• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.22 no.3
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• pp.175-189
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• 2023

Fault detection and diagnosis (FDI) algorithms are actively being researched for ensuring the integrity and reliability of environment perception sensors in autonomous vehicles. In this paper, a fault detection algorithm based on a multi-sensor perception system composed of radar, camera, and lidar is proposed to guarantee the safety of an autonomous vehicle's perception system. The algorithm utilizes reference generation filters and residual generation filters based on finite impulse response (FIR) filter estimates. By analyzing the residuals generated from the filtered sensor observations and the estimated state errors of individual objects, the algorithm detects faults in the environment perception sensors. The proposed algorithm was evaluated by comparing its performance with a Kalman filter-based algorithm through numerical simulations in a virtual environment. This research could help to ensure the safety and reliability of autonomous vehicles and to enhance the integrity of their environment perception sensors.

• The Bulletin of The Korean Astronomical Society
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• v.40 no.2
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• pp.33.3-34
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• 2015

We present the spectroscopic study of the globular clusters (GCs) in the massive elliptical galaxy M86 in the Virgo galaxy cluster. Using the spectra obtained from the Multi-Object Spectroscopy (MOS) mode of Faint Object Camera and Spectrograph (FOCAS) on the Subaru Telescope, we measure the radial velocities for 56 GCs in M86. The mean velocity of the GCs is derived to be $<v_p>=-335{\pm}41km/s$, which is different from the velocity of the M86 nucleus ($<v_{gal}>=-224{\pm}5km/s$) within ${\sim}2.5{\sigma}$. The mean velocity ($<v_p>=-342{\pm}60km/s$) of 33 blue GCs in M86 is similar to that ($<v_p>=-314{\pm}71km/s$) of 23 red GCs. We also derive the mean velocities of the GC systems in other 16 nearby early-type galaxies (ETGs) from the radial velocity data in the literature. The mean value of the differences between the mean velocity of the GC systems in each galaxy and the nucleus velocity of their host galaxies, is almost zero except the M86 GC system. But the scatter of the differences in the blue GC system is larger than that in the red GC system. We will discuss these results in the context of GC formation in ETGs.

• Proceedings of the KSRS Conference
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• 2004.10a
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• pp.452-455
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• 2004

MSC (Multi-Spectral Camera) system is a remote sensing instrument to obtain high resolution ground image. EOS (Electro-Optic System) for MSC mainly consists of PMA (Primary Mirror Assembly), SMA (Secondary Mirror Assembly), HSTS (High Stability Telescope Structure) and DFPA (Detector Focal Plane Assembly). High performance of EOS makes it possible for MSC system to provide high resolution and high quality ground images. Temperature of the EOS needs to be controlled to be in a specific range in order not to have any thermal distortion which can cause performance degradation. It is controlled by full redundant CPU based electronics. The validity of thermistor readings can be checked because a few thermistors are installed on each control point on EOS. Various kinds of thermal control logics are used to prevent 'Single Point Failure'. Control logic has a few set of database in order not to be corrupted by SEU (Single Event Upset). Even though the thermal control logic is working automatically, it can also be monitored and controlled by ground-station operator. In this paper, various ways of thermal control logic for EOS in MSC will be presented, which include thermal control mode and logic, redundancy design and status monitoring and reporting scheme.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.6 no.2
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• pp.161-166
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• 2006

Localization of mobile agent within a sensing network is a fundamental requirement for many applications, using networked navigating systems such as the sonar-sensing system or the visual-sensing system. To fully utilize the strengths of both the sonar and visual sensing systems, This paper describes a networked sensor-based navigation method in an indoor environment for an autonomous mobile robot which can navigate and avoid obstacle. In this method, the self-localization of the robot is done with a model-based vision system using networked sensors, and nonstop navigation is realized by a Kalman filter-based STSF(Space and Time Sensor Fusion) method. Stationary obstacles and moving obstacles are avoided with networked sensor data such as CCD camera and sonar ring. We will report on experiments in a hallway using the Pioneer-DX robot. In addition to that, the localization has inevitable uncertainties in the features and in the robot position estimation. Kalman filter scheme is used for the estimation of the mobile robot localization. And Extensive experiments with a robot and a sensor network confirm the validity of the approach.

