• Journal of Advanced Navigation Technology
• /
• v.16 no.3
• /
• pp.417-425
• /
• 2012

It is well known that GPS cannot provide positioning results if sufficient number of visible satellites are not available. To overcome this weak point, attentions have been recently moved to hybrid positioning methods that augments GPS with other sensors. As an extension of hybrid positiong methods, this paper proposes a new method that combines GPS and vision sensor to improve availability and accuracy of land vehicle positioning. The proposed method does not require any external map information and can provide position solutions if more than 2 navigation satellites are visible. To evaluate the performance of the proposed method, an experiment result with real measurements is provided and a result shows that accumulated error of n-axis is almost 2.5meters and that of e-axis is almost 3meters in test section.

• The KIPS Transactions:PartB
• /
• v.16B no.5
• /
• pp.347-358
• /
• 2009

In this thesis, we develop a vision based hand motion recognition system using a camera with two rotational motors. Existing systems were implemented using a range camera or multiple cameras and have a limited working area. In contrast, we use an uncalibrated camera and get more wide working area by pan-tilt motion. Given an image sequence provided by the pan-tilt camera, color and pattern information are integrated into a tracking system in order to find the 2D position and direction of the hand. With these pose information, we estimate 3D motion plane on which the gesture motion trajectory from approximately forms. The 3D trajectory of the moving finger tip is projected into the motion plane, so that the resolving power of the linear gesture patterns is enhanced. We have tested the proposed approach in terms of the accuracy of trace angle and the dimension of the working volume.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.38 no.3
• /
• pp.264-273
• /
• 2010

In this work, autonomous formation flight tests of multiple UAVs are experimentally studied. After a guidance and control system for a UAV is designed and tested, PID formation controller for follower UAV is tested using longitudinal and lateral distance feedback. It is shown that more stable and efficient formation guidance system is obtained by using position and attitude of the leader aircraft, which is exploited to calculate virtual waypoint for follower. In order to improve transient response during turn, part of roll command of the leader is added to the guidance command. Finally, autonomous formation flight test results of 3 UAVs are shown by using the best guidance algorithm suggested.

• International Journal of Precision Engineering and Manufacturing
• /
• v.7 no.2
• /
• pp.41-45
• /
• 2006

This paper deals with human spatial cognition using visual and auditory stimulation. More specially, this investigation is to observe the relationship between the head and the eye motor system for the localization of visual target direction in space and to try to describe what is the role of right-side versus left-side pinna. In the experiment of visual stimulation, nineteen red LEDs (Luminescent Diodes, Brightness: $210\;cd/^2$) arrayed in the horizontal plane of the surrounding panel are used. Here the LEDs are located 10 degrees apart from each other. Physiological parameters such as EOG (Electro-Oculography), head movement, and their synergic control are measured by BIOPAC system and 3SPACE FASTRAK. In the experiment of auditory stimulation, one side of the pinna function was distorted intentionally by inserting a short tube in the ear canal. The localization error caused by right and left side pinna distortion was investigated as well. Since a laser pointer showed much less error (0.5%) in localizing target position than FASTRAK (30%) that has been generally used, a laser pointer was used for the pointing task. It was found that harmonic components were not essential for auditory target localization. However, non-harmonic nearby frequency components was found to be more important in localizing the target direction of sound. We have found that the right pinna carries out one of the most important functions in localizing target direction and pure tone with only one frequency component is confusing to be localized. It was also found that the latency time is shorter in self moved tracking (SMT) than eye alone tracking (EAT) and eye hand tracking (EHT). These results can be used in further study on the characterization of human spatial cognition.

• Journal of Korean Society on Water Environment
• /
• v.18 no.3
• /
• pp.261-270
• /
• 2002

The artificial aeration in the middle and the small scale reservoirs is widely used to destroy the stratified layer and algal boom. This study has been conducted at the Youncho reservoir located in Keoje island since Jan. 2000 to suggest the most suitable control strategy of the artificial aeration and reduce the side effect. The main results obtained from this research are as follows. The starting time of aeration for destratification was adjusted from the end of March to the beginning of April when the natural stratification is started. In order to prevent an anoxic condition the artificial mixing should be started by the middle of April when the DO in hypolimnion is dropped to less than $5mg/{\ell}$. The decrease DO, caused by the increase in water temperature, spreads rapidly from hypolimnion to themocline. Thermal stratification disappeared after the onset of artificial aeration within 7 days in the Yuncho reservoir. The air diffusers decrease water temperature in the layer of epilimnion and thermocline, but rise it in hypolimnion. The continuous operation of air diffuser prevent the stratification and anoxic condition in hypolimnion despite of the rising of water temperature and algal abundance. The algal abundance is not observed in effective zone by aeration. The turbidity rising problem induced from the aeration is avoided by keeping an air diffuser about 1.5m high from the bottom of lake. During the summer season, ceasing the aeration should be decided carefully. And also, it is necessary to operate the system it considering weather and temperature, and depending on the number and the position of aerators.

