• Journal of the Korean Institute of Telematics and Electronics B
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• v.32B no.6
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• pp.840-848
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• 1995

A new tri-aural ultrasonic sensor system is suggested to build more accurate world maps for mobile robots with less scanning. In ordinary single sensor systems, the inherent beam-width of sonar transmitter causes ambiguity in sensing direction. Dual sensors may be used to discriminate plane and corner with several scans. However, the proposed method uses triple sensors, and achieves more accuracy with less scanning.

• Proceedings of the Korean Society of Coastal and Ocean Engineers Conference
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• 2001.08a
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• pp.163-171
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• 2001

• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2200-2202
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• 1998

Autonomous mobile robot provide many functions such as sensing, processing, and driving. For more intelligent jobs, more intelligent functions are to be added and the existing functions may be updated. To execute a job autonomous mobile robot has a information of surrounding environment. So, robot uses sonar sensor, vision sensor and so on. Obtained sensor information is used map generation. This paper is focused on map generation using stereo vision system.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.10 no.4
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• pp.281-286
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• 2010

We propose a space and time based sensor fusion method and a robust landmark detecting algorithm based on sensor fusion for mobile robot navigation. To fully utilize the information from the sensors, first, this paper proposes a new sensor-fusion technique where the data sets for the previous moments are properly transformed and fused into the current data sets to enable an accurate measurement. Exploration of an unknown environment is an important task for the new generation of mobile robots. The mobile robots may navigate by means of a number of monitoring systems such as the sonar-sensing system or the visual-sensing system. The newly proposed, STSF (Space and Time Sensor Fusion) scheme is applied to landmark recognition for mobile robot navigation in an unstructured environment as well as structured environment, and the experimental results demonstrate the performances of the landmark recognition.

• The Journal of the Acoustical Society of Korea
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• v.39 no.3
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• pp.191-199
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• 2020

Currently, studies on the estimation algorithm based on compressive sensing are actively underway, but to the best of our knowledge, no study on the performance of the Sparse Spectrum Fitting (SpSF) algorithm in nonuniform sensor arrays has been made. This paper deals with the derivation of the compressive sensing based covariance fitting algorithm extended to the frequency domain. In addition, it shows the performance of directon-of-arrival estimation of the frequency domain SpSF algorithm in non-uniform linear sensor array system and the sensor array failure situation.

• 한국지구물리탐사학회:학술대회논문집
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• 2008.10a
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• pp.207-212
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• 2008

Bathymetry, side scan sonar, and magnetic survey data for the summit area of Dokdo obtained by Korea Ocean Research & Development Institute in 1999, 2004, and 2007 were analyzed to investigate the geophysical characteristics of the summit. Bathymetry and topographic data for the summit of Dokdo show uneven seabed and irregular undulations from costal line to -90 m in water depth, indicating the effects of partial erosions and taluses. The stepped slope in the bathymetry is supposed to be a coastal terrace suggesting repetition of transgressions and regressions in the Quaternary. The bathymetry and the side scan sonar data show a small crater, assumed to be formed by post volcanisms, at depth of $-100\;{\sim}\;-120\;m$ in the northeastern and the northwestern parts of the survey area. Except some areas with shallow sand sedimentary deposits, there are rocky seafloor and lack of sediments in the side scan sonar images of the survey area, dominantly. The analytic signal of the magnetic anomaly coincides with other geophysical results regarding to the location of the residual crater. The geophysical constraints of the summit of Dokdo propose that the islets and the rocky seabed elongated northeastward and northwestward from the islets might be the southern crater of the Dokdo volcano.

• The Journal of the Acoustical Society of Korea
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• v.36 no.6
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• pp.394-400
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• 2017

This paper shows the extension of SpSF (Sparse Spectrum Fitting) algorithm, which is one of covariance matrix fitting-based DOA (Direction-of-Arrival) estimation algorithms, from the time domain to the frequency domain, and presents that SpSF can be implemented in the frequency domain. The superiority of the SpSF algorithm has been demonstrated by comparing DOA estimation performance with the performance of Conventional DOA estimation algorithm in the frequency domain for sinusoidal incident signals.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.40 no.12
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• pp.2476-2484
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• 2015

Narrow band signal estimation and broad band signal estimation can be used to detect the ship-radiated noise. The broad band signal estimation method to detect the ship-radiated noise is called DEMON (Detection of Envelop Modulation On Noise). This paper proposes a new DEMON algorithm applying compressed sensing algorithm to filter bank and autocorrelation. We show the proposed algorithm estimates the hidden period in the wide band signal better than the conventional DEMON algorithm and the recently proposed filter-bank based DEMON algorithm. Especially we show that the proposed algorithm needs shorter data length than the conventional DEMON algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.4
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• pp.304-313
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• 2005

The robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, robot need to recognize his position and direction for intelligent performance in an unknown environment. And the mobile robots may navigate by means of a number of monitoring systems such as the sonar-sensing system or the visual-sensing system. Notice that in the conventional fusion schemes, the measurement is dependent on the current data sets only. Therefore, more of sensors are required to measure a certain physical parameter or to improve the accuracy of the measurement. However, in this research, instead of adding more sensors to the system, the temporal sequence of the data sets are stored and utilized for the accurate measurement. As a general approach of sensor fusion, a UT -Based Sensor Fusion(UTSF) scheme using Unscented Transformation(UT) is proposed for either joint or disjoint data structure and applied to the landmark identification for mobile robot navigation. Theoretical basis is illustrated by examples and the effectiveness is proved through the simulations and experiments. The newly proposed, UT-Based UTSF scheme is applied to the navigation of a mobile robot in an unstructured environment as well as structured environment, and its performance is verified by the computer simulation and the experiment.

• Proceedings of the KSRS Conference
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• 1998.09a
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• pp.138-148
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• 1998

The aim of the work described in this paper is to develop a complex underground acoustic system which detects and localizes the origin of an underground hammering sound using an array of hydrophones located about loom underground. Three different methods for the sound localization will be presented, a time-delay method, a power-attenuation method and a hybrid method. In the time-delay method, the cross correlation of the signals received from the way of sensors is used to calculate the time delays between those signals. In the power-attenuation method, the powers of the received signals provide a measure of the distances of the source from the sensors. A new hybrid method has been developed for estimating the origin of the underground acoustic source by coupling both methods. The Nelder-Meade simplex search algorithm is then used to numerically estimate the position of the source in those methods. For each method the sound localization is carried out in three dimensions underground. The distance between the true and estimated origins of the source is in some cases less than 6m for a search area of radius 250m.