• The Bulletin of The Korean Astronomical Society
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• v.35 no.1
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• pp.55.2-55.2
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• 2010

We present a photometric and spectroscopic study of the globular clusters (GCs) in the giant elliptical galaxy NGC 4636 in the Virgo cluster. The photometry of the GCs is based on HST/WFPC2 images for the inner region and deep, wide field Washington $CT_1$ CCD images for the outer region. We investigated the color distribution, the radial number density profile, the spatial distribution, and the mean color of the bright blue GCs about the GCs in NGC 4636. We obtained spectra of the GC candidates in NGC 4636 using the Multi-Object Spectroscopy (MOS) mode of Faint Object Camera and Spectrograph (FOCAS) on the SUBARU 8.2m Telescope. We measured the velocities for 105 GCs in NGC 4636. Using the 238 GCs obtained from combining our results with data in the literature, we investigated the kinematics of the GC system of NGC 4636: the rotation, the velocity dispersion, the radial variation, and the orbit. We also investigated the distribution and the radial variation of the metallicities, ages, and alpha-elements of the GCs in NGC 4636 derived using the absorption lines. We compared the GC kinematics of NGC 4636 with those of other six gEs, finding that the kinematic properties of the GCs are diverse among gEs. We found several correlations between the kinematics of the GCs and the global parameters of their host galaxies. Finally we discuss the implication of the results for the formation models of the GC system in gEs, and suggest a mixture scenario for the origin of the GCs in gEs.

• The Bulletin of The Korean Astronomical Society
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• v.42 no.1
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• pp.57.2-57.2
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• 2017

Remote and robotic telescopes are the most effective instrument for astronomical survey projects. The system is based on the dynamic operation of all astronomical instruments such as dome and telescope control system (TCS), focuser, filter wheel and data taking camera. We adopt the ASCOM driver platform to control the instruments through the integrated software. It can convert different interface libraries from various manufacturers into a uniform standard library. This allows us to effectively control astronomical instruments without modifying codes. We suggest a conceptual design of software for automation of a small telescope such as the new wide-field 0.25m telescope at McDonald Observatory. It can also be applied to operation of multi-telescopes in future projects.

• Journal of the Korean Society of Safety
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• v.34 no.1
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• pp.40-44
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• 2019

Experimental studies have been carried out to investigate characteristics of gas explosion using a multi layered water gel barrier in a vented explosion chamber. The chamber is consisted of 1600 mm in length, with a square cross-section of $100{\times}100mm^2$. The gel concentration of inner layer of MLWGB ranged from 10% to 90% with intervals of 10% by weight of gel. Displacement of the MLWGB was photographed with a measured using a high-speed video camera, and pressure development was measured using a data acquisition system. It was found that MLWGBs with 10 ~ 20% inner layer concentrations were ruptured during the explosions. As the concentrations of inner layer increased from 30% to 90%, the barriers were not ruptured. As the gel concentrations of the inner layer increased, the displacement increased toward the chamber exit and the pressure decreased for the ruptured barriers. It was found that the pressure attenuation obtained from the MLWGB was higher than that of the single water gel barrier. For the cases of non-ruptured barriers, the pressure inside the chamber less increased with increasing gel concentrations of the inner layer. It was also found that the displacement moved back into the chamber for non-ruptured MLWGBs, and it was sensitive to the gel concentrations.

