• Korean Journal of Remote Sensing
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• v.38 no.6_1
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• pp.1479-1488
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• 2022

Accidents in which oil spills occur intermittently in the ocean due to ship collisions and sinkings. In order to prepare prompt countermeasures when such an accident occurs, it is necessary to accurately identify the current status of spilled oil. To this end, the Coast Guard patrols the target area with a fixed-wing airplane or helicopter and checks it with the naked eye or video, but it was difficult to determine the area contaminated by the spilled oil and its exact location on the map. Accordingly, this study develops a technology for direct ortho-rectification by automatically geo-referencing aerial images collected by the Coast Guard without individual ground reference points to identify the current status of spilled oil. First, meta information required for georeferencing is extracted from a visualized screen of sensor information such as video by optical character recognition (OCR). Based on the extracted information, the external orientation parameters of the image are determined. Images are individually orthorectified using the determined the external orientation parameters. The accuracy of individual orthoimages generated through this method was evaluated to be about tens of meters up to 100 m. The accuracy level was reasonably acceptable considering the inherent errors of the position and attitude sensors, the inaccuracies in the internal orientation parameters such as camera focal length, without using no ground control points. It is judged to be an appropriate level for identifying the current status of spilled oil contaminated areas in the sea. In the future, if real-time transmission of images captured during flight becomes possible, individual orthoimages can be generated in real time through the proposed individual orthorectification technology. Based on this, it can be effectively used to quickly identify the current status of spilled oil contamination and establish countermeasures.

• Journal of the Korean Magnetic Resonance Society
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• v.6 no.1
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• pp.20-37
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• 2002

MnAPSO-34 and Mn-impregnated SAPO-34(Mn-SAPO-34) sample were prepared with various manganese contents and studied by electron spin resonance(ESR) and electron spin echo modulation(ESEM). Electron spin echo modulation analysis of 0.07mo1 ％ Mn(relative to p) in MnAPSO-34 with adsorbed D$_{2}$O shows two deuteriums at 0.26 nm and two at 0.36 nm from Mn. This suggests that two waters hydrate an MnO$_{4}$ configuration with a D-O bond orientation for the waters as expect for a negatively charged site at low manganese content (0.1 mol％), the ESR spectra of MnAPSO-34 and MnH-SAPO-34 exhibit the same parameters(g 2.01 and A 89 G), but the spectra obtained from MnAPSO-34 samples are better resolved. The decomposition temperature of as-synthesized MnAPSO-34 were in the range of 200-600 $^{\circ}C$ of the morpholine which is 12 $^{\circ}C$ higher than that in as-synthesized MnH-SAPO-34. Infrared spectra showed that the position of a band at 3450 $cm^{-1}$ / shifted about 15 $cm^{-1}$ / toward higher energy in MnAPSO-34 versus MnH-SAPO-34. The modulation depth of the two-pulse ESE of MnAPSO-34 with adsorbed D$_{2}$O is deeper than that of MnH-SAPO-34 with adsorbed D$_{2}$O. Three-pulse ESEM of MnAPSO-34 and MnH-SAPO-34 with adsorbed deuterium oxide shows that the local environments of manganese in the hydrated samples are different, suggesting that Mn(II) is framework substituted in MnAPSO-34 since it obviously occupies an extraframework position in MnH-SAPO-34.

• The KIPS Transactions:PartB
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• v.13B no.3 s.106
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• pp.283-294
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• 2006

In this paper, we propose a real-time face detection/tracking methodology with Haar wavelets and skin color. The proposed method boosts face detection and face tracking performance by combining skin color and Haar wavelets in an efficient way. The proposed method resolves the problem such as rotation and occlusion due to the characteristic of the condensation algorithm based on sampling despite it uses same features in both detection and tracking. In particular, it can be applied to a variety of applications such as face recognition and facial expression recognition which need an exact position and size of face since it not only keeps track of the position of a face, but also covers the size variation. Our test results show that our method performs well even in a complex background, a scene with varying face orientation and so on.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.39C no.1
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• pp.47-59
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• 2014

