• The Journal of Korean Institute of Communications and Information Sciences
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• v.21 no.10
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• pp.2563-2578
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• 1996

In this paper, channel error characteristics are investigated to alleviate the channel error propagation problem of the digital TV transmission systems. First, error propagation problems, which are mainly caused by the inter-frame dependancy and variable length coding of the MPEG-2 baseline encoder, are intensively analyzed. Next, existing channel resilient schemes are systematically classified into two kinds of schemes; one for the encoder and the other for the decoder. By comparing the performance and implementation cost, the encoder side schemes, such as error localization, layered coding, error resilience bit stream generation techniques, are described in this paper. Also, in an effort to consider the parcticality of the real transmission situation, an efficient error detection scheme for a decoder system is proposed by employing a priori information of the bit stream syntas, checking the encoding conditions at the encoder stage, and exploiting the statistics of the image itself. Finally, subsequent error concealment technique based on the DCT coefficient recovery algorithm is adopted to evaluate the performance of the proposed error resilience technique. The computer simulation results show that the quality of the received image is significantly improved when the bit error rate is as high as 10$^{-5}$ .

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.7
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• pp.602-608
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• 2015

This paper proposes an algorithm for precise detection of corner points on a coplanar checkerboard in order to perform stereo camera calibration using a single frame. Considering the conditions of automobile production lines where a stereo camera is attached to the windshield of a vehicle, this research focuses on a coplanar calibration methodology. To obtain the accurate values of the stereo camera parameters using the calibration methodology, precise localization of a large number of feature points on a calibration target image should be ensured. To realize this demand, the idea with respect to a checkerboard pattern design and the use of a Homography matrix are provided. The calibration result obtained by the proposed method is also verified by comparing the depth information from stereo matching and a laser scanner.

• Journal of Information Processing Systems
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• v.6 no.4
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• pp.537-552
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• 2010

Software Debugging is the most time consuming and costly process in the software development process. Many techniques have been proposed to isolate different faults in a program thereby creating separate sets of failing program statements. Debugging in parallel is a technique which proposes distribution of a single faulty program segment into many fault focused program slices to be debugged simultaneously by multiple debuggers. In this paper we propose a new technique called Faulty Slice Distribution (FSD) to make parallel debugging more efficient by measuring the time and labor associated with a slice. Using this measure we then distribute these faulty slices evenly among debuggers. For this we propose an algorithm that estimates an optimized group of faulty slices using as a parameter the priority assigned to each slice as computed by value of their complexity. This helps in the efficient merging of two or more slices for distribution among debuggers so that debugging can be performed in parallel. To validate the effectiveness of this proposed technique we explain the process using example.

• Journal of Navigation and Port Research
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• v.35 no.2
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• pp.121-130
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• 2011

The localization of vehicle is an important part of an unmanned vehicle control problem. Pseudolite ultrasonic system(PUS) is the method to find an absolute position with a high accuracy by using ultrasonic sensor. And Gyro is the inertial sensor to measure yaw angle of vehicle. PUS can be able to estimate the position of mobile robot precisely, in which errors are not accumulated. And Gyro is a more faster measure method than PUS. In this paper, we suggest a more accuracy method of calculating PUS which is numerical analysis approach named Newtonian method. And also propose the fusion method to increase the accuracy of estimated angle on moving vehicle by using PUS and Gyro integrated system by Kalman filtering. To control the 4WS unmanned vehicle, the trajectory following algorithm is suggested. And the new concept arbitration of goal controller is suggested. This method considers the desirability function of vehicle state. Finally, the performances of Newtonian method and designed controller were verified from the experimental results with the 4WS vehicle scaled 1/10.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.37 no.2
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• pp.45-53
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• 2019

RGB-D SLAM (Simultaneous Localization and Mapping) refers to the technology of using deep camera as a visual sensor for SLAM. In view of the disadvantages of high cost and indefinite scale in the construction of maps for laser sensors and traditional single and binocular cameras, a method for creating three-dimensional map of indoor environment with deep environment data combined with RGB-D SLAM scheme is studied. The method uses a mobile robot system equipped with a consumer-grade RGB-D sensor (Kinect) to acquire depth data, and then creates indoor three-dimensional point cloud maps in real time through key technologies such as positioning point generation, closed-loop detection, and map construction. The actual field experiment results show that the average error of the point cloud map created by the algorithm is 0.0045m, which ensures the stability of the construction using deep data and can accurately create real-time three-dimensional maps of indoor unknown environment.

