• The Journal of Korea Robotics Society
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• v.14 no.1
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• pp.65-73
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• 2019

In this paper, we propose an algorithm that estimates the location of lunar rover using IMU and vision system instead of the dead-reckoning method using IMU and encoder, which is difficult to estimate the exact distance due to the accumulated error and slip. First, in the lunar environment, magnetic fields are not uniform, unlike the Earth, so only acceleration and gyro sensor data were used for the localization. These data were applied to extended kalman filter to estimate Roll, Pitch, Yaw Euler angles of the exploration rover. Also, the lunar module has special color which can not be seen in the lunar environment. Therefore, the lunar module were correctly recognized by applying the HSV color filter to the stereo image taken by lunar rover. Then, the distance between the exploration rover and the lunar module was estimated through SIFT feature point matching algorithm and geometry. Finally, the estimated Euler angles and distances were used to estimate the current position of the rover from the lunar module. The performance of the proposed algorithm was been compared to the conventional algorithm to show the superiority of the proposed algorithm.

• The Journal of Korea Robotics Society
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• v.14 no.1
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• pp.50-57
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• 2019

This work presents a design and control method for a flexible robot arm operated by a wire drive that follows human gestures. When moving the robot arm to a desired position, the necessary wire moving length is calculated and the motors are rotated accordingly to the length. A robotic arm is composed of a total of two module-formed mechanism similar to real human motion. Two wires are used as a closed loop in one module, and universal joints are attached to each disk to create up, down, left, and right movements. In order to control the motor, the anti-windup PID was applied to limit the sudden change usually caused by accumulated error in the integral control term. In addition, master/slave communication protocol and operation program for linking 6 motors to MYO sensor and IMU sensor output were developed at the same time. This makes it possible to receive the image information of the camera attached to the robot arm and simultaneously send the control command to the robot at high speed.

• Current Optics and Photonics
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• v.5 no.4
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• pp.362-369
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• 2021

Absolute position sensors are widely used in machine tools and precision measuring instruments because measurement errors are not accumulated, and position measurements can be performed without initialization. The laser speckle-based absolute position sensor, in particular, has advantages in terms of simple system configuration and high measurement accuracy. Unlike traditional absolute position sensors, it does not require an expensive physical length scale; instead, it uses a laser speckle image database to measure a moving surface position. However, there is a problem that a huge database is required to store information in all positions on the surface. Conversely, reducing the size of the database also decreases the accuracy of position measurements. Therefore, in this paper, we propose a new method to measure the surface position with high precision while reducing the size of the database. We use image stitching and approximation methods to reduce database size and speed up measurements. The absolute position error of the proposed method was about 0.27 ± 0.18 ㎛, and the average measurement time was 25 ms.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2022.10a
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• pp.553-555
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• 2022

This paper is about a real-time automatic face recognition system based on one-shot panoramic scanning. It detects multiple faces in real time through a single panoramic scanning process and recognizes pre-registered faces. Instead of recognizing multiple faces within a single panoramic image, multiple faces are recognized using multiple images obtained in the scanning process. This reduces the panorama image creation time and stitching error, and at the same time can improve the face recognition performance by using the accumulated information of multiple images. It is expected that it can be used in various applications such as a multi-person smart attendance system with only a simple image acquisition device.

• Korean Journal of Remote Sensing
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• v.33 no.6_3
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• pp.1215-1221
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• 2017

SeNtinel's Application Platform (SNAP) is an open source software developed by the European Space Agency and consists of several toolboxes that process data from Sentinel satellite series, including SAR (Synthetic Aperture Radar) and optical satellites. Among them, S1TBX (Sentinel-1 ToolBoX)is mainly used to process Sentinel-1A/BSAR images and interferometric techniques. It provides flowchart processing method such as Graph Builder, and has convenient functions including automatic downloading of DEM (Digital Elevation Model) and image mosaicking. Therefore, if computer memory is sufficient, InSAR (Interferometric SAR) and DInSAR (Differential InSAR) perform smoothly and are widely used recently in the world through rapid upgrades. S1TBX also includes existing SAR data processing functions, and since version 5, the processing capability of KOMPSAT-5 has been added. This paper shows an example of processing the interference technique of KOMPSAT-5 SAR image using S1TBX of SNAP. In the open mine of Tavan Tolgoi in Mongolia, the difference between DEM obtained in KOMPSAT-5 in 2015 and SRTM 1sec DEM obtained in 2000 was analyzed. It was found that the maximum depth of 130 meters was excavated and the height of the accumulated ore is over 70 meters during 15 years. Tidal and topographic InSAR signals were observed in the glacier area near Jangbogo Antarctic Research Station, but SNAP was not able to treat it due to orbit error and DEM error. In addition, several DInSAR images were made in the Iraqi desert region, but many lines appearing in systematic errors were found on coherence images. Stacking for StaMPS application was not possible due to orbit error or program bug. It is expected that SNAP can resolve the problem owing to a surge in users and a very fast upgrade of the software.

