this method has several disadvantages such as an discontinuous position detection, an increment in cost of installation and maintenance. To make possible continuous train position detection, and to minimize amount of the cost, the vehicle-based position detection method should be chosen to determine train positions by loading position equipments on vehicles. In this paper, to realize the vehicle-based train position detection method, configuration scheme of train position detection equipment is suggested by using GPS, inertial sensor, speed sensor and its performance is verified by simulations.

• 한국신재생에너지학회:학술대회논문집
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• 2008.05a
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• pp.408-411
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• 2008

In this paper, a new DC ground fault detection system is proposed, which is suitable for photovoltaic power generation systems. The proposed ground fault systems is superposition of divide resistance and detection circuit. The proposed system has the characteristics of a simplified structure, reduced cost and volume compared with those of the conventional ground fault system for DC source. The operation principle of the proposed systems is described and verified by simulation result.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.588-591
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• 2004

In this paper, we propose a ground plane detection algorithm, using a new image processing method (IPD). To extract the ground plane from the color image acquired by monocular camera, we use a new identical pixel detection method (IPD) and an edge detection method. This IPD method decides whether the pixel is identical with the ground plane pixel or not. The IPD method needs the reference area and its performance depends on the reference area size. So we propose the reference area auto-expanding algorithm in accordance with situation. And we evaluated the proposed algorithm by the experiments in the various environments. From the experiments results, we know that the proposed algorithm is efficient in the real indoor environment.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.10a
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• pp.377-378
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• 2009

• Journal of Positioning, Navigation, and Timing
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• v.1 no.1
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• pp.15-21
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• 2012

For a GNSS receiver's robustness against RFI and the high accuracy of navigation solution in GNSS, interference source detection and mitigation are needed. In this paper, an adaptive lattice IIR notch filter is employed to track single-tone continuous wave and swept continuous wave interference signals, and an interference detection method is proposed. Furthermore, this paper presents interference source characterization algorithm using multiple ground stations' interference detection results. The measurement of the signal powers from each ground station is used to build weighting factors to estimate the type of the interference. The performance of interference detection algorithm is simulated for scenarios of GPS signal in the presence of single-tone continuous wave interference and swept continuous wave interference.

• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.1
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• pp.9-15
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• 2012

This paper shows an effective scanning trajectory for a mine detection device that is one of the mission equipments of unmanned ground vehicle. The mine detection device is composed of a mine-detection sensor, and a 4 DOF manipulator enabling sensor position control. There are three modes that manage the mine detection device: passive, semi-automatic, and automatic. The automatic mode is used the most. This paper suggests a scanning method that makes shape of 8. This method prevents missing target area and enhances scanning speed when the mine detection device scans the ground surface in automatic mode. The suggested method is verified by simulations and experiments.