• Journal of Information Processing Systems
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• v.14 no.6
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• pp.1445-1456
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• 2018

Environment perception and three-dimensional (3D) reconstruction tasks are used to provide unmanned ground vehicle (UGV) with driving awareness interfaces. The speed of obstacle segmentation and surrounding terrain reconstruction crucially influences decision making in UGVs. To increase the processing speed of environment information analysis, we develop a CPU-GPU hybrid system of automatic environment perception and 3D terrain reconstruction based on the integration of multiple sensors. The system consists of three functional modules, namely, multi-sensor data collection and pre-processing, environment perception, and 3D reconstruction. To integrate individual datasets collected from different sensors, the pre-processing function registers the sensed LiDAR (light detection and ranging) point clouds, video sequences, and motion information into a global terrain model after filtering redundant and noise data according to the redundancy removal principle. In the environment perception module, the registered discrete points are clustered into ground surface and individual objects by using a ground segmentation method and a connected component labeling algorithm. The estimated ground surface and non-ground objects indicate the terrain to be traversed and obstacles in the environment, thus creating driving awareness. The 3D reconstruction module calibrates the projection matrix between the mounted LiDAR and cameras to map the local point clouds onto the captured video images. Texture meshes and color particle models are used to reconstruct the ground surface and objects of the 3D terrain model, respectively. To accelerate the proposed system, we apply the GPU parallel computation method to implement the applied computer graphics and image processing algorithms in parallel.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.10a
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• pp.569-572
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• 2014

This paper presents a CMOS switched-capacitor interface circuit for MEMS capacitive sensors. It consist of a capacitance to voltage converter(CVC), a second-order ${\Sigma}{\Delta}$ modulator, and a comparator. A bias circuit is also designed to supply constant bias voltages and currents. This circuit employes the correlated-double-sampling(CDS) and chopper-stabilization(CHS) techniques to reduce low-frequency noise and offset. The designed CVC has a sensitivity of 20.53mV/fF and linearity errors less than 0.036%. The duty cycle of the designed ${\Sigma}{\Delta}$ modulator output increases about 5% as the input voltage amplitude increases by 100mV. The designed interface circuit shows linearity errors less than 0.13%, and the current consumption is 0.73mA. The proposed circuit is designed in a 0.35um CMOS process with a supply voltage of 3.3V. The size of the designed chip including PADs is $1117um{\times}983um$.

• Journal of the Korea Convergence Society
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• v.10 no.10
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• pp.15-21
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• 2019

X-rays with shorter wavelengths than ultraviolet light have very good penetration power. It is convergence in industrial and medical fields has been used a lot. n particular, in the industrial field, various researches have been conducted on the detection of foregin body inside metal that can occur in the production process of products such as metal using x-ray, a non-destructive inspection device. Detectors are becoming increasingly popular for the popularization of DR (Digital Radiography) photography methods that digitally acquire X-ray video images. However, there are cases where foreign body detection is impossible depending on the sensor noise and sensitivity inside the detector. When producing a metal product, since the defective rate of the produced product may increase due to contamination of the foreign body, accurate detection is necessary. In this paper, we provide a correction model for X-ray images acquired in order to improve the efficiency of defect detection such as foreign body inside metal. When applied to defect detection in the production process of metal products through the proposed model, it is expected that the detection of product defects can be processed accurately and quickly.

• Journal of Advanced Navigation Technology
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• v.23 no.4
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• pp.289-295
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• 2019

Maritime back-up navigation system in port approach requires a horizontal accuracy of 10 meters in IALA (International Association of Lighthouse Authorities) recommendations. eLoran which is a best back-up navigation system that satisfies accuracy requirement has poor navigation performance depending signal environments. Especially, noise caused by multipath and electronic devices around eLoran antenna affects navigation performance. In this paper, Ship based Navigation Back-up system using UAV on Interference is designed to satisfy horizontal accuracy requirement. To improve the eLoran signal environment, UAVs are equipped with camera, IMU sensor and eLoran antenna and receivers. This proposed system is designed to receive eLoran signal through UAV-based receiver and control UAV's position and attitude within Landmark around area. The ship-based positioning using eLoran signal, vision and attitude information received from UAV satisfy resilient and robust navigation requirements.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.11
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• pp.933-940
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• 2021

The space-borne SAR(Synthetic Aperture Radar) system radiates the microwave signal and receives the backscattered signal. The received signal is converted to digital at the Digital Receiver, which is implemented at the end of the SAR sensor receiving chain. The converted signal is formated after signal processing such as filtering and data compression. Two quantization are conducted in the Digital Receiver. One quantization is an analog to digital conversion at ADC(Analog-Digital Converter). Another quantization is the BAQ(Block Adaptive Quantization) for data compression. The quantization process is a conversion from a continuous or higher bit precision to a discrete or lower bit precision. As a result, a quantization noise is inevitably occurred. In this paper, the impact of two quantization processes are analyzed in a view of SNR degradation.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.3
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• pp.456-463
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• 2021

