• The Journal of Korean Institute of Communications and Information Sciences
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• v.39C no.1
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• pp.47-59
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• 2014

This paper deals with a vision-based trajectory tracking control system for a quadrotor-type UAV for entertainment purpose in indoor environment. In contrast to outdoor flights that emphasize the autonomy to complete special missions such as aerial photographs and reconnaissance, indoor flights for entertainment require trajectory following and hovering skills especially in precision and stability of performance. This paper proposes a trajectory tracking control system consisting of a motion generation module, a pose estimation module, and a trajectory tracking module. The motion generation module generates a sequence of motions that are specified by 3-D locations at each sampling time. In the pose estimation module, 3-D position and orientation information of a quadrotor is estimated by recognizing a circular ring pattern installed on the vehicle. The trajectory tracking module controls the 3-D position of a quadrotor in real time using the information from the motion generation module and pose estimation module. The proposed system is tested through several experiments in view of one-point, multi-points, and trajectory tracking control.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.17 no.1
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• pp.123-128
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• 2018

In this paper, we propose a multi-vehicle object detection algorithm using feature point matching that tracks efficient vehicle objects. The proposed algorithm extracts the feature points of the vehicle using the FAST algorithm for efficient vehicle object tracking. And True if the feature points are included in the image segmented into the 5X5 region. If the feature point is not included, it is processed as False and the corresponding area is blacked to remove unnecessary object information excluding the vehicle object. Then, the post processed area is set as the maximum search window size of the vehicle. And A minimum search window using the outermost feature points of the vehicle is set. By using the set search window, we compensate the disadvantages of the search window size of mean-shift algorithm and track vehicle object. In order to evaluate the performance of the proposed method, SIFT and SURF algorithms are compared and tested. The result is about four times faster than the SIFT algorithm. And it has the advantage of detecting more efficiently than the process of SUFR algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.3
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• pp.207-214
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• 2010

This paper proposes about decentralized control approach based Leader-Follower formation control using LOS (Line of Sight) algorithm and unknown input observer. The position of robots which is a basic information in multi-robot or single robot motion control is determined by localization algorithm fusing UPS (Ultrasonic Position System) and kinematics model. For formation control, a decentralized control approach individually installing a local controller in leader and follower robot is adopted. Leader robot is controlled to track a specified trajectory by LOS algorithm, and the other robots follow the leader by local controller based on tracking platoon level function, self-sensing data and estimated information from unknown input observer. The performance of proposed method is proven through the formation experiment of two vehicle models.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.10a
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• pp.484-486
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• 2018

MF-CW(Multi-Frequency Continuous Wave)operated on Electro-Optical Tracking System to measure slant range of space launch vehicle and aircraft at Naro Space Center. In this paper, we compared and analyzed the difference exactly measured slant range using the laser lightwave range measuring equipment with measured on the transponder and described the accuracy of slant range.

• Journal of the Korean Association of Geographic Information Studies
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• v.9 no.2
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• pp.30-41
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• 2006

This paper proposes an e-logistics system supporting efficient vehicle moving trajectory management. Recent advances in wireless communications have given rise to a number of location-based services including logistics vehicle tracking, cellular phone user's location finding, and location-based commerce. Logistics systems typically entail tracking vehicles for purposes of the logistics center knowing the whereabouts of the vehicles and/or consignments. Moreover, storing and managing location trajectory of continuously moving vehicles and consignments is necessary for supporting efficient logistics plan and consignment. The proposed system is able to manage spatial objects in GIS as well as logistic information in the mobile environment. And for the efficiently managing and retrieving of transporting trajectory of logistics, we extend previous moving object indexing method, TB-Tree, to use multi-version framework and evaluate data updating performance. It is able to apply the proposed method to develop mobile contents services based on continuously changing location of moving object in the mobile environment.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.16 no.2
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• pp.36-54
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• 2017