This paper deals with a vision-based trajectory tracking control system for a quadrotor-type UAV for entertainment purpose in indoor environment. In contrast to outdoor flights that emphasize the autonomy to complete special missions such as aerial photographs and reconnaissance, indoor flights for entertainment require trajectory following and hovering skills especially in precision and stability of performance. This paper proposes a trajectory tracking control system consisting of a motion generation module, a pose estimation module, and a trajectory tracking module. The motion generation module generates a sequence of motions that are specified by 3-D locations at each sampling time. In the pose estimation module, 3-D position and orientation information of a quadrotor is estimated by recognizing a circular ring pattern installed on the vehicle. The trajectory tracking module controls the 3-D position of a quadrotor in real time using the information from the motion generation module and pose estimation module. The proposed system is tested through several experiments in view of one-point, multi-points, and trajectory tracking control.

• Proceedings of the Korean Magnetic Resonance Society Conference
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• 2002.08a
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• pp.80-80
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• 2002

MnPSO-34 and Mn-impregnated SAPO-34 (Mn-SAPO-34) sample were prepared with various manganese contents and studied by electron spin resonance (ESR) and electron spin-echo modulation (ESEM). Electron spin-echo modulation analysis of 0.07mol ％ Mn(relative to p) in MnAPSO-34 with adsorbed D$_2$O shows two deuteriums at 0.25 nm and two at 0.36 nm from Mn. This suggests that two waters hydrate an MnO4 configuration with a D-O bond orientation for the waters as expect for a negatively charged site at low manganese content (0.07 mol％), the ESR spectra of MnAPSO-34 and MnH-SAPO-34 exhibit the same parameters (g 2.02 and A 87 G), but the spectra obtained from MnAPSO-34 samples are better resolved. TGA of as-synthesized MnAPSO-34 shows that the decomposition temperature in the range 200-$600^{\circ}C$ of the morpholine is 12$^{\circ}C$ higher than that in as-synthesized MnH-SAPO-34. Infrared spectra shows that the position of a band at about 15 cm-1 toward higher energy in MnAPSO-34 versus MnH-SAPO-34. The modulation depth of the two-pulse ESE of MnAPSO-34 with absorbed D$_2$O is deeper than that of MnH-SAPO-34 with absorbed D$_2$O. Three-pulse ESEM of MnAPSO-34 and MnH-SAPO-34 with absorbed deuterium oxide shows that the local environments of manganese in the hydrated samples are different, suggesting that Mn(II) is framework substituted in MnAPSO-34 since it obviously occupies an extra-framework position in MnH-SAPO-34

• Journal of Korean Society for Geospatial Information Science
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• v.23 no.2
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• pp.27-38
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• 2015

In this study, the 3D position coordinates were calculated for the targets using DLT and self-calibration bundle adjustment with additional parameters in close-range photogrammetry. And then, the accuracy of the results were analysed. For this purpose, the results of camera calibration and orientation parameters were calculated for each images by performing reference surveying using total station though the composition of experimental conditions attached numerous targets. To analyze the accuracy, 3D position coordinates were calculated for targets that has been identically selected and compared with the reference coordinates obtained from a total station. For the image coordinate measurement of the stereo images, we performed the ellipse fitting procedure for measuring the center point of the circular target. And then, the results were utilized for the image coordinate for targets. As a results from experiments, position coordinates calculated by the stereo images-based photogrammetry have resulted out the deviation of less than an average 4mm within the maximum error range of less than about 1cm. From this result, it is expected that the stereo images-based photogrammetry would be used to field of various close-range photogrammetry required for precise accuracy.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.141-144
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• 2006

