• Journal of Institute of Control, Robotics and Systems
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• v.18 no.4
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• pp.321-327
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• 2012

This paper presents a comparative analysis on three different types of performance indices of obstacle detection for an overlapped ultrasonic sensor ring. Due to beam overlap, the entire sensing zone of each ultrasonic sensor can be divided into three smaller sensing subzones, which leads to significant reduction of positional uncertainty in obstacle detection. First, the positional uncertainty in obstacle detection is expressed in terms of the area of a sensing subzone, and type 1 performance index is then defined as the area ratio of side and center sensing subzones. Second, based on the area of a sensing subzone, type 2 performance index is defined taking into account the size of the entire range of obstacle detection as well as the degree of the positional uncertainty in obstacle detection. Third, the positional uncertainty in obstacle detection is now expressed in terms of the length of the uncertainty arc spanning a sensing subzone, and type 3 performance index is then defined as the average value of the uncertainty arc lengths over the entire range of obstacle detection. Fourth, using a commercial low directivity ultrasonic sensor, the changes of three different performance indices depending on the parameter of an overlapped ultrasonic sensor ring are examined and compared.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.9 no.1
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• pp.20-33
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• 2015

Spectrum sensing is a key component of cognitive radio. The prediction of the primary user status in a low signal-to-noise ratio is an important factor in spectrum sensing. However, because of noise uncertainty, secondary users have difficulty distinguishing between the primary signal and an unauthorized signal when an unauthorized user exists in a cognitive radio network. To resolve the sensitivity to the noise uncertainty problem, we propose an entropy-based spectrum sensing scheme to detect the primary signal accurately in the presence of an unauthorized signal. The proposed spectrum sensing uses the conditional entropy between the primary signal and the unauthorized signal. The ability to detect the primary signal is thus robust against noise uncertainty, which leads to superior sensing performance in a low signal-to-noise ratio. Simulation results show that the proposed spectrum sensing scheme outperforms the conventional entropy-based spectrum sensing schemes in terms of the primary user detection probability.

• ETRI Journal
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• v.41 no.2
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• pp.176-183
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• 2019

Spectrum sensing plays an important role in spectrum sharing. Energy detection is generally used because it does not require a priori knowledge of primary user (PU) signals; however, it is sensitive to noise uncertainty. An order statistics (OS) detector provides inherent protection against nonhomogeneous background signals. However, no analysis has been conducted yet to apply OS detection to spectrum sensing in a wireless channel to solve noise uncertainty. In this paper, we propose a robust spectrum sensing scheme based on generalized order statistics (GOS) and analyze the exact false alarm and detection probabilities under noise uncertainty. From the equation of the exact false alarm probability, the threshold value is calculated to maintain a constant false alarm rate. The detection probability is obtained from the calculated threshold under noise uncertainty. As a fusion rule for cooperative spectrum sensing, we adopt an OR rule, that is, a 1-out-of-N rule, and we call the proposed scheme GOS-OR. The analytical results show that the GOS-OR scheme can achieve optimum performance and maintain the desired false alarm rates if the coefficients of the GOS-OR detector can be correctly selected.

• Proceedings of the KSRS Conference
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• 2007.10a
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• pp.225-228
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• 2007

This paper presents a geostatistical methodology to model local uncertainty in spatial estimation of sediment grain size with high-resolution remote sensing imagery. Within a multi-Gaussian framework, the IKONOS imagery is used as local means both to estimate the grain size values and to model local uncertainty at unsample locations. A conditional cumulative distribution function (ccdf) at any locations is defined by mean and variance values which can be estimated by multi-Gaussian kriging with local means. Two ccdf statistics including condition variance and interquartile range are used here as measures of local uncertainty and are compared through a cross validation analysis. In addition to local uncertainty measures, the probabilities of not exceeding or exceeding any grain size value at any locations are retrieved and mapped from the local ccdf models. A case study of Baramarae beach, Korea is carried out to illustrate the potential of geostatistical uncertainty modeling.

