• Journal of Institute of Control, Robotics and Systems
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• v.17 no.3
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• pp.199-205
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• 2011

This paper presents an algorithm capable of detecting free space for the autonomous vehicle navigation. The algorithm consists of two main steps: 1) estimation of longitudinal profile of road, 2) detection of free space. The estimation of longitudinal profile of road is detection of v-line in v-disparity image which is corresponded to road slope, using v-disparity image and hough transform, Dijkstra algorithm. To detect free space, we detect u-line in u-disparity image which is a boundary line between free space and obstacle's region, using u-disparity image and dynamic programming. Free space is decided by detected v-line and u-line. The proposed algorithm is proven to be successful through experiments under various traffic scenarios.

• Asia pacific journal of information systems
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• v.2 no.2
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• pp.71-84
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• 1992

Analysis for the file with distributed free space such as a VSAM has been done. Birth and death process has been adopted to describe the status changes of control intervals in a VSAM file. File utilization is calculated as a function of the number of control intervals which contain different number of records in them. Effect of the control interval sizes and the loading factors are analyzed over the time horizon.

• Journal of information and communication convergence engineering
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• v.8 no.3
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• pp.267-272
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• 2010

For the last decade, recurrent neural networks (RNNs) have been commonly applied to communications channel equalization. The major problems of gradient-based learning techniques, employed to train recurrent neural networks are slow convergence rates and long training sequences. In high-speed communications system, short training symbols and fast convergence speed are essentially required. In this paper, the derivative-free Kalman filter, so called the unscented Kalman filter (UKF), for training a fully connected RNN is presented in a state-space formulation of the system. The main features of the proposed recurrent neural equalizer are fast convergence speed and good performance using relatively short training symbols without the derivative computation. Through experiments of nonlinear channel equalization, the performance of the RNN with a derivative-free Kalman filter is evaluated.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.12
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• pp.971-982
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• 1989

An integrating position estimation algorithm has been developed for the navigation system of a free-ranging AGV system. The navigation system focused in this research work consists of redundant wheel encoders for the relative position measurement and a vision sensor for the absolute position measurement. A maximum likelihood method and an extended Kalman filter are implemented for enhancing the performance of the position estimator. The maximum likelihood estimator processes noisy, redundant wheel encoder measurements and yields efficient estimates for the AGV motion between each sampling interval. The extended Kalman filter fuses inharmonious positional data from the deadreckoner and the vision sensor and computes the optimal position estimate. The simulation results show that the proposed position estimator solves a generalized estimation problem for locating the vehicle accurately in space.

• Current Optics and Photonics
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• v.3 no.3
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• pp.210-214
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• 2019

The allowable path-deviation time of aircraft in a free-space optical communication system has been estimated from various trajectories, using different values of aircraft speeds and turn rates. We assumed the existence of a link between the aircraft and a ground base station. First, the transmitter beam's divergence angle was calculated through two different approaches, one based on a simple optical-link equation, and the other based on an attenuation coefficient. From the calculations, the discrepancy between the two approaches was negligible when the link distance was approximately 110 km, and was under 5% when the link distance ranged from 80 to 140 km. Subsequently, the allowable path-deviation time of the aircraft within the tracking-error tolerance of the system was estimated, using different aircraft speeds, turn rates, and link distances. The results indicated that the allowable path-deviation time was primarily determined by the aircraft's speed and turn rate. For example, the allowable path-deviation time was estimated to be ~3.5 s for an aircraft speed of 166.68 km/h, a turn rate of $90^{\circ}/min$, and a link distance of 100 km. Furthermore, for a constant aircraft speed and turn rate, the path-deviation time was observed to be almost unchanged when the link distance ranged from 80 to 140 km.

