• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.8
• /
• pp.633-642
• /
• 2016

It is important for advanced active safety systems and autonomous driving cars to get the accurate estimates of the nearby vehicles in order to increase their safety and performance. This paper proposes a sensor fusion method for radar and vision sensors to accurately estimate the state of the preceding vehicles. In particular, we performed a study on compensating for the lateral state error on automotive radar sensors by using a vision sensor. The proposed method is based on the Interactive Multiple Model(IMM) algorithm, which stochastically integrates the multiple Kalman Filters with the multiple models depending on lateral-compensation mode and radar-single sensor mode. In addition, a Probabilistic Data Association Filter(PDAF) is utilized as a data association method to improve the reliability of the estimates under a cluttered radar environment. A two-step correction method is used in the Kalman filter, which efficiently associates both the radar and vision measurements into single state estimates. Finally, the proposed method is validated through off-line simulations using measurements obtained from a field test in an actual road environment.

• International Journal of Naval Architecture and Ocean Engineering
• /
• v.3 no.4
• /
• pp.263-273
• /
• 2011

The diffuse interface model of Saurel et al. (2008) is used for the computation of compressible cavitating flows around underwater missiles. Such systems use gas injection and natural cavitation to reduce drag effects. Consequently material interfaces appear separating liquid and gas. These interfaces may have a really complex dynamics such that only a few formulations are able to predict their evolution. Contrarily to front tracking or interface reconstruction method the interfaces are computed as diffused numerical zones, that are captured in a routinely manner, as is done usually with gas dynamics solvers for shocks and contact discontinuity. With the present approach, a single set of partial differential equations is solved everywhere, with a single numerical scheme. This leads to very efficient solvers. The algorithm derived in Saurel et al. (2009) is used to compute cavitation pockets around solid bodies. It is first validated against experiments done in cavitation tunnel at CNU. Then it is used to compute flows around high speed underwater systems (Shkval-like missile). Performance data are then computed showing method ability to predict forces acting on the system.

• Journal of Aerospace System Engineering
• /
• v.8 no.2
• /
• pp.40-48
• /
• 2014

In this paper, a prototype of GPS jammer localization system for precise landing is developed. The jammer localization system consists of the four jamming signal receivers for collecting RF signal, one central tracking station for estimating jammer position, and one monitoring station for displaying estimated position on the map. In order to estimate jammer location TDOA and AOA algorithm are introduced, and the function and design parameters of the developed prototype are proposed. CW, DSSS, Swept CW jamming signals were generated and used. From the results, it can be confirmed that developed system meets the performance goal.

• Nuclear Engineering and Technology
• /
• v.29 no.6
• /
• pp.459-467
• /
• 1997

The steady-state behavior of recycling neutral atoms in a tokamak edge region has been analyzed through a two-dimensional Monte Carlo simulation. A particle tracking algorithm used in earlier research on the neutral particle transport is applied to this Monte Carlo simulation in order to perform more accurate calculations with the EDGETRAN code which was previously developed for a two-dimensional edge plasma transport in the authors' laboratory. The physical model of neutral recycling includes charge-exchange and ionization interactions between plasmas and neutral atoms. The reflection processes of incident particles on the device wall are described by empirical formulas. Calculations for density, energy, and velocity distributions of neutral deuterium-tritium atoms have been carried out for a medium-sized tokamak with a double-null configuration based on the KT-2 conceptual design. The input plasma parameters such as plasma density, ion and electron temperatures, and ion fluid velocity are provided from the EDGETRAN calculations. As a result of the present numerical analysis, it is noticed that a significant drop of the neutral atom density appears in the region of high plasma density and that the similar distribution of neutral energy to that of plasma ions is present as frequently reported in other studies. Relations between edge plasma conditions and the neutral recycling behavior are discussed from the numerical results obtained herein.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.21 no.5
• /
• pp.595-601
• /
• 2011

This paper presents balancing control of inverted pendulum on the ROBOKER arm using visual information. The angle of the inverted pendulum placed on the robot arm is detected by a stereo camera and the detected angle is used as a feedback and tracking error for the controller. Thus, the overall closed loop forms a visual servoing control task. To improve control performance, neural network is introduced to compensate for uncertainties. The learning algorithm of radial basis function(RBF) network is performed by the digital signal controller which is designed to calculate floating format data and embedded on a field programmable gate array(FPGA) chip. Experimental studies are conducted to confirm the performance of the overall system implementation.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.2
• /
• pp.168-177
• /
• 2008