The purpose of this paper is to develop a multi-sensor fusion-based traffic information acquisition system with robust to environmental changes. it combines the characteristics of each sensor and is more robust to the environmental changes than the video detector. Moreover, it is not affected by the time of day and night, and has less maintenance cost than the inductive-loop traffic detector. This is accomplished by synthesizing object tracking informations based on a radar, vehicle classification informations based on a video detector and reliable object detections of a infrared range finder. To prove the effectiveness of the proposed system, I conducted experiments for 6 hours over 5 days of the daytime and early evening on the pedestrian - accessible road. According to the experimental results, it has 88.7% classification accuracy and 95.5% vehicle detection rate. If the parameters of this system is optimized to adapt to the experimental environment changes, it is expected that it will contribute to the advancement of ITS.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.8 no.6
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• pp.121-130
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• 2009

In this paper, Gaussian probability distribution model based multi-sensor data fusion algorithm is proposed for a vehicular location awareness system. Conventional vehicular location awareness systems are operated by GPS (Global Positioning System). However, the conventional system is not working in the indoor of building or urban area where the receiver is difficult to receive the signal from satellites. A method which is combined GPS and UWB (Ultra Wide-Band) has developed to improve this problem. However, vehicular is difficult to receive seamless location information since the measurement systems by both GPS and UWB convert the vehicle's movement information separately at each sensor. In this paper, normalized probability distribution model based Hybrid UWB/GPS is proposed by utilizing GPS location data and UWB sensor data. Therefore the proposed system provides information with seamless and location flexible properties. The proposed system tested by Ubisense and Asen GPS in the $12m{\times}8m$ outdoor environments. As a result, the proposed system has improved performance for accurateness and connection ability between devices to support various CNS (Car Navigation System).

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.9
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• pp.878-886
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• 2012

This paper investigates the implementation and flight test of realtime vision guided autopilot system based on virtual instrumentation platform. A graphical design process via virtual instrumentation platform is fully used for the image processing, communication between systems, vehicle dynamics control, and vision coupled guidance algorithms. A significatnt ojective of the algorithm is to achieve an environment robust autopilot despite wind and an irregular image acquisition condition. For a robust vision guided path tracking and hovering performance, the flight path guidance logic is combined in a multi conditional basis with the position estimation algorithm coupled with the vehicle attitude dynamics. An onboard flight test equipped with the developed realtime vision guided autopilot system is done using the rotary UAV system with full attitude control capability. Outdoor flight test demonstrated that the designed vision guided autopilot system succeeded in UAV's hovering on top of ground target within about several meters under geenral windy environment.

• Advances in robotics research
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• v.2 no.2
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• pp.161-182
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• 2018

This paper proposes a novel receding horizon control (RHC) algorithm for formation control of a swarm of unmanned surface vehicles (USVs) using particle swarm optimization (PSO). The proposed control algorithm provides the coordinated path tracking of multi-agent USVs while preventing collisions and considering external disturbances such as ocean currents. A three degrees-of-freedom kinematic model of the USV is used for the RHC with guaranteed stability and convergence by incorporating a sequential Monte Carlo (SMC)-based particle initialization. An ocean current model-based estimator is designed to compensate for the effect of ocean currents on the USVs. This method is compared with the PSO-based RHC algorithms to demonstrate the performance of the formation control and the collision avoidance in the presence of ocean currents through numerical simulations.

• Proceedings of the KSRS Conference
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• 1998.09a
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• pp.149-152
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• 1998

Nowadays, GIS, as multi-discipline information system, is closely linked with GPS application in conjunction with GIS-T or Logistics GIS. With this R&D trend. CPS/GIS application system for AVL is newly developed in this study. This AVL is designed and implemented by using pure Java computing technology towards com ing Car-equipped wireless Internet PC age, and main features of Java are included at this system: Platform independence, Multi-thread processing, and Object-oriented paradigm. While, because core modules of this AVL are based on GIS spatial engine, unlike other commercial AVLs, large spatial database problem handling digital image/spatial information and attribute information and direct access problem of GIS data is easily dealt with. this system can directly access external database by using JDBC: MS Access for desktop version and Oracle for W/S version. Finally, it is thought that Java-based AVL, one of CPS/CIS applications, can be easily extended into other prospective GIS applications: Land surveyor supporting system, Flight tracking system, 3D facility management system with CPS, and so forth.