• The Journal of Korea Robotics Society
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• v.5 no.1
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• pp.23-31
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• 2010

This paper suggests a multiple robot simulator which considers the uncertainties in robot motion and sensing. A mobile robot moves with errors due to some kinds of uncertainties from actuators, wheels, electrical components, environments. In addition, sensors attached to a mobile robot can't make accurate output information because of uncertainties of the sensor itself and environment. Uncertainties in robot motion and sensing leads researchers find difficulty in building mobile robot navigation algorithms. Generally, a robot algorithm without considering unexpected uncertainties fails to control its action in a real working environment and it leads to some troubles and damages. Thus, the authors propose a simulator model which includes robot motion and sensing uncertainties to help making robust algorithms. Sensor uncertainties are applied in range sensors which are widely used in mobile robot localization, obstacle detection, and map building. The paper shows performances of the proposed simulator by comparing it with a simulator without any uncertainty.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.7 no.5
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• pp.1131-1145
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• 2013

Energy detection is a widely used method for spectrum sensing in cognitive radios due to its simplicity and accuracy. However, it is severely affected by the noise uncertainty. To solve this problem, a blind multiband spectrum sensing scheme which is robust to noise uncertainty is proposed in this paper. The proposed scheme performs spectrum sensing over the total frequency channels simultaneously rather than a single channel each time. To improve the detection performance, the proposal jointly utilizes the likelihood function combined with Gerschgorin radii of unitary transformed covariance matrix. Unlike the conventional sensing methods, our scheme does not need any prior knowledge of noise power or PU signals, and thus is suitable for blind spectrum sensing. In addition, no subjective decision threshold setting is required in our scheme, making it robust to noise uncertainty. Finally, numerical results based on the probability of detection and false alarm versus SNR or the number of samples are presented to validate the performance of the proposed scheme.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.23 no.12
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• pp.1406-1411
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• 2012

An energy detection based spectrum sensing has been found to be vulnerable to the noise power uncertainty. A cooperative spectrum sensing with an energy detector has appeared as one of the solutions to alleviate this difficulty. However, its performance analysis in a fading environment has not been reported yet in the literature. Motivated by this, this paper presents the performance analysis of the scheme by extending our previous work on evaluating the performance of an energy detector in the presence of noise power uncertainty. The analysis shows that the false alarm probability and detection probability gets higher as the sensing time and/or the number of the secondary users in the OR based cooperative spectrum sensing scheme increase when the noise power uncertainty exists.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.1
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• pp.15-20
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• 2013

An energy detection based spectrum sensing is widely known to be susceptible to the noise power uncertainty. As one of the methods to resolve this problem, a cooperative spectrum sensing based on an energy detector with double thresholds has been published recently. However, its performance analysis under a fading channel has not been carried out yet. In this paper, we present a closed form of performance analysis of the scheme by extending our previous work on evaluating the performance of an energy detector in the presence of noise power uncertainty.

• Korean Journal of Remote Sensing
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• v.20 no.6
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• pp.383-396
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• 2004

The application of spatial statistics to obtain the spatial uncertainty distributions in classification of remote sensing images is investigated in this paper. Two quantitative methods are presented for describing two kinds of uncertainty; one related to class assignment and the other related to the connection of reference samples. Three quantitative indices are addressed for the first category of uncertainty. Geostatistical simulation is applied both to integrate the exhaustive classification results with the sparse reference samples and to obtain the spatial uncertainty or accuracy distributions connected to those reference samples. To illustrate the proposed methods and to discuss the operational issues, the experiment was done on a multi-sensor remote sensing data set for supervised land-cover classification. As an experimental result, the two quantitative methods presented in this paper could provide additional information for interpreting and evaluating the classification results and more experiments should be carried out for verifying the presented methods.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.42 no.5
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• pp.982-984
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• 2017

In time domain, a radar signal is divided into two segments: one is for a transmitted pulse and the other is for receiving possible returns from radar targets. Also the received signal is relatively weak and consists of background noise except for the reflected signals from radar targets. In this Letter, we present an energy detection based spectrum sensing for a radar signal in the presence of noise power uncertainty exploiting this characteristics.