• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2010.05a
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• pp.975-978
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• 2010

This paper presents a Kalman filter based modeling algorithm for autonomous robots. State of the robot systems is measured by using embedded sensors and then carried to a host computer via ubiquitous sensor network (USN). We settle a linear state space motion equation for unknown system dynamics and modify a popular Kalman filter algorithm in deriving suitable parameter estimation mechanism. We conduct real-time experiment to test our proposed modeling algorithm where velocity state of the constructed robot is used as system observation.

• Korean Journal of Remote Sensing
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• v.21 no.1
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• pp.83-89
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• 2005

This study utilized a spatial region growing segmentation and a classification using fuzzy membership vectors to detect the changes in the images observed at different dates. Consider two co-registered images of the same scene, and one image is supposed to have the class map of the scene at the observation time. The method performs the unsupervised segmentation and the fuzzy classification for the other image, and then detects the changes in the scene by examining the changes in the fuzzy membership vectors of the segmented regions in the classification procedure. The algorithm was evaluated with simulated images and then applied to a real scene of the Korean Peninsula using the KOMPSAT-l EOC images. In the expertments, the proposed method showed a great performance for detecting changes in land-cover.

• The Journal of Korea Robotics Society
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• v.13 no.4
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• pp.248-255
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• 2018

In this paper, a design for a vehicle body of an armored robot for complex disasters is described. The proposed design considers various requirements in complex disaster situations. Fire, explosion, and poisonous gas may occur simultaneously under those sites. Therefore, the armored robot needs a vehicle body that can protect people from falling objects, high temperature, and poisonous gas. In addition, it should provide intuitive control devices and realistic surrounding views to help the operator respond to emergent situations. To fulfill these requirements of the vehicle body, firstly, the frame was designed to withstand the impact of falling objects. Secondly, the positive pressure device and the cooling device were applied. Thirdly, a panoramic view was implemented that enables real-time observation of surroundings through a number of image sensors. Finally, the cockpit in the vehicle body was designed focused on the manipulability of the armored robot in disaster sites.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.39A no.5
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• pp.271-279
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• 2014

In this paper, the two design techniques of the embedded system which provides a wireless image observation with temporary ad-hoc network are proposed and developed. The first method is based on the embedded system design technique for a nearly real-time wireless short observation application, having a specific remote monitoring node with a built-in image processing function, and having the maximum rate of 1 fps (frame per second) wireless image transmission capability of a $160{\times}128$size image. The second technique uses the embedded system for a general wireless long observation application, consisting of the main node, the remote monitoring node, and the system controller with built-in image processing function, and the capability of the wireless image transmission rate of 1/3 fps. The proposed system uses the wireless ad-hoc network which is widely accepted as a short range, low power, and bidirectional digital communication, the hardware are consisted of the general developed modules, a small digital camera, and a PC, and the embedded software based upon the Zigbee stack and the user interface software are developed and tested on the implemented module. The wireless environment analysis and the performance results are presented.

• Journal of Korea Water Resources Association
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• v.46 no.5
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• pp.477-490
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• 2013

A rip-current warning index function, which is estimated from the likelihood of rip current quantified based on numerical simulations under various sea environments and is varied according to real-time buoy-observations, was studied to help protect against rip current accidents at Haeundae beach. For the quantification, the definition of likelihood of rip current, which proposed by Choi et al. (2011, 2012b), was employed and estimated based on Boussinesq modelling. The distribution of likelihood of rip current was evaluated by using various simulations according to scenarios established based on physical quantities(i.e., wave parameters) of buoy-observations. To index the likelihood of rip current, empirical functions were derived based on the distribution and adjusted to observational environments. In this study, the observations from June to September in 2011 at Haeundae beach were applied to the rip-current index functions, and its applications into the real events found based on CCTV images were presented and investigated. In addition, limitations and improvements of the rip-current index function were discussed.

