• 대한원격탐사학회지
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• 제21권2호
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• pp.163-171
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• 2005

합성구경레이더(Synthetic Aperture Radar) 원시 자료(raw data)를 range-Doppler 알고리듬을 이용하여 처리하는 교육용 공개 프로그램을 개발하였다 이 프로그램은 SAR 시스템에 따라 자료처리에 필요한 변수를 자유롭게 조절함으로써, 특정 SAR 시스템에 치우치지 않고 다양한 자료를 처리할 수 있도록 일반화된 알고리듬을 구현하였다. 저가 사양의 컴퓨터에서도 최소 단위의 영상을 선택적으로 처리할 수 있고 자료 처리 중간 단계별로 영상 출력이 가능하기 때문에, 프로그램 작동 상태와 SAR의 원리를 직접 확인할 수 있도록 하였다. 특히 Doppler 변수를 자료 처리 중간 단계의 영상을 보고 직접 구할 수 있도록 고안하여 교육적 효과를 높였다. 또한 자료 처리 알고리듬과 원시프로그램을 모두 공개함으로써, SAR 시스템 원리를 이해하고 응용하는데 도움을 주고자 한다. 이 논문에서는 프로그램의 원리와 작동 환경을 소개하고, ERS-1 원시 자료를 이용한 자료 처리의 예를 보였다.

• 로봇학회논문지
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• 제10권1호
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• pp.33-41
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• 2015

Recent developments in robotics and intelligent vehicle area, bring interests of people in an autonomous driving ability and advanced driving assistance system. Especially fully automatic parking ability is one of the key issues of intelligent vehicles, and accurate parked vehicles detection is essential for this issue. In previous researches, many types of sensors are used for detecting vehicles, 2D LiDAR is popular since it offers accurate range information without preprocessing. The L shape feature is most popular 2D feature for vehicle detection, however it has an ambiguity on different objects such as building, bushes and this occurs misdetection problem. Therefore we propose the accurate vehicle detection method by using a 3D complete vehicle model in 3D point clouds acquired from front inclined 2D LiDAR. The proposed method is decomposed into two steps: vehicle candidate extraction, vehicle detection. By combination of L shape feature and point clouds segmentation, we extract the objects which are highly related to vehicles and apply 3D model to detect vehicles accurately. The method guarantees high detection performance and gives plentiful information for autonomous parking. To evaluate the method, we use various parking situation in complex urban scene data. Experimental results shows the qualitative and quantitative performance efficiently.

• 항공우주산업기술동향
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• 제6권1호
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• pp.124-134
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• 2008

The rising demand for the high efficiency and high covertness in UAV motivates the miniature design of the high performing mission sensors, or payloads. One of the promising payload sensors, EO/IR sensor has evolved satisfying its demands and became the main stand-alone mission sensor for 200kg-range UAV. One aspect in development of EO/IR sensor concerns lack of specification criterions to represent its performance. Even though the high demand and competition among each manufacturer caused EO/IR features subject to rapid change collateral to new technology, the datasheets maintained the conventional outdated formats which leave some of the major components in ambiguity. Making comparisons or predicting actual performance with such datasheets is hardly worthwhile; yet, they could be important reference guide for the potential customers what to expect for the upcoming EO/IR. According to UAS Roadmap 2007-2032 published by DoD, one of the main potential customers as well as a main investor of EO/IR technology, EO/IR is expected to play key roll in solving urgent problems, such as see and avoid system. This paper will examine the recent representative EO/IR specialized in UAS missions through datasheets to find out current trend and eventually extrapolate the possible future trend.

• 한국정밀공학회지
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• 제34권4호
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• pp.259-264
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• 2017

Spectrally resolved interferometry (SRI) is an attractive technique to measure absolute distances without any moving components. In the spectral interferogram obtained by a spectrometer, the optical path difference (OPD) can simply be extracted from the linear slope of the spectral phase. However, SRI has a fundamental measuring range limitation due to maximum and minimum measurable distances. In addition, SRI cannot distinguish the OPD direction because the spectral interferogram is in the form of a natural sinusoidal function. In this investigation, we describe a direction determining SRI and propose the optimal conditions for determining OPD direction. Spectral phase nonlinearity, caused by a dispersive material, effects OPD direction but deteriorates spectral interferogram visibility. In the experiment, various phase nonlinearities were measured by adjusting the dispersive material (BK7) thickness. We observed the interferogram visibility and the possibility of direction determination. Based on the experimental results, the optimal dispersion conditions are provided to distinguish OPD directions of SRI.

• 제어로봇시스템학회논문지
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• 제17권4호
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• pp.353-361
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• 2011

A precise embedded ultrasonic localization system is developed for autonomous mobile robots in indoor environments, which is essential for autonomous navigation of mobile robots with various tasks. Although ultrasonic sensors are more cost-effective than other sensors such as LRF (Laser Range Finder) and vision, they suffer inaccuracy and directional ambiguity. First, we apply the matched filter to measure the distance precisely. For resolving the computational complexity of the matched filter for embedded systems, we propose a new matched filter algorithm with fast computation in three points of view. Second, we propose an accurate ultrasonic localization system which consists of three ultrasonic receivers on the mobile robot and two or more transmitters on the ceiling. Last, we add an extended Kalman filter to estimate position and orientation. Various simulations and experimental results show the effectiveness of the proposed system.

