• 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 KSRS Conference
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• 2003.11a
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• pp.458-460
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• 2003

This paper proposes new algorithms for cloudy area detection by GHA (Generalized Hebbian Algorithm) and SOFM (Self-Organized Feature Map). SOFM and GHA are unsupervised neural networks and are used for pattern classification and shape detection of satellite image. Proposed algorithm is based on block based image processing that size is 16${\times}$16. Results of proposed algorithm shows good performance of cloudy area detection except blur cloudy area.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.4
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• pp.993-999
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• 2011

In WSN, at the initial stage, sensor nodes are randomly deployed over the region of interest, and self-configure the clustered networks by grouping a bunch of sensor nodes and selecting a cluster header among them. Specially, in WSN environment, in which the administrator's intervention is restricted, the self-configuration capability is essential to establish a power-conservative WSN which provides broad sensing coverage and communication coverage. In this paper, we propose a communication coverage-aware cluster head election algorithm for Herearchical WSNs which consists of communication coverage-aware of the Base station is the cluster head node is elected and a clustering.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2010.10a
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• pp.527-530
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• 2010

WSN is composed of a lot of small sensors with the limited hardware resources. In WSN, at the initial stage, sensor nodes are randomly deployed over the region of interest, and self-configure the clustered networks by grouping a bunch of sensor nodes and selecting a cluster header among them. Specially, in WSN environment, in which the administrator's intervention is restricted, the self-configuration capability is essential to establish a power-conservative WSN which provides broad sensing coverage and communication coverage. In this paper, we propose a communication coverage-aware cluster head election algorithm for Herearchical WSNs which consists of communication coverage-aware of the Base station is the cluster head node is elected and a clustering.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1606-1611
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• 2005

The goal of this paper is to develop a self localization of mobile robot using UHF RFID landmark. We present landmark, a location sensing archetype system that uses UHF Radio Frequency Identification (UHF RFID) technology for locating objects inside buildings. The major advantage of landmark is that it improves the overall accuracy of locating objects by utilizing the concept of reference tags. Based on experimental analysis, we demonstrate that passive UHF RFID is a viable and cost-effective candidate for indoor location sensing. We conduct a series of experiments to evaluate performance of the positioning of the landmark System. In the standard setup, we place RF Reader which has two antennas and 25 tags in our lab. This research uses the assumption-based coordinates (ABC) algorithm[3] for determining the localization of robot. Also, we show how Radio Frequency Identification (UHF RFID) can be used in robot-assisted indoor navigation for the visually impaired. The experiments illustrate that passive UHF RFID tags can act as reliable landmark that trigger local navigation behaviors to achieve global navigation objectives.

• Proceedings of the KSRS Conference
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• 2002.10a
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• pp.65-65
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• 2002

In remote sensing, images are acquired over the same area by sensors of different spectral ranges (from the visible to the microwave) and/or with different number, position, and width of spectral bands. These images are generally partially redundant, as they represent the same scene, and partially complementary. For many applications of image classification, the information provided by a single sensor is often incomplete or imprecise resulting in misclassification. Fusion with redundant data can draw more consistent inferences for the interpretation of the scene, and can then improve classification accuracy. The common approach to the classification of multisensor data as a data fusion scheme at pixel level is to concatenate the data into one vector as if they were measurements from a single sensor. The multiband data acquired by a single multispectral sensor or by two or more different sensors are not completely independent, and a certain degree of informative overlap may exist between the observation spaces of the different bands. This dependence may make the data less informative and should be properly modeled in the analysis so that its effect can be eliminated. For modeling and eliminating the effect of such dependence, this study employs a strategy using self and conditional information variation measures. The self information variation reflects the self certainty of the individual bands, while the conditional information variation reflects the degree of dependence of the different bands. One data set might be very less reliable than others in the analysis and even exacerbate the classification results. The unreliable data set should be excluded in the analysis. To account for this, the self information variation is utilized to measure the degrees of reliability. The team of positively dependent bands can gather more information jointly than the team of independent ones. But, when bands are negatively dependent, the combined analysis of these bands may give worse information. Using the conditional information variation measure, the multiband data are split into two or more subsets according the dependence between the bands. Each subsets are classified separately, and a data fusion scheme at decision level is applied to integrate the individual classification results. In this study. a two-level algorithm using hierarchical clustering procedure is used for unsupervised image classification. Hierarchical clustering algorithm is based on similarity measures between all pairs of candidates being considered for merging. In the first level, the image is partitioned as any number of regions which are sets of spatially contiguous pixels so that no union of adjacent regions is statistically uniform. The regions resulted from the low level are clustered into a parsimonious number of groups according to their statistical characteristics. The algorithm has been applied to satellite multispectral data and airbone SAR data.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.192-197
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• 2009

In this paper, we proposed the obstacle avoidance system using a single camera image and LM(Levenberg-Marquart) neural network fuzzy controller. According to a robot technology adapt to various fields of industry and public, the robot has to move using self-navigation and obstacle avoidance algorithms. When the robot moves to target point, obstacle avoidance is must-have technology. So in this paper, we present the algorithm that avoidance method based on fuzzy controller by sensing data and image information from a camera and using the LM neural network to minimize the moving error. And then to verify the system performance of the simulation test.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.06a
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• pp.1627-1632
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• 2000

Recently, piezoelectric materials have attracted considerable attention because of its self-sensing and actuating properties. To model smart structures, numerical modeling of structures with piezoelectric devices is essential. As many factors affect the performance of smart structures, optimization of these parameters is necessary. In this paper, the shape design sensitivity analysis of the 3D piezoelectric and structural elements is developed and shape optimization is performed. For the evaluation of the sensitivity, the finite element method is used. For the shape sensitivity, the domain velocity field is calculated. An acoustic cavity model is presented as a numerical example to study the feasibility of the formulation. The continuum sensitivity is compared with the results of the finite difference method by ANSYS. And the sequential linear programming (SLP) algorithm is used as the optimization algorithm.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.33 no.7B
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• pp.510-517
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• 2008

In wireless sensor networks, a number of nodes deployed in dense manner should be self-configured to establish a topology that provides communication and sensing coverage under stringent energy constraints. To establish an efficient topology, we propose the TRaffic-Aware Topology control (TRAT) algorithm that reduces energy dissipation by considering total amount of data flows in the network. Our algorithm controls the number of active nodes with traffic information and adjusts nodal transmission power by estimating amount of data flows. According to the result, the proposed algorithm shows about 30% better performance than the other methods in terms of energy efficiency.

• The Journal of the Acoustical Society of Korea
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• v.37 no.1
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• pp.73-81
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• 2018

The quality of side scan sonar images is determined by the frequency of a sonar. A side scan sonar with a low frequency creates low-quality images. One of the factors that lead to low quality is a high-level noise. The noise is occurred by the underwater environment such as equipment noise, signal interference and so on. In addition, in order to compensate for the transmission loss of sonar signals, the received signal is recovered by TVG (Time-Varied Gain), and consequently the side scan sonar images contain non-homogeneous noise which is opposite to optic images whose noise is assumed as homogeneous noise. In this paper, the SSCS (Structural Sparsity based Compressive Sensing) is proposed for removing non-homogeneous noise. The algorithm incorporates both local and non-local models in a structural feature domain so that it guarantees the sparsity and enhances the property of non-local self-similarity. Moreover, the non-local model is corrected in consideration of non-homogeneity of noises. Various experimental results show that the proposed algorithm is superior to existing method.