• Smart Structures and Systems
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• v.23 no.4
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• pp.359-371
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• 2019

As part of a structural health monitoring system, the relative geometric relationship between a ship and bridge has been recognized as important for bridge authorities and ship owners to avoid ship-bridge collision. This study proposes a novel computer vision method for the real-time geometric parameter identification of moving ships based on a single shot multibox detector (SSD) by using transfer learning techniques and monocular vision. The identification framework consists of ship detection (coarse scale) and geometric parameter calculation (fine scale) modules. For the ship detection, the SSD, which is a deep learning algorithm, was employed and fine-tuned by ship image samples downloaded from the Internet to obtain the rectangle regions of interest in the coarse scale. Subsequently, for the geometric parameter calculation, an accurate ship contour is created using morphological operations within the saturation channel in hue, saturation, and value color space. Furthermore, a local coordinate system was constructed using projective geometry transformation to calculate the geometric parameters of ships, such as width, length, height, localization, and velocity. The application of the proposed method to in situ video images, obtained from cameras set on the girder of the Wuhan Yangtze River Bridge above the shipping channel, confirmed the efficiency, accuracy, and effectiveness of the proposed method.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.29 no.11
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• pp.878-883
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• 2018

A jamming design scheme to disturb target position estimation of a bistatic multiple-input multiple-output(MIMO) radar system is presented. The proposed method exploits the received signals from distributed multiple electronic sensors and combines them to produce a jamming signal. The proposed algorithm can eliminate the target by transmitting the delayed sum or the weighted sum of the received senor signals. Simulation results confirm the performance of the proposed method.

• Smart Structures and Systems
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• v.24 no.2
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• pp.233-242
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• 2019

In this paper, an inverse approach based on uniform load surface (ULS) is presented for structural damage localization and quantification. The ULS is excellent approximation for deformed configuration of a structure under distributed unit force applied on all degrees of freedom. The ULS make use of natural frequencies and mode shapes of structure and in mathematical point of view is a weighted average of mode shapes. An objective function presented to damage detection is discrepancy between the ULS of monitored structure and numerical model of structure. Solving this objective function to find minimum value yields damage's parameters detection. The teaching-learning based optimization algorithm has been employed to solve inverse problem. The efficiency of present damage detection method is demonstrated through three numerical examples. By comparison between proposed objective function and another objective function which make use of natural frequencies and mode shapes, it is revealed present objective function have faster convergence and is more sensitive to damage. The method has good robustness against measurement noise and could detect damage by using the first few mode shapes. The results indicate that the proposed method is reliable technique to damage detection in structures.

• IEMEK Journal of Embedded Systems and Applications
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• v.17 no.4
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• pp.239-247
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• 2022

The existing studies on the localization in the GNSS (Global Navigation Satellite System) denied environment usually exploit low-cost MEMS IMU (Micro Electro Mechanical Systems Inertial Measurement Unit) sensors to replace the GNSS signals. However, the navigation system still requires GNSS signals for the normal environment. This paper presents an integrated GNSS/INS (Inertial Navigation System) navigation system which combines GNSS and multiple IMU sensors using extended Kalman filter in partially GNSS-denied environments. The position and velocity of the INS and GNSS are used as the inputs to the integrated navigation system. The Mahalanobis distance is used for novelty detection to detect the outlier of GNSS measurements. When the abnormality is detected in GNSS signals, GNSS data is excluded from the fusion process. The performance of the proposed method is evaluated using MATLAB/Simulink. The simulation results show that the proposed algorithm can achieve a higher degree of positioning accuracy in the partially GNSS-denied environment.

• Computers and Concrete
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• v.31 no.2
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• pp.151-161
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• 2023

This paper presents an investigation of variables that cause spurious cracking in numerical modeling of concrete fracture. Spurious cracks appear due to the approximate nature of numerical modeling. They overestimate the dissipated energy, leading to divergent results with mesh refinement. This paper is limited to quasi-static loading regime, homogeneous models, cracking as the only nonlinear mode of deformation and cracking only due to tensile loading. Under these conditions, some variables that can be related to spurious cracking are: mesh alignment, ductility, crack band width, structure size, mesh refinement and load increment size. Case studies illustrate the effect of each variable and convergence analyses demonstrate that, after all, load-increment size is the most important variable. Theoretically, a sufficiently small load increment is able to eliminate or at least alleviate the detrimental influence of the other variables. Such load-increment size might be prohibitively small, rendering the simulation unfeasible. Hence, this paper proposes two alternatives. First, it is proposed an algorithm that automatically find such small load increment size automatically, which not necessarily avoid large computations. Then, it is proposed a double simulation technique, in which the crack is forced to propagate through the localization zone.