• Korean Journal of Remote Sensing
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• v.38 no.6_1
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• pp.1125-1139
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• 2022

In an unmanned aerial vehicles (UAVs) system, a physical offset can be existed between the global positioning system/inertial measurement unit (GPS/IMU) sensor and the observation sensor such as a hyperspectral sensor, and a lidar sensor. As a result of the physical offset, a misalignment between each image can be occurred along with a flight direction. In particular, in a case of multi-sensor system, an observation sensor has to be replaced regularly to equip another observation sensor, and then, a high cost should be paid to acquire a calibration parameter. In this study, we establish a precise sensor model equation to apply for a multiple sensor in common and propose an independent physical offset estimation method. The proposed method consists of 3 steps. Firstly, we define an appropriate rotation matrix for our system, and an initial sensor model equation for direct-georeferencing. Next, an observation equation for the physical offset estimation is established by extracting a corresponding point between a ground control point and the observed data from a sensor. Finally, the physical offset is estimated based on the observed data, and the precise sensor model equation is established by applying the estimated parameters to the initial sensor model equation. 4 region's datasets(Jeon-ju, Incheon, Alaska, Norway) with a different latitude, longitude were compared to analyze the effects of the calibration parameter. We confirmed that a misalignment between images were adjusted after applying for the physical offset in the sensor model equation. An absolute position accuracy was analyzed in the Incheon dataset, compared to a ground control point. For the hyperspectral image, root mean square error (RMSE) for X, Y direction was calculated for 0.12 m, and for the point cloud, RMSE was calculated for 0.03 m. Furthermore, a relative position accuracy for a specific point between the adjusted point cloud and the hyperspectral images were also analyzed for 0.07 m, so we confirmed that a precise data mapping is available for an observation without a ground control point through the proposed estimation method, and we also confirmed a possibility of multi-sensor fusion. From this study, we expect that a flexible multi-sensor platform system can be operated through the independent parameter estimation method with an economic cost saving.

• Journal of KIISE:Computer Systems and Theory
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• v.34 no.8
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• pp.367-376
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• 2007

In this paper, we introduce an application-specific and adaptive power management technique for portable systems that support dynamic voltage scaling (DVS). We exploit both the idle time of multitasking systems running soft real-time tasks as well as memory- or CPU-bound code regions. Detailed power and execution time profiles guide an adaptive power manager (APM) that is linked to the operating system. A post-pass optimizer marks candidate regions for DVS by inserting calls to the APM. At runtime, the APM monitors the CPU's performance counters to dynamically determine the affinity of the each marked region. for each region, the APM computes the optimal voltage and frequency setting in terms of energy consumption and switches the CPU to that setting during the execution of the region. Idle time is exploited by monitoring system idle time and switching to the energy-wise most economical setting without prolonging execution. We show that our method is most effective for periodic workloads such as video or audio decoding. We have implemented our method in a multitasking operating system (Microsoft Windows CE) running on an Intel XScale-processor. We achieved up to 9% of total system power savings over the standard power management policy that puts the CPU in a low Power mode during idle periods.