• Journal of Sensor Science and Technology
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• v.26 no.1
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• pp.1-6
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• 2017

The advanced driver assistant system (ADAS) requires the collection of a large amount of information including road conditions, environment, vehicle status, condition of the driver, and other useful data. In this regard, large-scale sensor networks can be an appropriate solution since they have been designed for this purpose. Recent advances in sensor network technology have enabled the management and monitoring of large-scale tasks such as the monitoring of road surface temperature on a highway. In this paper, we consider the estimation and fusion problems of the large-scale sensor networks used in the ADAS. Hierarchical fusion architecture is proposed for an arbitrary topology of the large-scale sensor network. A robust cluster estimator is proposed to achieve robustness of the network against outliers or failure of sensors. Lastly, a robust hierarchical data fusion scheme is proposed for the communication channel between the clusters and fusion center, considering the non-Gaussian channel noise, which is typical in communication systems.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.12
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• pp.1306-1316
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• 1990

A controller using a multilayer neural network is proposed to the dynamic control of a PUMA 560 robot arm. This controller is developed based on an error back-propagation (BP) neural network. Since the neural network can model an arbitrary nonlinear mapping, it is used as a commanded feedforward torque generator. A Proportional Derivative (PD) feedback controller is used in parallel with the feedforward neural network to train the system. The neural network was trained by the current state of the manipulator as well as the PD feedback error torque. No a priori knowledge on system dynamics is needed and this information is rather implicitly stored in the interconnection weights of the neural network. In another experiment, the neural network was trained with the current, past and future positions only without any use of velocity sensors. Form this thim window of position values, BP network implicitly filters out the velocity and acceleration components for each joint. Computer simulation demonstrates such powerful characteristics of the neurocontroller as adaptation to changing environments, robustness to sensor noise, and continuous performance improvement with self-learning.

• Proceedings of the IEEK Conference
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• 2001.09a
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• pp.657-660
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• 2001

In this paper, a robust watermarking technique is presented by using a block-based statistics in DCT domain. First, the proposed technique calculates JND threshold value using the global statistics in DCT domain. Then watermark insertion is carried out by inserting one watermark into coefficients which are above the threshold value J within a 2${\times}$2 block. Finally, watermark is estimated by averaging the extracted watermarks from the coefficients which are above the threshold in a window. In experiments it is shown that the proposed techniques can enhance perceptual invisibility and robustness against additive noise and JPEG compression attacks by using the characteristics of JND.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.48 no.3
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• pp.131-138
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• 1999

Generally, the digital controller has many advantages such as high precision, robustness to electrical noise, capability of flexible programming and fast response to the load variation. In this study, we have established proper mathematical equivalent model of Brushless DC (BLDC) motor and estimated the motor parameter by means of the back-emf measurement as being the step input to the controlled target BLDC motor. And the validity of proposed estimation method is confirmed by the test result of step response. As well, we have designed the reasonable digital controller as a consequence of the root locus method which is obtained from the open-loop transfer function of BLDC motor with hall sensor, and the determination of control gain for variable speed control. Here, revised Ziegler-Nichols tuning method is applied for the proper digital gain establishment, and the system stability is verified by the frequency domain analysis with Bode-plot and experimentation.

• Proceedings of the KIEE Conference
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• 1997.07f
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• pp.2171-2173
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• 1997

In this paper space vector PWM method is proposed to implement an indirect vector control for an induction motor with excellent dynamic stability and performance in a very low speed resin. The proposed method can detect the instantaneous speed in very low speed resin and a speed control system with robustness to the load disturbance, modeling error, and measured noise is suggest to decrese their influence on the control system.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.407-410
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• 2003

We propose a new logo watermark scheme for digital images which embed a watermark by modifying middle-frequency sub-bands of wavelet transform. Independent component analysis (ICA) is introduced to authenticate and copyright protect multimedia products by extracting the watermark. To exploit the Human visual system (HVS) and the robustness, a perceptual model is applied with a stochastic approach based on noise visibility function (NVF) for adaptive watermarking algorithm. Experimental results demonstrated that the watermark is perfectly extracted by ICA technique with excellent invisibility, robust against various image and digital processing operators, and almost all compression algorithms such as Jpeg, jpeg 2000, SPIHT, EZW, and principal components analysis (PCA) based compression.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.403-406
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• 2003

This paper presents a robust algorithm for edge detection based on fuzzy fusion, using a novel local edge information measure based on Renyi's a-order entropy. The calculation of the proposed measure is carried out using a parametric classification scheme based on local statistics. By suitably tuning its parameters, the local edge information measure is capable of extracting different types of edges, while exhibiting high immunity to noise. The notions of fuzzy measures and the Choquet fuzzy integral are applied to combine the different sources of information obtained using the local edge information measure with different sets of parameters. The effectiveness and the robustness of the new method are demonstrated by applying our algorithm to various synthetic computer-generated and real-world images.

• Phonetics and Speech Sciences
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• v.2 no.3
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• pp.127-134
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• 2010

Additive noise and channel mismatch strongly degrade the performance of speaker verification systems, as they distort the features of speech. In this paper a histogram transformation technique is presented to improve the robustness of text-independent speaker verification systems. The technique transforms the features extracted from speech such that their histogram is conformed to a reference distribution. The effect of different standard deviations for the reference distribution is investigated. Experimental results indicate that, in channel mismatched environments, the proposed technique offers significant improvements over existing techniques. We also verify performance improvement of the proposed method using statistics.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.8
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• pp.62-71
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• 2009

In mobile robotics, ultrasonic sensors became one of the most popular devices for collision avoidance and navigation primarily due to data robustness, the easy availability of low-cost systems, their compact size, simple circuits, and their ease in interfacing with computers. However, ultrasonic sonic sensors are subject to noise which results in inaccuracy of mapping and localization of the robot. This paper introduces a new approach to enhance environmental maps based on ultrasonic range data using linear interpolation and Newton interpolation. The simulation and experimental results show that the proposed method improves of the accuracy of the map through better distance estimation between the mobile robot and obstacles.

• Korean Journal of Remote Sensing
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• v.27 no.6
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• pp.693-701
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• 2011

Image registration is an essential process to analyze the time series of satellite images for the purpose of image fusion and change detection. The Mutual Information (MI) is commonly used as similarity measure for image registration because of its robustness to noise. Due to the radiometric differences, it is not easy to apply MI to multi-temporal satellite images using directly the pixel intensity. Image features for MI are more abundantly obtained by employing a Gabor filter which varies adaptively with the filter characteristics such as filter size, frequency and orientation for each pixel. In this paper we employed Bidirectional Gabor Filter Energy (BGFE) defined by Gabor filter features and applied the BGFE to similarity measure calculation as an image feature for MI. The experiment results show that the proposed method is more robust than the conventional MI method combined with intensity or gradient magnitude.