Path finding is a key element in the navigation of a mobile robot. To find a path, robot should know their position exactly, since the position error exposes a robot to many dangerous conditions. It could make a robot move to a wrong direction so that it may have damage by collision by the surrounding obstacles. We propose a method obtaining an accurate robot position. The localization of a mobile robot in its working environment performs by using a vision system and Virtual Reality Modeling Language(VRML). The robot identifies landmarks located in the environment. An image processing and neural network pattern matching techniques have been applied to find location of the robot. After the self-positioning procedure, the 2-D scene of the vision is overlaid onto a VRML scene. This paper describes how to realize the self-positioning, and shows the overlay between the 2-D and VRML scenes. The suggested method defines a robot's path successfully. An experiment using the suggested algorithm apply to a mobile robot has been performed and the result shows a good path tracking.

• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.10
• /
• pp.1008-1013
• /
• 2014

This paper introduces an adaptive anti-sway tracking control algorithm for container cranes with unknown payloads and friction between the trolley and the rail. If the friction effects in the system can be modeled, there is an improved potential to design controllers that can cancel these effects. The proposed control improves the sway suppressing and the positioning capabilities of the trolley and hoisting against uncertain payload and friction. The variable structure controls are first designed based on a class of feedback linearization methods for the stabilization of the under-actuated sway dynamics. The adaptation mechanism are then designed with parameter estimation of unknown payload and friction compensation for the trolley and hoisting, based on Lyapunov stability methods for the accurate positioning and fast attenuation of trolley oscillation due to frictions in the vicinity of the target position. The asymptotic stability of the overall closed-loop system is assured irrespective of variations of rope length. Simulations are shown under various frictions and external winds in the case of no priori information of payload mass.

• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.10
• /
• pp.1073-1078
• /
• 2014

In this paper, an effective repeat-back jamming (RBJ) mitigation scheme known assuccessive repeat-back jamming cancellation (SRC) is proposed for the utilization of the successive interference cancellation (SIC) algorithm which is used to mitigate the near-far effect and the multiple-access interference for code division multiple-access communication systems. The proposed scheme uses a combined pseudo-random noise (C-PRN) signal from the estimated major parameters of RBJ signals. To evaluate the performance of the proposed scheme, the root mean squared (RMS) code tracking errors are shown according to the standard deviation of the parameter estimation errors of an RBJ signal, and using the well-known major parameters estimation schemes with a C-PRN signal through Monte-Carlo simulation.

• The Journal of The Korea Institute of Intelligent Transport Systems
• /
• v.7 no.1
• /
• pp.32-41
• /
• 2008

The moving object tracking in vision based observation using video uses difference method between GMM(Gaussian Mixture Model) based background and present image. In the case of racking object using binary image made by threshold, the object is merged not by object information but by Cast-Shadow. This paper proposed the method that eliminates Cast-Shadow using backpropagation Neural Network. The neural network is trained by abstracting feature value form training image of object range in 10-movies and Cast-Shadow range. The method eliminating Cast-Shadow is based on the method distinguishing shadow from binary image, its Performance is better(16.2%, 38.2%, 28.1%, 22.3%, 44.4%) than existing Cast-Shadow elimination algorithm(SNP, SP, DNM1, DNM2, CNCC).

• The Journal of Korean Institute of Electromagnetic Engineering and Science
• /
• v.8 no.6
• /
• pp.581-588
• /
• 1997

Time-variant mobile radio fading channels distort amplitude, frequency and phase of a transmitted signal. On channels that have time-variant spectral nulls, the conventional equalizers which have low convergence speed and high sensitiveness to phase distortion yields very poor error rate performance. In this paper, the performance of a combined structure with the data-recycling algorithm and fractionally spaced equalizer (FSE) has been investigated on time-variant mobile radio fading channels through computer simulations and compared to other kinds of equalizers. The results show that the data-recycling FSE has excellent capabilities for tracking rapidly time-variant mobile channels and effective compensation for phase distortion.