• Journal of the Korean Society for Precision Engineering
• /
• v.18 no.2
• /
• pp.152-160
• /
• 2001

Six degrees of freedom measurement systems are required in many fields: Precision machine control. precision assembly, vibration analysis, and so on. This paper presents a new six degrees of freedom measurement system utilizing typical features of a diffraction grating. It is composed of a laser source, three position sensitive detectors, a diffraction grating target, and several optical components. Six degrees of freedom displacement is calculated kinematically from the coordinates of diffracted rays on the detectors. Optical measurement error was caused by the fact that a laser source had a Gaussian intensity distribution. This error was analyzed and compensated using simple equations. The performance of the compensation equation was verified in the experiment. The experimental results showed that the compensation equation could reduce the optical measurement error remarkably and the error in six degrees of freedom measurement less than $\pm$10$\mu$m for translation and $\pm$0.012$^{\circ}$for rotation.

• Progress in Superconductivity and Cryogenics
• /
• v.17 no.1
• /
• pp.44-47
• /
• 2015

High voltage superconducting apparatuses have been developed presently around the world under AC and DC sources. In order to improve electrical reliability of superconducting apparatuses with AC and DC networks, a study on the DC as well as the AC electrical breakdown characteristics of cryogenic insulations should be conducted for developing a high voltage superconducting apparatus. Recently, a sub-cooled liquid nitrogen cooling system is known to be promising method for developing a high voltage superconducting apparatus. A sub-cooled liquid nitrogen cooling system uses gaseous nitrogen to control the pressure and enhance the dielectric characteristics. However, the dielectric characteristics of gaseous nitrogen are not enough to satisfy the grade of insulation for a high voltage superconducting apparatus. In this case, the application of solid insulating barriers is regarded as an effective method to reinforce the dielectric characteristics of a high voltage superconducting apparatus. In this paper, it is dealt with a barrier effect on the DC and AC dielectric characteristics of gaseous nitrogen with respect to the position and number of solid insulating barriers. As results, the DC and AC electrical breakdown characteristics by various barrier effects is verified.

• Journal of Biomedical Engineering Research
• /
• v.18 no.1
• /
• pp.25-36
• /
• 1997

To regulate cardiac output of the Total Artificial Heart(TAH) physiologically, the hemodynamic information must be toed back to the controller. So far, our group has developed an automatic cardiac output control algorithm using the motor current waveform, It is, however difficult to detect the preload level such as a filling status of ventricular inflow and the variation of atrial pressures within normal physiologic range(0-15 mmHg) by analyzing the motor current which simultaneously reflects the afterload effect. On the other hin4 the interventricular volume pressure(IVP) which is not influenced by arterload but by preload is a good information source for the estimation of preload states. In order to find the relationship between preload and IVP waveform, we set up the artificial heart system on the Donovan type mock circulatory system and measured the IVP waveform, right and left atrial pressures, inflow and outflow waveforms and the signals represented the information of moving actuator's position. We shows the feasibility of estimating the hemodynamic changes of inflow by using IVP waveform. fife found that the negative peak value of IVP waveform is linearly related to atrial pressures. And we also found that we could use the time to reach the negative peak in IVP waveform, the time to open outflow valve, the area enclosed IVP waveform as unfu parameters to estimate blood filling volume of diastole ventricle. The suggested method has advantages of avoiding thrombogenesis, bacterial niche formation and increasing longterm reliability of sensor by avoiding direct contact to blood.

• Journal of Korean Society of Industrial and Systems Engineering
• /
• v.38 no.3
• /
• pp.108-116
• /
• 2015

A missile defense system is composed of radars detecting incoming missiles aiming at defense assets, command control units making the decisions on weapon target assignment, and artillery batteries firing of defensive weapons to the incoming missiles. Although, the technology behind the development of radars and weapons is very important, effective assignment of the weapons against missile threats is much more crucial. When incoming missile targets toward valuable assets in the defense area are detected, the asset-based weapon target assignment model addresses the issue of weapon assignment to these missiles so as to maximize the total value of surviving assets threatened by them. In this paper, we present a model for an asset-based weapon assignment problem with shoot-look-shoot engagement policy and fixed set-up time between each anti-missile launch from each defense unit. Then, we show detailed linear approximation process for nonlinear portions of the model and propose final linear approximation model. After that, the proposed model is applied to several ballistic missile defense scenarios. In each defense scenario, the number of incoming missiles, the speed and the position of each missile, the number of defense artillery battery, the number of anti-missile in each artillery battery, single shot kill probability of each weapon to each target, value of assets, the air defense coverage are given. After running lpSolveAPI package of R language with the given data in each scenario in a personal computer, we summarize its weapon target assignment results specified with launch order time for each artillery battery. We also show computer processing time to get the result for each scenario.

• Journal of KIISE:Computing Practices and Letters
• /
• v.8 no.3
• /
• pp.289-294
• /
• 2002

A valid speech-sound block can be classified to provide important information for speech recognition. The classification of the speech-sound block comes from the MRA(multi-resolution analysis) property of the DWT(discrete wavelet transform), which is used to reduce the computational time for the pre-processing of speech recognition. The merging algorithm is proposed to extract valid speech-sounds in terms of position and frequency range. It needs some numerical methods for an adaptive DWT implementation and performs unvoiced/voiced classification and denoising. Since the merging algorithm can decide the processing parameters relating to voices only and is independent of system noises, it is useful for extracting valid speech-sounds. The merging algorithm has an adaptive feature for arbitrary system noises and an excellent denoising SNR(signal-to-nolle ratio).