• 한국군사과학기술학회지
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• 제5권1호
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• pp.59-64
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• 2002

Passive sonar system forms the various beams in any desired directions to obtain the improvement in Signal-to-Noise(S/N) ratio, bearing detection and localization of targets, and the attenuation of interferences from other directions. Detection of modern underwater targets is becoming increasingly difficult as noise reduction technology leads to considerably low-level acoustic emissions. Therefore, the improvement of beamforming is very important to detect modern underwater targets at the long range in the complex environmental sea. Also, to react to the fast attack mobiles such as torpedoes, port and starboard discrimination is required to be performed very quickly. In this paper, we proposed the implementation of omnidirectional target bearing detector without port and starboard ambiguity to detect effectively the low-level underwater targets. The port and starboard discrimination is performed by cardioid processing and the improvement of beamforming utilizes the cross correlation matrix of individual hydrophone pairs of linear array sensors. The sea test result shows that the system implemented is good for the detection of the low-level underwater targets.

• International Journal of Naval Architecture and Ocean Engineering
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• 제12권1호
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• pp.184-198
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• 2020

Decisions of the design speed, MCR, and engine capacity have been empirically made by assuming the value termed the sea margin. Due to ambiguity regarding the effect of some factors on the sea margin, the value has been commonly decided based on experience. To evaluate the value from a new viewpoint, it is necessary to construct an approach to estimate the sea margin through an objective procedure based on a physical and mathematical model. In this paper, a framework to estimate the actual sea margin of an LNGC based on the maneuvering equations of motion is suggested by considering the hull, propeller, rudder, and given sea route under wind and waves. The fouling effect is additionally quantified as the increase of total resistance by considering the re-docking period. The operation data is reviewed to amend the increase of the total resistance considering the speed loss of a ship. Finally, the factor of how much the resistance increases due to fouling is newly obtained for the vessel. Based on the comparison of the estimated sea margin with the empirical range of the sea margin, the constructed framework is regarded as feasible.

• Journal of electromagnetic engineering and science
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• 제9권3호
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• pp.130-140
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• 2009

The design theory and experimental results of a true random noise radar system are presented in this paper. Target range information can be extracted precisely by correlation processing between the delayed reference and the signal received from a target, and the velocity information by the Doppler processing with successive correlation data. A K-band noise radar system was designed using random FM noise signal, and the characteristics of the fabricated system were examined with laboratory and outdoor experiments. A C-band random FM noise signal was generated by applying a low-frequency white Gaussian noise source to VCO(Voltage Controlled Oscillator), and a K-band Tx noise signal with 100 MHz bandwidth was obtained by using a following frequency multiplier. Two modified wave-guide horn arrays were designed and fabricated, and used for the Tx and Rx antennas. The required amount of Tx/Rx isolation was attained by using a coupling cancellation circuit as well as keeping them apart with predetermined spacing. A double down-conversion scheme was used in the Rx and reference channels, respectively, for easy post processing such as correlation and Doppler processing. The implemented noise radar performance was examined with a moving bicycle and a very high-speed target with a velocity of 150 m/s. The results extracted by the Matlab simulation using the logging data were found to be in a reasonable agreement with the expected results.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2007년도 Proceedings of ISRS 2007
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• pp.90-94
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• 2007

The conventional single-reference station positioning is affected by systematic errors such as ionospheric and tropospheric delay, so that the rover must be located within 10 km from the reference station in order to acquire centimeter-level accuracy. The medium-range real-time kinematic has been proven feasible and can be used for high precision applications. However, the longer of the baseline, the more of the time for resolving the integral ambiguity is required. This is due to the fact that systematic errors can not be eliminated effectively by double-differencing. Recently, network approaches have been proposed to overcome the limitation of the single-reference station positioning. The real-time systematic error modeling can be achieved with the use of GPS network. For expanding the effective range and decreasing the density of the reference stations, Land Survey Bureau, Ministry of the Interior in Taiwan set up a national GPS network. In order to obtain the high precision positioning and provide the multi-goals services, a GPS network including 66 stations already been constructed in Taiwan. The users can download the corrections from the data center via the wireless internet and obtain the centimeter-level accuracy positioning. The service is very useful for surveyors and the high precision coordinates can be obtained real time.

• 한국산업정보학회논문지
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• 제24권5호
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• pp.95-104
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• 2019

본 논문에서는 잔향 환경에 강인한 GSFM(Generalized sinusoidal frequency modulated) 펄스를 설계하는 기법을 제안하였다. GSFM 펄스는 SFM(Sinusoidal frequency modulated) 펄스의 일반화한 형태로써 거리와 도플러 분해능이 모두 우수한 압정형태의 모호성 함수를 가지는 장점이 있다. 하지만 일반화를 하는 과정에서 주기성이 사라지기 때문에, 빗살형태의 스펙트럼을 가지는 SFM 펄스에 비해 잔향환경에서 탐지 성능이 저하된다. 본 논문에서는 GSFM 펄스의 파라미터 ${\rho}$를 적절히 변화시켜 SFM 펄스의 잔향 제거 성능과 GSFM 펄스의 거리 분해능 성능 간에 트레이드오프(Trade-off)관계를 분석하고, 비교적 높은 성능을 동시에 만족할 수 있는 ${\rho}$ 값을 제안하였다. 제안한 GSFM 펄스의 성능을 검증하기 위해 잔향환경을 모의하여 시뮬레이션을 수행하였으며, 제안한 GSFM 펄스가 저속의 도플러 표적을 탐지하면서 우수한 거리 분해능을 가지는 것을 확인할 수 있었다.