• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.4
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• pp.817-823
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• 2009

This paper proposes a robust method for mapping of a caterpillar-type mobile robot which inherently has uncertainty in its modeling by compensating for the estimated pose error of the robot. In general, a caterpillar type robot is difficult to model, which results in inaccuracy in Simultaneous Localization And Mapping(SLAM). To enhance the robustness of the SLAM for a caterpillar-type mobile robot, we factorize the SLAM posterior, where we used particle filter to estimate the position of the robot and Extended Kalman Filter(EKF) to map the environment. The simulation results show the effectiveness and robustness of the proposed method for mapping.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.160.2-160
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• 2001

This paper presents an individual cylinder spark advance control strategy based upon the location of peak pressure (LPP) in spark ignition engines using artificial neural networks. The LPP is estimated using a feedforward multi-layer perceptron network (MLPN), which needs only five samples of output voltage from the cylinder pressure sensor. The cyclic variation of LPP restricts the gain of the feedback controller, and results in poor regulation performance during the transient operation of the engine. The transient performance of the spark advance controller is improved by adding a feedforward controller which reflects the abrupt changes of the engine operating conditions such as engine speed and manifold absolute pressure (MAP)...

• Proceedings of the KSRS Conference
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• 2008.10a
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• pp.332-335
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• 2008

Newly developing SAR (Synthetic Aperture Radar) sensors commonly include high resolution X-band those data are expected to contribute various applications. Recent few studies are presenting potential of X-band SAR data in forest related application. This study tried to investigate the relationship between forest stand parameters and multi-band SAR normalized backscattering. Multi-band SAR data was radiometric corrected to compare signal from different forest stand condition. Then correlation coefficients were estimated between attribute of forest stand map and normalized backscattering coefficients. Although overall correlation coefficients are not high, only X-band shows strong relationship with DBH class than other bands. The signal of C- and L-band is composed of a large number of discrete tree components such as leaves, stems, even background soil. In forest, strength of radar backscattering is affected by complex parameters. Further study might be considered more various forest stand parameters such as canopy density, stand height, volume, and biomass.

• The Bulletin of The Korean Astronomical Society
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• v.35 no.2
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• pp.71.1-71.1
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• 2010

The far-ultraviolet (FUV) C IV and H2 emission spectra of Orion-Eridanus Superbubble (OES) is hereby presented. The OES seems to consist of multiple phase through the detection of highly-ionized gas and pervasive neutral hydrogen. The former is traced by hot gas while the latter is traced by cold medium. A spectral image made with H2 fluorescent emission shows that the spatial distribution of hydrogen molecule is well correlated with the dust map. The model spectra was taken from a photodissociation region (PDR) radiation code which finds a best suitable parameter such as hydrogen density and intensity of the radiation field. C IV emission is caused by intermediate temperature ISM about 10^5 K. Therefore we could get more clear evidence to reveal the morphology of OES. In this process, the hydrogen density and gas temperature were also estimated. The data were obtained with the Far-Ultraviolet Imaging Spectrograph (FIMS) and the whole data handling were followed by previous FIMS analysis.

• The Bulletin of The Korean Astronomical Society
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• v.43 no.1
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• pp.48.2-48.2
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• 2018

SPHEREx is expected to provide us with the opportunity of unbiased sampling of small Solar System objects along with near-infrared ($0.75-5.0{\mu}m$) spectroscopic (R ~ 41) information. The estimated numbers of detections are tens of thousands for asteroids, thousands for Trojans, hundreds for comets, and several for Kuiper Belt Objects, Centaurs and Scattered Disk Objects. Wide spectral range covering many bands from carbon-bearing molecules and ices will enable us to systematically survey the volatile materials throughout the Solar System. SPHEREx will, for the first time, produce the near-infrared spectral map of the zodiacal light to pin-down the relative contributions of various populations of Solar System objects and interstellar dust to the dust grains in the interplanetary space. The study of the zodiacal light is also important to remove the foreground for the EBL (extragalactic background light) study, one of the main topics of the mission.

• Journal of Environmental Science International
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• v.9 no.1
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• pp.27-33
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• 2000

The purpose of this paper is to present the environment change of Cheju Island as land development process using GSIS(Geo-Spatial Information System) technique. We implemented the process based on the maps of soil color, underground water pollution points, land use, land development planning and land sight seeing supported by Cheju Province Office. To use the maps for GSIS data, first we transformed the picture data of the office into raster structured picture data using scanner. Second, the coordinate system was added to raster data using 1/50000 geographic map. Third, we estimated land planning process using GSIS technique(overlay and reclass technique). The results showed that land development effected the natural environment(forest, green field, farm land). However, the chemical pollution and land sight seeing was not so much effected by the land development that was found.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2000.10a
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• pp.36-39
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• 2000

This paper presents the technology of condition diagnosis & life estimation on insulation system of the traction motor. In the non-destructive methods for diagnosis of coil insulation state, residual dielectric strength is estimated by the D-map which consist of the partial discharge quantity Q and average degradation degree $\Delta$. In the operating history of machine, the N-Y life estimation method is based on the stop-starting numbers and operating times with considering each degradation factor by the thermal, electrical and heat-cycle stress. With the on-line conditioning monitoring on the currents of traction motors, detecting the abnormal operating state due to bearing faults, stator or armature faults, eccentricity related faults and broken rotor bars can be performed.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.352-354
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• 2007

This paper presents a method to estimate the position of a mobile robot by using a gyro sensor and accelerometer sensors on it. Together with contact sensors we propose a mapmaking algorithm for an indoor environment where the robot moves. The direction of robot can be estimated through a gyro sensor and the distance is founded out by accelerometers. Then one can presume the position of robot. Using the direction and distance values vector-based mapmaking job can be performed. Tactile sensors help the robot recognize the boundary limit value of indoor environment and decide outer wall line of the map.

• Proceedings of the KSRS Conference
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• 2007.10a
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• pp.270-273
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• 2007

In this paper, a SAR-despeck1ing approach of adaptive iteration based a Bayesian model using the lognormal distribution for image intensity and a Gibbs random field (GRF) for image texture is proposed for noise removal of the images that are corrupted by multiplicative speckle noise. When the image intensity is logarithmically transformed, the speckle noise is approximately Gaussian additive noise, and it tends to a normal probability much faster than the intensity distribution. The MRF is incorporated into digital image analysis by viewing pixel types as states of molecules in a lattice-like physical system. The iterative approach based on MRF is very effective for the inner areas of regions in the observed scene, but may result in yielding false reconstruction around the boundaries due to using wrong information of adjacent regions with different characteristics. The proposed method suggests an adaptive approach using variable parameters depending on the location of reconstructed area, that is, how near to the boundary. The proximity of boundary is estimated by the statistics based on edge value, standard deviation, entropy, and the 4th moment of intensity distribution.

• International Journal of Precision Engineering and Manufacturing
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• v.4 no.4
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• pp.57-63
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• 2003

Machining information such as form accuracy and surface roughness is an important factor for manufacturing precise parts. To this regard, OMM (On the Machine Measurement) has been researched for last several decades to alternate CMM (Coordinate Measurement Machine) process. In this research, the OMM system with a laser displacement sensor was developed for measuring form accuracy and surface roughness of the machined workpiece on the machine tool. The surface roughness was estimated comparing the sensory signal with the reference data measured from master specimen. Also, form accuracy was determined from the moving averaged raw data. In addition, the geometric error map constructed beforehand using the geometric errors of the machine tool was used to compensate the obtained form accuracy. The overall performance was compared with CMM result, and verified the feasibility of the measurement system.