The deviations in the injection orbital parameters, resulting from launcher dispersions, need to be estimated and used for autonomous satellite operations. For the proposed small satellite mission of the university there will be two GPS receivers onboard the satellite to provide the instantaneous orbital state to the onboard data handling system. In order to meet the power requirements, the satellite will be sun-tracking whenever there is no imaging operation. For imaging activities, the satellite will be maneuvered to nadir-pointing mode. Due to such different modes of orientation the geometry for the GPS receivers will not be favorable at all times and there will be instances of poor geometry resulting in no output from the GPS receivers. Onboard the satellite, the orbital information should be continuously available for autonomous switching on/off of various subsystems. The paper presents the strategies to make use of small arcs of data from GPS receivers to compute the mean orbital parameters and use the updated orbital parameters to calculate the position and velocity whenever the same is not available from GPS receiver. Thus the navigation message from the GPS receiver, namely the position vector in Earth-Centered-Earth-Fixed (ECEF) frame, is used as measurements. As for estimation, two techniques - (1) batch least squares method, and (2) Kalman Filter method are used for orbit estimation (in real time). The performance of the onboard orbit estimation has been assessed based on hardware based multi-channel GPS Signal simulator. The results indicate good converge even with short arcs of data as the GPS navigation data are generally very accurate and the data rate is also fast (typically 1Hz).

• Nuclear Engineering and Technology
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• v.26 no.4
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• pp.493-501
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• 1994

An experimental study has been peformed on the pool-boiling critical heat flux (CHF) phenomenon on downward -facing plates. The CHF for inclinations of -90$^{\circ}$(horizontally downward position), -88$^{\circ}$, -86$^{\circ}$, -84$^{\circ}$, -60$^{\circ}$ and -40$^{\circ}$ were measured using plate-type test sections of 20mm 200mm and 25mm 200mm in a pool of saturated water under atmospheric pressure. The measured CHF was lower for the wider test section and decreased as its orientation approached to the horizontally downward position. The lower CHF can be attributable to the increased difficulty for the bubbles in escaping from the heater surface. When compared with the previous works, the overall trends were similar; however, a transition angle, at which the decrease rate in the CHF was changed, was observed in the vicinity of -80$^{\circ}$.

• Journal of the Korea Computer Graphics Society
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• v.19 no.4
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• pp.13-22
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• 2013

A motion capture system is widely used in movies, computer game, and computer animation industries because it allows for creating realistic human motions efficiently. The inertial motion capture system has several advantages over more popular vision-based systems in terms of the required space and cost. However, it suffers from low accuracy due to the relatively high noise levels of the inertial sensors. In particular, the accelerometer used for measuring gravity direction loses the accuracy when the sensor is moving with non-zero linear acceleration. In this paper, we propose a method to remove the linear acceleration component from the accelerometer data in order to improve the accuracy of measuring gravity direction. In addition, we develop a simple method to calibrate the joint axis of a link to which an inertial sensor belongs as well as the position of a sensor with respect to the link. The calibration enables attaching inertial sensors in an arbitrary position and orientation with respect to a link.

• Transactions of the Korean Society of Automotive Engineers
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• v.19 no.4
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• pp.8-15
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• 2011

This paper proposes a real-time navigation algorithm which integrates the artificial potential field (APF) for an unmanned vehicle in the unknown environment. This approach uses repulsive potential function around the obstacles to force the vehicle away and an attractive potential function around the goal to attract the vehicle. In this research, laser range finder is used as range sensor. An obstacle detected by the sensor creates repulsive vector. Differential global positioning system (DGPS) and digital compass are used to measure the current vehicle position and orientation. The measured vehicle position is also used to create attractive vector. This paper proposes a new concept of potential field based navigation which controls unmanned vehicle's speed and steering. The magnitude of repulsive force based on the proposed algorithm is designed not to be over the magnitude of attractive force while the magnitude is increased linearly as being closer to obstacle. Consequently, the vehicle experiences a generalized force toward the negative gradient of the total potential. This force drives the vehicle downhill towards its goal configuration until the vehicle reaches minimum potential and it stops. The effectiveness of the proposed APF for unmanned vehicle is verified through simulation and experiment.