In this paper, Ultra Wide-Band(UWB) radar sensor is employed to detect flying drones and avoid collision in dense clutter environments. UWB signal is preferred when high resolution range measurement is required for moving targets. However, the time varying motion of flying drones may increase clutter noises in return signals and deteriorates the target detection performance, which lead to the performance degradation of anti-collision radars. We adopt a dynamic clutter suppression algorithm to estimate the time-varying distances to the moving drones with enhanced accuracy. A modified Constant False Alarm Rate(CFAR) is developed using an adaptive filter algorithm to suppress clutter while the false detection performance is well maintained. For this purpose, a velocity dependent CFAR algorithm is implemented to eliminate the clutter noise against dynamic target motions. Experiments are performed against flying drones having arbitrary trajectories to verify the performance improvement.

• Journal of Platform Technology
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• v.9 no.4
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• pp.79-89
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• 2021

In this paper, the fine dust (PM10) and ultrafine dust (PM2.5) measurement platforms are designed to be mobile and fixed using oneM2M, the international standard for IoT. The fine dust measurement platform is composed and designed with a fine dust measurement device, agent, oneM2M platform, oneM2M IPE, and monitoring system. The main difference between mobile and fixed is that the mobile uses the MQTT protocol for interconnection between devices and services without blind spots based on LTE connection, and the fixed uses the LoRaWAN protocol with low power and wide communication range. Not only fine dust, but also temperature, humidity, atmospheric pressure, volatile organic compounds (VOC), carbon monoxide (CO), sulfur dioxide (SO2), nitrogen dioxide (NO2), and noise data related to daily life were collected. The collected sensor values were managed using the common API provided by oneM2M through the agent and oneM2M IPE, and it was designed into four resource types: AE and container. Six functions of operability, flexibility, convenience, safety, reusability, and scalability were analyzed through the fine dust measurement platform design.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.5
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• pp.199-206
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• 2021

This paper describes the feasibility and reliability verification of installing a protective structure to protect attack periscopes. The attack periscope is the critical equipment of a submarine to enable the user to monitor surface and air activity, collect navigational data, and detect and identify targets. The attack periscope provides target information acquired through TV, IR camera, and laser range finder to the combat system. In the product improvement program, the upper part of the masts was exposed to the outside of the sail because the existing attack periscope was replaced with a new one. On the other hand, the head sensor can be damaged by floating objects, such as fishing nets, during sea navigation. Therefore, the installation of a protective structure for an attack periscope improved the equipment operation performance. The feasibility and reliability of the installation of the protective structure were verified by examining the influence of URN.

• Smart Structures and Systems
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• v.30 no.6
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• pp.613-626
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• 2022

Guaranteeing the quality and integrity of structural health monitoring (SHM) data is very important for an effective assessment of structural condition. However, sensory system may malfunction due to sensor fault or harsh operational environment, resulting in multiple types of data anomaly existing in the measured data. Efficiently and automatically identifying anomalies from the vast amounts of measured data is significant for assessing the structural conditions and early warning for structural failure in SHM. The major challenges of current automated data anomaly detection methods are the imbalance of dataset categories. In terms of the feature of actual anomalous data, this paper proposes a data anomaly detection method based on data-level and deep learning technique for SHM of civil engineering structures. The proposed method consists of a data balancing phase to prepare a comprehensive training dataset based on data-level technique, and an anomaly detection phase based on a sophisticatedly designed network. The advanced densely connected convolutional network (DenseNet) and Transformer encoder are embedded in the specific network to facilitate extraction of both detail and global features of response data, and to establish the mapping between the highest level of abstractive features and data anomaly class. Numerical studies on a steel frame model are conducted to evaluate the performance and noise immunity of using the proposed network for data anomaly detection. The applicability of the proposed method for data anomaly classification is validated with the measured data of a practical supertall structure. The proposed method presents a remarkable performance on data anomaly detection, which reaches a 95.7% overall accuracy with practical engineering structural monitoring data, which demonstrates the effectiveness of data balancing and the robust classification capability of the proposed network.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2022.05a
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• pp.546-549
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• 2022

In recent years, to prevent the increase in accidents at industrial sites, various innovative technologies from the 4th industrial era have been incorporated into the construction administration to promote the advancement of safety management. As a result, smart safety management systems using intelligent monitoring that prevent and manage risks in industrial sites in real time are attracting attention. Smart safety management systems provide users with real-time, remote monitoring of factors such as noise, gas concentration fine dust concentration, building material quality, building tilt, and RFID-based worker access through sensors located everywhere. This paper presents a method for collecting and monitoring various data for smart safety management systems via Zigbee communication using Raspberry Pi.