• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.10
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• pp.967-974
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• 2017

In this paper, a differential-braking-based yaw moment control system was developed to guarantee robust performance against road bank angle. A new target yaw rate model was established by combining the signal from a lateral acceleration sensor and 2-DOF single track model. In addition, a disturbance observer was utilized to take into account parameter uncertainties in yaw dynamics and to improve robust performance of the controller. CARSIM, which is a multi-DOF vehicle dynamic simulation tool, was used to verify the performance of the proposed controller in various driving scenarios. The simulation results indicate that the stability of the vehicle was robustly maintained by the controller, which is characterized by the reflection of the signal of a lateral acceleration sensor signal and by the compensation of the errors in the model parameters via the disturbance observer.

• Journal of KIISE:Computer Systems and Theory
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• v.36 no.4
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• pp.274-282
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• 2009

Various location tracking sensors; such as GPS, INS, radar, and optical equipment; are used for tracking moving targets. In order to effectively track moving targets, it is necessary to develop an effective fusion method for these heterogeneous devices. There have been studies in which the estimated values of each sensors were regarded as different models and fused together, considering the different error characteristics of the sensors for the improvement of tracking performance using heterogeneous multi-sensor. However, the rate of errors for the estimated values of other sensors has increased, in that there has been a sharp increase in sensor errors and the attempts to change the estimated sensor values for the Sensor Probability could not be applied in real time. In this study, the Sensor Probability is obtained by comparing the RMSE (Root Mean Square Error) for the difference between the updated and measured values of the Kalman filter for each sensor. The process of substituting the new combined values for the Kalman filter input values for each sensor is excluded. There are improvements in both the real-time application of estimated sensor values, and the tracking performance for the areas in which the sensor performance has rapidly decreased. The proposed algorithm adds the error characteristic of each sensor as a conditional probability value, and ensures greater accuracy by performing the track fusion with the sensors with the most reliable performance. The trajectory of a UAV is generated in an experiment and a performance analysis is conducted with other fusion algorithms.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.47 no.5
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• pp.25-33
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• 2010

Multi-media service has been changed into user based audio services, which service supports actively user's preference and interaction with the users. In the market, multi-media products which can support the highest audio-quality by using lossless audio technology have been released and object audio music which user can select the objects has been serviced. In this paper, we design user's preference information based object audio file format and audio scene description for storage and transmission media. The designed file format is designed based on MPEG-4 file format because high-quality audio codecs in MPEG-4 audio can be easily used and the track of file format can be flexibly controlled depend on the number of the instrument in music. The encoded audio data of each objects and encoded audio scene description by binary encoding that has independent track are packed in a file. The scene description for storage media is consist of full and object scene description, the scene description for transmission media has an essential description for object audio operation and a specific description for real audio sound. The designed file format based simulator is developed and it generates an object audio file with several scene descriptions. Also, the real audio sound is serviced by the interaction with user and the unpacked scene description.

• The Journal of the Acoustical Society of Korea
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• v.38 no.2
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• pp.161-167
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• 2019

In this paper, the performance verification of an around-view sonar and an excavation depth measuring sonar applicable to track-based ROVs (Remotely Operated underwater Vehicles) for heavy duty work is studied. For the performance verification, an experiment is carried out in a water tank and at sea by attaching the around-view sonar and the excavation depth measuring sonar for a heavy work ROV. In the case of the around-view sonar, image sonars are mounted on ROV in four directions (front, back, left and right) and in the case of the excavation depth measuring sonar, the same kind of MBES (Multi Beam Echo Sounder) is mounted on the front of the ROV. The result of an operation test of the ROV equipped with these sonars shows that the sonar systems are rarely affected by high turbidity due to sedimentation during the operation. In the case of the around-view sonar, it is possible to see rock formation, gravel and sandbank 30 m ahead of the ROV. It is confirmed that the excavation depth can be measured after the ROV has performed the excavation. This experiment demonstrates that the ROV can improve the efficiency of the work by utilizing the around-view sonar and the excavation depth measuring sonar.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.31 no.6_1
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• pp.455-461
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• 2013

Kompsat-3 is an optical high-resolution earth observation satellite launched in May 2012. The AEISS sensor of the Korean satellite provides 0.7m panchromatic and 2.8m multi-spectral images with 16.8km swath width from the sun-synchronous near-circular orbit of 685km altitude. Kompsat-3 is more advanced than Kompsat-2 and the improvements include better agility such as in-track stereo acquisition capability. This study investigated the characteristic of the epipolar curves of in-track Kompsat-3 stereo images. To this end we used the RPCs(Rational Polynomial Coefficients) to derive the epipolar curves over the entire image area and found out that the third order polynomial equation is required to model the curves. In addition, we could observe two different groups of curve patterns due to the dual CCDs of AEISS sensor. From the experiment we concluded that the third order polynomial-based RPCs update is required to minimize the sample direction image distortion. Finally we carried out the experiment on the epipolar resampling and the result showed the third order polynomial image transformation produced less than 0.7 pixels level of y-parallax.