• Journal of the Ergonomics Society of Korea
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• v.21 no.3
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• pp.13-24
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• 2002

Reduction and prevention of human error is one of the major interests for the enhancement of system safety and availability in Nuclear Power Plants (NPPs). As human beings have become the weak point in the system safety, a systematic evaluation on human performance during emergency situation should be performed in advance to identify the potential vulnerability of human tasks. Though the data gathering and analysis from real field is an important precondition, there were no available data in nuclear field of korea. This paper presents the result of human performance analysis on emergency tasks in NNPs. Firstly, a task analysis was performed to identify the characteristics of operator tasks during emergency condition and to classify them into a set of generic emergency tasks. Secondly, simulation data were collected and analyzed for the emergency tasks using the full scope simulator of Younggwang NPPs. The analyzed human performance information cover the event diagnosis time, the execution time of each procedural step, observation parameters, typer of irrelevant response, pattern of communication among staffs, and so on. These performance data would be used for human reliability analysis and the research of human error as technical bases.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.2
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• pp.145-153
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• 2006

An optimal capturing trajectory for a moving object is proposed in this paper based on the observation that a single-curvature path is more accurate than double-or triple-curvature paths. Moving distance, moving time, and trajectory error are major factors considered in deciding an optimal path for capturing the moving object. That is, the moving time and distance are minimized while the trajectory error is maintained as small as possible. The three major factors are compared for the single and the double curvature trajectories to show superiority of the single curvature trajectory. Based upon the single curvature trajectory, a kinematics model of a mobile robot is proposed to follow and capture the moving object, in this paper. A capturing scenario can be summarized as follows: 1. Motion of the moving object has been captured by a CCD camera., 2. Position of the moving object has been estimated using the image frames, and 3. The mobile robot tries to follow the moving object along the single curvature trajectory which matches positions and orientations of the moving object and the mobile robot at the final moment. Effectiveness of the single curvature trajectory modeling and capturing algorithm has been proved, through simulations and real experiments using a 2-DOF wheel-based mobile robot.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.6
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• pp.587-595
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• 2011

In this paper, we focus on the issue of automatic selection for multi-level threshold, and we greatly improve the efficiency of Otsu's method for image segmentation based on genetic algorithm. We have investigated and evaluated the performance of the Otsu and Valley-emphasis threshold methods. Based on this observation we propose a method for automatic threshold method that segments an image into more than two regions with high performance and processing in real-time. Our paper introduced new peak detection, combines with evolution algorithm using MAGA (Modified Adaptive Genetic Algorithm) and HCA (Hill Climbing Algorithm), to find the best threshold automatically, accurately, and quickly. The experimental results show that the proposed evolutionary algorithm achieves a satisfactory segmentation effect and that the processing time can be greatly reduced when the number of thresholds increases.

• Journal of the Korean Geotechnical Society
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• v.21 no.2
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• pp.145-150
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• 2005

It is useful to select an appropriate mathematical model to predict landslide. Through observation and analysis of real-time measured time series, a reasonable mathematic model is chosen to do prediction of landslide. Two theoretical models, such as polynomial function and growth model, are suggested for the description and analysis of measured defermation from an active landslides. These models are applied herein to describe the main characteristics of defermation process for two types of landslide, namely polynomial and growth models. The TRS (tensiof rotation and settlement) sensors are applied to adopt two models, and the data analysis of two field (Neurpjae and Buksil) resulted in good coincidence between measured data and models.

• Proceedings of the KIEE Conference
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• 2003.07b
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• pp.1395-1397
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• 2003

This paper is concerned with a client-server architecture for the remote control of wind turbine system over the internet network. Recently the development of internet are study in remote area machine control, observation, remote control (teleoperation) automation industrial system in several fields. One of the important problems which should be solved in the remote control is an irregular time delay problem. This research practiced emergency system on-off experiment to Internet. Finally, we apply it to a wind turbine system that consists of a remote control and network via internet. It is experimented that real time of internet remote control and stability of wind turbine system.