• Journal of Advanced Navigation Technology
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• v.21 no.2
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• pp.171-178
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• 2017

In this paper, in order to verify the performance of a localization algorithm using GPS as an auxiliary sensor, the algorithm was applied to a hovering-type autonomous underwater vehicle (AUV) to perform a field test. The applied algorithm is an algorithm to improve the accumulated positional error of dead reckoning using doppler velocity logger(DVL) and tilt-compensated compass module (TCM) mounted on the AUV. GPS when surfaced helps the algorithm to estimate the position and the heading bias error of TCM for geodetic north, which makes it possible to perform dead reckoning on north-east-down (NED) coordinates. As a result of field test performing heading control, it was judged that the algorithm could improve the positional error, enhance the operational capability of AUV and contribute to the research of underwater navigation depending on a magnetic compass.

• Geophysics and Geophysical Exploration
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• v.10 no.4
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• pp.241-251
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• 2007

The observed spectra from Odaesan earthquake were fitted to a point-source spectral model to evaluate the source spectrum and spatial features of the modelling error. The source spectrum was calculated by removing from the observed spectra the path and site dependent responses (Yun, 2007) that were previously revealed through an inversion process applied to a large accumulated spectral dataset. The stress drop parameter of one-corner Brune's ${\omega}^2$ source model fitted to the estimated source spectrum was well predicted by the scaling relation between magnitude and stress drop developed by Yun et al. (2006). In particular, the estimated spectrum was quite comparable to the two-corner source model that was empirically developed for recent moderate earthquakes occurring around the Korean Peninsula, which indicates that Odaesan earthquake is one of typical moderate earthquakes representative of Korean Peninsula. Other features of the observed spectra from Odaesan earthquake were also evaluated based on the commonly treated random error between the observed data and the estimated point-source spectral model. Radiation pattern of the error according to azimuth angle was found to be similar to the theoretical estimate. It was also observed that the spatial distribution of the errors was correlated with the geological map and the $Q_0$ map which are indicatives of seismic boundaries.

• Journal of Bio-Environment Control
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• v.10 no.1
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• pp.42-49
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• 2001

This study was carried out to develop a fuzzy control technique of ventilation window for controlling a temperature in a greenhouse. To reduce the fuzzy variables, the inside air temperature shop was taken as one of fuzzy variables, because the inside air temperature variation of a greenhouse by ventilation at the same window aperture is affected by difference between inside and outside air temperature, outside wind speed and the wind direction. Therefore, the antecedent variables for fuzzy algorithm were used the control error and its slop, which was same value as the inside air temperature slop during the control period, and the conclusion variable was used the window aperture opening rate. Through the basic and applicative control experiment with the control period of 3 minutes the optimum ranges of fuzzy variables were decided. The control error and its slop were taken as 3 and 1.5 times compared with target error in steady state, and the window opening rate were taken as 30% of full size of the window aperture. To evaluate the developed fuzzy algorithm in which the optimized 19 rules of fuzzy production were used, the performances of fuzzy control and PID control were compared. The temperature control errors by the fuzzy control and PID control were lower than 1.3$^{\circ}C$ and 2.2$^{\circ}C$ respectively. The accumulated operating size of the window, the number of operating and the number of inverse operating for the fuzzy control were 0.4 times, 0.5 times and 0.3 times of those compared with the PID control. Therefore, the fuzzy control can operating the window more smooth and reduce the operating energy by 1/2 times of PID control.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.8 no.4
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• pp.297-304
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• 1996

The purpose of this study is to observe the applicability of parabolic mild-slope equations allowing relatively large angles of wave propagation based on the use of a Pade approximant or minimax approximation and also the applicability of the models with nonlinearity of diffracted waves in the shadow zone behind coastal structures. To accomplish these objectives, numerical solutions are obtained from the above parabolic models and are compared with the results from Watanabe and Maruyama's(1984) hydraulic model test on the wave field with an impermeable detached breakwater. From this study, it is found that computed wave heights increase for the nonlinear results in comparison to the linear results due to the increased diffraction effect across the geometric shadow boundary. The model with a larger aperture with respect to the principal direction was found to spread laterally to a much greater degree where spreading angle (diffraction effect) is relatively large. which causes a distortion in the overall results due to the error accumulated by the approximation of wave length.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.40 no.3
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• pp.199-207
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• 2003

This paper is proposed new fuzzy controller for high performance of interior permanent magnet synchronous motor(IPMSM) drive. New fuzzy controller take out appropriate amounts of accumulated control input according to fuzzily described situations in addition to the incremental control input calculated by conventional direct fuzzy controller The structures of the proposed controller is motivated by the problems of direct fuzzy controller. The direct controller generally give inevitable overshoot when one tries to reduce rise time of response especially when a system of order higher than one is under consideration. The undesirable characteristics of the direct fuzzy controller are caused by integrating operation of the controller, even though the Integrator itself is introduced to overcome steady state error in response. Proposed controller fuzzily clear out integrated quantities acrording to situation. This paper attempts to provide a thorough comparative insight into the behavior of IPMSM drive with direct and new fuzzy speed controller. The validity of new fuzzy speed controller is confirmed by response results for IPMSM drive system.