• Nuclear Engineering and Technology
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• v.46 no.3
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• pp.439-446
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• 2014

An amphibious inspection robot system (hereafter AIROS) is being developed to visually inspect the in-containment refueling storage water tank (hereafter IRWST) strainer in APR1400 instead of a human diver. Four IRWST strainers are located in the IRWST, which is filled with boric acid water. Each strainer has 108 sub-assembly strainer fin modules that should be inspected with the VT-3 method according to Reg. guide 1.82 and the operation manual. AIROS has 6 thrusters for submarine voyage and 4 legs for walking on the top of the strainer. An inverse kinematic algorithm was implemented in the robot controller for exact walking on the top of the IRWST strainer. The IRWST strainer has several top cross braces that are extruded on the top of the strainer, which can be obstacles of walking on the strainer, to maintain the frame of the strainer. Therefore, a robot leg should arrive at the position beside the top cross brace. For this reason, we used an image processing technique to find the top cross brace in the sole camera image. The sole camera image is processed to find the existence of the top cross brace using the cross edge detection algorithm in real time. A 5-DOF robot arm that has multiple camera modules for simultaneous inspection of both sides can penetrate narrow gaps. For intuitive presentation of inspection results and for management of inspection data, inspection images are stored in the control PC with camera angles and positions to synthesize and merge the images. The synthesized images are then mapped in a 3D CAD model of the IRWST strainer with the location information. An IRWST strainer mock-up was fabricated to teach the robot arm scanning and gaiting. It is important to arrive at the designated position for inserting the robot arm into all of the gaps. Exact position control without anchor under the water is not easy. Therefore, we designed the multi leg robot for the role of anchoring and positioning. Quadruped robot design of installing sole cameras was a new approach for the exact and stable position control on the IRWST strainer, unlike a traditional robot for underwater facility inspection. The developed robot will be practically used to enhance the efficiency and reliability of the inspection of nuclear power plant components.

• Korean Journal of Applied Biomechanics
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• v.22 no.1
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• pp.35-42
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• 2012

The aim of the present study was to investigate effect of running speed conditions on the kinematic pattern of the metatarsus, mid-foot, calcaneus. Twenty-two healthy young adults were made to run on treadmill at three different running speeds(normal speed, 9.2; slow speed, 7.4; fast speed, 11.1km/hr.) and the trajectories of the 10 reflective markers for each subject were recorded by an eight-camera motion capture system at 200 Hz. Three-dimensional angles for the foot segment in the support phase during running were calculated according to Euler's technique. Results showed that running speed did not affect the peak of the dorsi/plantar flexion, inversion/eversion, and adduction/abduction or their range of motion for each foot segment. However, when the running speed was fast, significant differences were found in the peak of the plantar flexion, eversion, and adduction and ROM(range of motion) of the dorsi/plantar flexion, inversion/eversion, and adduction/abduction between the foot segments, metatarsus, mid-foot, and calcaneus. It was proposed that the foot segment should be analyzed from a multi-segment system point of view on the basis of anatomical reference during locomotion.

• Proceedings of the KSRS Conference
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• 2002.10a
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• pp.202-207
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• 2002

EOC (Electro-Optical Camera) of KOMPSAT-1 (Korea Multi-Purpose SATellite) has been producing land imageries of the world since January 2000. After image data are acquired by EOC, they are transmitted from satellite to ground via X-band RF signal. Then, EOC image data are generated and pass through radiometric and geometric corrections to generate standard products of EOC images. After radiometric correction on EOC image data, Modulation Transfer Function (MTF) compensation is applicable on EOC images with user's request for better image quality. MTF compensation is concerned with filtering EOC images to minimize the effect of degradations. For Image Receiving and Processing System (IRPE) at KOMPSAT Ground Station (KGS), Wiener filter is used in MTF compensation for EOC images. If the Pointing Spread Function (PSF) of EOC system is known, signal-to-noise power spectra ratio is the only factor in the determination of Wiener filter. In this paper, MTF compensation in IRPE at KGS is introduced and MTF compensated EOC 1R images are generated using Wiener filters with various signal-to-noise power spectra ratios. MTF compensated EOC 1R images are correlated with EOC 1R images for observing linearities between them. As a result, the effect of signal-to-noise power spectra ratio is shown on MTF compensated EOC 1R images.