• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1999년도 제14차 학술회의논문집
• /
• pp.149-152
• /
• 1999

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. In the hybrid method, both informations of time-delays and power-ratios are coupled together to produce better performance of position estimation. A new acoustic imaging technique has been developed for improving the hybrid method. For each method the sound localization is carried out in three dimensions underground. The minimum distance between the true and estimated origins of the source is 28 m for a search area of radius 250m.

• The Journal of the Acoustical Society of Korea
• /
• 제24권2E호
• /
• pp.46-53
• /
• 2005

Agency for Defense Development (ADD) developed the Submarine Acoustic Information Management System (SAIMS Version 1.0) capable of interfacing some submarine sensors in operation and predicting detection environments for sonars. The major design concepts are as follows: 1) A proper acoustic model is examined and optimized to cover wide spectra of frequency ranges for both active and passive sonars. 2) Interfacing the submarine sensors to an electric navigation chart, the system attempts to maximize the applicability of the information produced. 3) The state-of-the-art database in large area is built and managed on the system. 4) An algorithm, which is able to estimate a full sound speed profile from the limited oceanographic data, is developed and employed on the system. This paper briefly describes design concepts and algorithms embedded in the SAIMS. The applicability of the SAIMS was verified through three sea experiments in October 2003-February 2004.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2002년도 합동 추계학술대회 논문집 정보 및 제어부문
• /
• pp.159-162
• /
• 2002

This paper presents a modified localization scheme of a mobile robot. When it navigates, the position error of a robot is increased and doesn't go to a goal point where the robot intends to go at the beginning. The objective of localization is to estimate the position of a robot precisely. Many algorithms were developed and still are being researched for localization of a mobile robot at present. Among them, a localization algorithm named continuous localization proposed by Schultz has some merits on real-time navigation and is easy to be implemented compared to other localization schemes. Continuous Localization (CL) is based on map-matching algorithm with global and local maps using only ultrasonic sensors for making grid maps. However, CL has some problems in the process of searching the best-scored-map, when it is applied to a mobile robot. We here propose fast and powerful map-matching algorithm for localization of a mobile robot by experiments.

• 제어로봇시스템학회논문지
• /
• 제11권4호
• /
• pp.304-313
• /
• 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.

• The Journal of the Acoustical Society of Korea
• /
• 제18권2E호
• /
• pp.10-17
• /
• 1999

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 100m 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 array 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. In the hybrid method, both informations of time-delays and power-ratios are coupled together to produce better performance of position estimation. A new acoustic imaging technique has been developed for improving the hybrid method. This new acoustic imaging method shows the multi-dimensional distribution of the normalized cost function, so as to indicate the trend of the minimizing direction toward the source location. 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 28m for a search area of radius 250m.

• 한국군사과학기술학회지
• /
• 제17권4호
• /
• pp.422-429
• /
• 2014

Proximity sensor networks are aimed at estimation kinematic state of target using estimated position of the target by each sensor node or target parameter. To analyze the kinematic state of target, traditional approaches require detections on multiple sensors, very large number of sensors to achieve acceptable performance. In this paper, we propose a novel method which can estimate predicted position of the underwater target using minimum proximity sensor with bearing information to this problem. The proposed algorithm was verified performance through simulation.

• 한국음향학회지
• /
• 제38권2호
• /
• pp.214-221
• /
• 2019

본 논문은 수중음향센서의 수온 변화에 따른 음향 수신 특성 변화를 이론적, 실험적 방법으로 확인하였다. 반사판 및 배플 구성에 따라 중 저주파용 및 고주파용의 두 가지 음향센서를 설계하여 $-2^{\circ}C{\sim}35^{\circ}C$의 온도범위에서 온도 변화에 따른 음향 수신 특성을 각각 분석하였다. 음향센서 주요 구성 소재의 온도별 물성치 변화에 대한 영향성을 분석하기 위하여 압전세라믹, 몰딩 및 배플 시편의 온도별 물성치 변화를 측정하였고, 측정된 물성치를 활용하여 온도별 수신감도(Receiving Voltage Sensitivity, RVS) 변화를 유한요소해석 기법을 통하여 해석하였다. 제작된 두 가지 음향센서의 온도별 수신감도 특성을 측정하기 위하여, 내부 수온 및 수압 조정이 가능한 압력 챔버에 음향센서를 설치하고 챔버 내부 수온을 변화시켜가며 수신감도를 측정하였다. 측정 및 분석결과 수중센서의 온도별 수신감도 특성은 몰딩 재료의 음속변화에 주도적으로 영향을 받는 것을 확인하였다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.1589-1592
• /
• 1997

Among the prerequisite abilities (perception of environment, path planning and position estimation) of an autonomous mobile robot, position estimation has been seldom studied by mobile robot researchers. In most cases, conventional positioin estimation has been performed by placing landmarks or giving the entrire environmental information in advance. Unlikely to the conventional ones, the study addresses a new method that the robot itself can select distinctive features in the environment and save them as landmarks without any a priori knowledge, which can maximize the autonomous behavior of the robot. First, an orjentaion probaility model is applied to construct a lcoal map of robot's surrounding. The feature of the object in the map is then extracted and the map is saved as landmark. Also, presented is the position estimation method that utilizes the correspondence between landmarks and current local map. In dong this, the uncertainty of the robot's current positioin is estimated in order to select the corresponding landmark stored in the previous steps. The usefulness of all these approaches are illustrated with the results porduced by a real robot equipped with ultrasonic sensors.

• 한국음향학회:학술대회논문집
• /
• 한국음향학회 2000년도 하계학술발표대회 논문집 제19권 1호
• /
• pp.253-256
• /
• 2000

본 연구에서는 유한요소법(FEM)을 이용하여 압전 수중음향센서의 모델링 및 음향특성을 해석하였다. 압전 복합구조 수중음향센서의 해석에서 기본적인 압전-탄성 구조물과 유체-구조물의 연성해석을 위한 유한요소 정식화를 하였으며 무한영역의 음향유체를 처리하기 위하여 IWEE(Infinite Wave Envelop Element)를 도입하였다. Topilz형 수중음향센서를 수중 산란체로 볼 경우 입사파가 산란체의 표면을 가진할 때 산란체로부터 발생되는 산란파는 IWEE로 인하여 무한 유체영역에서의 산란파의 감소특성을 갖게되어 무한영역을 유한영역으로 나눈 인위적인 경계에서 반사가 일어나지 않게 되므로 산란파의 음압을 정확히 구할 수 있었다. 또한, 이러한 산란해석을 바탕으로 입사파에 대한 음향센서 내부의 전기적 응답특성인 RVS(Receiving Voltage Signal)를 구하였다. 이러한 일련의 연구 과정들은 소나(SONAR) 시스템을 정확히 해석하고 음향특성을 예측하는 데 큰 도움이 될 것이다.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• 제10권4호
• /
• pp.281-286
• /
• 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.