• The Bulletin of The Korean Astronomical Society
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• v.43 no.2
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• pp.58.2-58.2
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• 2018

Theoretically, the magnetic helicity transport flux through the solar surface into the upper atmosphere can be estimated indefinitely precisely by magnetic field footpoint tracking if the observational resolution is infinitely fine, even with magnetic flux emergence or submergence. In reality, the temporal and spatial resolutions of observations are limited. When magnetic flux emerging or submerging, the footpoint velocity goes to infinity and the normal magnetic field vanishes at the polarity inversion line. A finite observational resolution thus generates a blackout area in helicity flux estimation near the polarity inversion line. It is questioned how much magnetic helicity is underestimated with a footpoint tracking method due to the absence of information in the blackout area. We adopt the analytical models of Gold-Hoyle and Lundquist force-free flux ropes and let them emerging from below the solar surface. The observation and the helicity integration can start at different emerging stages of the flux rope, i.e., the photospheric plane initially cuts the flux rope at different levels. We calculate the magnetic helicity of the flux rope below the photospheric level, which is eventually to emerge, except the helicity hidden in the region to be swept by the blackout area with different widths. Our calculation suggests that the error in the integrated helicity flux estimate is about half of the real value or even larger when small scale magnetic structures emerge into the solar atmosphere.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.45 no.5
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• pp.376-385
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• 2017

In this paper, a method for the estimation of structural displacements using structure's mode shapes and accelerations is suggested to reduce the disadvantages of acceleration time integration method. Acceleration time integration method requires accurate information on initial conditions, and errors caused by noise can be accumulated during time integration. To avoid these problems, the method for the estimation of structural displacements based on mode superposition method is developed and two vibration experiments for cantilever beam are conducted to verify this method. Static displacements and dynamic displacements of beam structure are estimated using measured accelerations from experiments and mode shapes of cantilever beam, and they are compared with measured displacements using laser displacement sensor. From these results, the validity and usefulness of this method are verified.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.583-587
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• 2009

In this paper we propose a new method of Depth-Image-Based Rendering (DIBR) for Free-viewpoint TV (FTV). In the proposed method, virtual viewpoint images are rendered with 3D warping instead of estimating the view-dependent depth since depth estimation is usually costly and it is desirable to eliminate it from the rendering process. However, 3D warping causes some problems that do not occur in the method with view-dependent depth estimation; for example, the appearance of holes on the rendered image, and the occurrence of depth discontinuity on the surface of the object at virtual image plane. Depth discontinuity causes artifacts on the rendered image. In this paper, these problems are solved by reconstructing disparity information at virtual camera position from neighboring two real cameras. In the experiments, high quality arbitrary viewpoint images were obtained.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.10
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• pp.833-841
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• 2014

This paper proposes an algorithm to estimate the wind velocity by tracking free flying balloons. Balloons used in this method are expendable but inexpensive, which increases the usefulness of the method. Also we can obtain accurate 3D information by using multiple cameras and estimate the wind velocity of the local field. The proposed system consists of aerodynamic modeling of the balloon, a tracking algorithm using image processing, and the velocity estimation algorithm. We performed unit tests of each algorithm for the verification. The method is validated using a system simulation and sources of error case identified.

• ETRI Journal
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• v.27 no.3
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• pp.319-325
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• 2005

In this paper the effect of temperature on the electrical properties of organic semiconductor disperse orange dye 25 (OD) have been examined. Thin films of OD have been deposited on $In_{2}O_{3}$ substrates using a centrifugal machine. DC current-voltage (I-V) characteristics of the fabricated devices $(Al/OD/In_{2}O_{3)$ have been evaluated at varying temperatures ranging from 40 to $60^{\circ}C$. A rectification behavior in these devices has been observed such that the rectifying ratio increases as a function of temperature. I-V characteristics observed in $Al/OD/In_{2}O_{3)$ devices have been classified as low temperature $({\leq} 50^{\circ}C)$ and high temperature characteristics (approximately $60^{\circ}C$). Low temperature characteristics have been explained on the basis of the charge transport mechanism associated with free carriers available in OD, whereas high temperature characteristics have been explained on the basis of the trapped space-charge-limited current. Different electrical parameters such as traps factor, free carrier density, trapped carrier density, trap density of states, and effective mobility have been determined from the observed temperature dependent I-V characteristics. It has been shown that the traps factor, effective mobility, and free carrier density increase with increasing values of temperature, whilst no significant change has been observed in the trap density of states.