• Journal of Institute of Control, Robotics and Systems
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• v.19 no.7
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• pp.599-604
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• 2013

Path planning of mobile robots has a purpose to design an optimal path from an initial position to a target point. Minimum driving time, minimum driving distance and minimum driving error might be considered in choosing the optimal path and are correlated to each other. In this paper, an efficient driving trajectory is planned in a real situation where a mobile robot follows a moving object. Position and distance of the moving object are obtained using a web camera, and the rotation angular and linear velocities are estimated using Kalman filters to predict the trajectory of the moving object. Finally, the mobile robot follows the moving object using a single curvature trajectory by estimating the trajectory of the moving object. Using the estimation by Kalman filters and the single curvature in the trajectory planning, the total tracking distance and time saved amounts to about 7%. The effectiveness of the proposed algorithm has been verified through real tracking experiments.

• Transactions of the Korean Society of Automotive Engineers
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• v.14 no.4
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• pp.174-180
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• 2006

The wheel slip control systems are able to control the braking force more accurately and can be adapted to different vehicles more easily than conventional braking control systems. In order to achieve the superior braking performance through the wheel slip control, real-time information such as the tire braking force at each wheel is required. In addition, the optimal target slip values need to be determined depending on the braking objectives such as minimum braking distance, stability enhancement, etc. In this paper, a wheel slip control system is developed for maintaining the vehicle stability based on the braking monitor, wheel slip controller and optimal target slip assignment algorithm. The braking monitor estimates the tire braking force, lateral tire force and brake disk-pad friction coefficient utilizing the extended Kalman filter. The wheel slip controller is designed based on the sliding mode control method. The target slip assignment algorithm is proposed to maintain the vehicle stability based on the direct yaw moment controller and fuzzy logic. The performance of the proposed wheel slip control system is verified in simulations and demonstrates the effectiveness of the wheel slip control in various road conditions.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.10 no.1
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• pp.49-59
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• 2011

Recently, ToA and TDoA estimation are favorable among all of estimation techniques because they have the best accuracy in estimating position. ToA and TDoA estimation are typical techniques based on time. So, it is important to have the time syncronization and offset between a target node and several reference nodes. If they don't have the time syncronization between a reference node and target node or have a time offset among reference nodes, the positioning error will increase due to the ranging error. The conventional positioning algorithm does not have a accurate device's position because ranging error is added the calc dation of the position. In this paper, we propose a hybrid method of ToA and TDoA ll increase due. We use MHP pulse that has orthogonal pulse instead of the existing pulse to transmit and receive pulses between a target node and reference nodes. We can estimate the target node's position by ToA and TDoA estimation to transmit and receive MHP pulses only once. When the proposed Hybrid method iteratively calculate the distance, we can select the ranging technique to have more accurate position. The simulation results confirm the enhancement of the Hybrid method.

• Journal of Electrical Engineering and Technology
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• v.7 no.3
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• pp.376-383
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• 2012

A number of scientific researches are currently being conducted on the potential health hazards of power frequency electric and magnetic field (EMF). There exists a non-objective and psychological belief that they are harmful, although no scientific and objective proof of such exists. This possible health risk from ELF magnetic field (MF) exposure, especially for children under 17 years of age, is currently one of Korea's most highly contested social issues. Therefore, to assess the magnetic field exposure levels of those children in their general living environments, the personal MF exposure levels of 436 subjects were measured for about 6 years using government funding. Using the measured database, estimation formulas were developed to predict personal MF exposure levels. These formulas can serve as valuable tools in estimating 24-hour personal MF exposure levels without directly measuring the exposure. Three types of estimation formulas were developed by applying evolutionary computation methods such as genetic algorithm (GA) and genetic programming (GP). After tuning the database, the final three formulas with the smallest estimation error were selected, where the target estimation error was approximately 0.03 ${\mu}T$. The seven parameters of each of these three formulas are gender (G), age (A), house type (H), house size (HS), distance between the subject's residence and a power line (RD), power line voltage class (KV), and the usage conditions of electric appliances (RULE).