• Journal of KIISE:Information Networking
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• v.31 no.6
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• pp.595-607
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• 2004

Networks often evolve to provide a host with multiple access points to the Internet. In this paper, we propose a transport layer load distribution mechanism utilizing the multiple network interfaces simultaneously. We specifically propose an extension of Stream Control Transmission Protoco1 (SCTP) to have load sharing over multiple network interfaces. We named the particular service provided by the Proposed load sharing mechanism to be LS (Load Sharing) mode service. LS mode service is based on the following four key elements: (i) the separation of flow control and congestion control, (ii) congestion window based striping, (iii) redundant packet retransmission for fast packet loss recovery, (iv) a novel mechanism to keep track of the receiver window size with the SACKS even if they arrive out-of-order. Through simulations, it is shown that the proposed LS mode service can aggregate the bandwidth of multiple paths almost ideally despite of the disparity in their bandwidth. When a path with a delay of 100% greater is utilized as the second path, the throughput is enhanced about 20%.

• Journal of Korea Multimedia Society
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• v.9 no.4
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• pp.470-481
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• 2006

In this paper, we propose a real-time face detection, tracking and tilted face image correction system using multi-color model and face feature information. In the proposed system, we detect face candidate using YCbCr and YIQ color model. And also, we detect face using vertical and horizontal projection method and track people's face using Hausdorff matching method. And also, we correct tilted face with the correction of tilted eye features. The experiments have been performed for 110 test images and shows good performance. Experimental results show that the proposed algorithm robust to detection and tracking of face at real-time with the change of exterior condition and recognition of tilted face. Accordingly face detection and tilted face correction rate displayed 92.27% and 92.70% respectively and proposed algorithm shows 90.0% successive recognition rate.

• KIEAE Journal
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• v.15 no.2
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• pp.27-35
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• 2015

Purpose: Healthcare is on the whole a personal and critical service that consumer's use, whereas hospitalization is as a rule painful, because nature nurtures and Sun Light Luminosity for healthcare settings is considered healing. The performance and design of climate responsive buildings such as AKU requires a detailed study of attributes of climate both at micro as well as macro level. The therapeutic value of contact with nature through window view, greenery and landscape is calculated there. Method: A two prong strategy is been devised for this article, at micro level three typical morphologies are analysed by creating same environment of neighboring building on sun shading chart, radiation and temperature range. Since the analysis of local climate helps to determine the design strategies for hospital Healing Environment which is suitable for Karachi climate; in order to track the macro climatic behaviour, a considerable analysis of psychometrics chart for AKU Karachi are designed on Climate Consultant (CC) and analysed by Machine Learning. Climate Consultant proposes different design strategies suitable for Karachi. And on the other hand time wise illumination sources for clinical area which are then measured on psychrometric chart- according to singular space: multi patient admission, secondly: acute ambulatory ward, and tertiary: multi windowed space according to the mushrabiyah and sky light pattern. Result: Our findings support the hypothesis that windowed wall is 75-80% more healing wall; an accelerated evidence was found for healing at macro level if the form of the hospital is designed according to the climatologically preferences, whereas at micro level: the light resource becomes the staff attentiveness determinant. In Conclusion evidence was provided that the actual form of luminosity results consequently in satisfaction while light entering from several set of windows and other sources might be valued if design according to the healing environment. The data added on the sun shading chart to calculate rays entraining into space in patient room equal to 124416.21 Watts/ meter $m^2$ is calculated as precise healing rate-and is confirmed by questionnaire from patients belonging from each clinical stage having different illnesses.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.35 no.2B
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• pp.287-295
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• 2010

RTLS used to track the location of object or person in real time. However, if there are a lot of tags and readers, the conventional single RTLS server may fail to estimate location of tags. And if the server cannot receive the tags signal due to pass-loss or NLOS from more than three readers, the server fail to estimate location of tags. In this paper, we propose a special reader which embeds RTLS location engine for distributed RTLS. And by using multi-directional antenna, alleviating multi-path effect and allowing estimate tag's location only using two readers. We also implement the system, we can reduce server packet 16times and get the all results of location estimate in single second. We achieved the location error within 1m.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.2
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• pp.23-29
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• 2014

The advanced traffic management system of intelligent transport systems automates the related traffic tasks such as vehicle speed, traffic volume and traffic incidents through the improved infrastructures like high definition cameras, high-performance radar sensors. For the safety of road users, especially, the automated incident detection and secondary accident prevention system is required. Normally, CCTV based image object detection and radar based object detection is used in this system. In this paper, we proposed the algorithm for real time highway incident detection system using multi surveillance cameras to mosaic video and track accurately the moving object that taken from different angles by background modeling. We confirmed through experiments that the video detection can supplement the short-range shaded area and the long-range detection limit of radar. In addition, the video detection has better classification features in daytime detection excluding the bad weather condition.