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37 no.5A
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• pp.375-387
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• 2012

This paper proposes a new real-time object tracking algorithm using particle filters with color and texture features in moving CCD camera images. If the user selects an initial object, this region is declared as a target particle and an initial state is modeled. Then, N particles are generated based on random distribution and CS-LBP (Centre Symmetric Local Binary Patterns) for texture model and weighted color distribution is modeled from each particle. For observation likelihoods estimation, Bhattacharyya distance between particles and their feature models are calculated and this observation likelihoods are used for weights of individual particles. After weights estimation, a new particle which has the maximum weight is selected and new particles are re-sampled using the maximum particle. For performance comparison, we tested a few combinations of features and particle filters. The proposed algorithm showed best object tracking performance when we used color and texture model simultaneously for likelihood estimation.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.40 no.6
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• pp.1130-1141
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• 2015

Conventionally, a pulse radar is used for middle-sized or large-sized ships to detect other ships or obstacles located at a long distance. However, it is hardly equipped for most of the small-sized ships due to mounting and maintenance costs. Therefore, FMCW(frequency modulated continuous wave) radar is suggested as an alternative for the small-sized ships. Since it operates with low power and has good range resolution for relatively close objects, it is eligible for the small-sized ships. In previously proposed FMCW radar system, it only estimates distance and velocity of a target ship placed in the direction of main beam and is hard to detect several ships simultaneously. Thus, we suggest the method for detecting several ships at the same time by applying MUSIC(multiple signal classification) algorithm to FMCW radar signal received by a phased array antenna. In addition, by combining digital beam forming with the MUSIC algorithm, better angle resolution is achievable.

• Korean Journal of Remote Sensing
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• v.24 no.2
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• pp.91-98
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• 2008

We present an efficient and robust technique to estimate the velocity of moving targets from a single SAR image. In SAR images, azimuth image shift is a well blown phenomenon, which is observed in moving targets having slant-range velocity. Most methods estimated the velocity of moving targets from the distance difference between the road and moving targets or between ship and the ship wake. However, the methods could not be always applied to moving targets because it is difficult to find the road and the ship wake. We propose a method for estimating the velocity of moving targets from azimuth differentials of range-compressed image. This method is based on a phenomenon that Doppler center frequency shift of moving target causes a phase difference in azimuth differential values. The phase difference is linearly distorted by Doppler rate due to the geometry of SAR image. The linear distortion is eliminated from phase removal procedure, and then the constant phase difference is estimated. Finally, range velocity estimates for moving targets are retrieved from the constant phase difference. This technique was tested using an ENVISAT ASAR image in which several unknown ships are presented. In the case of a isolated target, the result was nearly coincident with the result from conventional method. However, in the case of a target which is located near non-target material, the difference of the result between from our algorithm and from conventional method was more than 1m/s.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.5
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• pp.174-180
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• 2015

In this paper, we propose the passive sonar signal processing technique for estimating target information using proximity sensor. This algorithm is performed by single sensor which is constituted underwater sensor network and has a hierarchical structure. The estimated parameter is the velocity, the depth, the distance and bearing at CPA situations and we can improve the accuracy of signal processing techniques through having a hierarchical structure. We verify the performance of the proposed method by computer simulation and then we check the result that 20% error can be occurred in maximum detectable range. We also confirm that proposed method has the reliability in the actual sea environment through the sea experiment.

• Journal of Navigation and Port Research
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• v.40 no.2
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• pp.83-87
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• 2016

The maritime industry is expanding at an alarming rate hence there is a perpetual need to improve situation awareness in the maritime environment using new and emerging technology. Tracking is one of the numerous ways of enhancing situation awareness by providing information that may be useful to the operator. The tracking module designed herein comprises determining existing states of high dynamic target warship, state prediction and state compensation due to random noise. This is achieved by first analyzing the process of tracking followed by design of a tracking algorithm that uses ${\alpha}-{\beta}-{\gamma}$ tracking filter under a random noise. The algorithm involves initializing the state parameters which include position, velocity, acceleration and the course. This is then followed by state prediction at each time interval. A weighted difference of the observed and predicted state values at the $n^{th}$ observation is added to the predicted state to obtain the smoothed (filtered) state. This estimation is subsequently employed to determine the predicted state in the next radar scan. The filtering coefficients ${\alpha}$, ${\beta}$ and ${\gamma}$ are determined from a pre-determined value of the damping parameter, ${\xi}$. The smoothed, predicted and the observed positions are used to compute the twice distance root mean square (2drms) error as a measure of the ability of the tracking module to manage the noise to acceptable levels.

• Journal of Space Technology and Applications
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• v.1 no.1
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• pp.7-22
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• 2021

In this paper, we describe the results of the docking phase test in the ground environment of the rendezvous/docking technology verification satellite under development for the first time in Korea. rendezvous/docking technology is a high-level technology in space technology, which is also very important for accessing and performing tasks on relative objects in space orbit. In this paper, we describe the ground test results that the chaser finally docks the fixed target using an air bearing device. Based on the thrust control algorithm in the docking phase and the relative object recognition and relative distance estimation algorithm using visual-based sensors validated in this paper, we intend to use them for later expansion to rendezvous/docking algorithms in three-dimensional space for testing in space.