• The Transactions of the Korean Institute of Electrical Engineers P
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• v.51 no.3
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• pp.155-160
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• 2002

This paper focuses on the problem of local obstacle avoidance of mobile robots. To solve this problem, the safety direction section search algorithm is suggested. This concept is mainly composed with non-collision section and collision section from the detecting area of laser scanning sensor. Then, we will search for the most suitable direction in these sections. The proposed local motion planning method is simple and requires less computation than others. An environment model is developed using the vector space concept to determine robot motion direction taking the target direction, obstacle configuration, and robot trajectory into account. Since the motion command is obtained considering motion dynamics, it results in smooth and fast as well as safe movement. Using the mobile base, the proposed obstacle avoidance method is tested, especially in the environment with pillar, wall and some doors. Also, the proposed autonomous motion planning and control algorithm are tested extensively. The experimental results show the proposed method yields safe and stable robot motion through the motion speed is not so fast.

• Journal of Fashion Business
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• v.17 no.1
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• pp.30-41
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• 2013

Augmented reality techniques have been increasingly employed in the textile and fashion industry as well as computer graphics sectors. Three-dimensional virtual clothing CAD systems have also been widely used in the textile industries and academic institutes. Motion tracking techniques are grafted together in the 3D and augmented reality techniques in order to develop the virtual three-dimensional clothing and fitting systems in the fashion and textile industry sectors. In this study, three-dimensional virtual clothing sample has been prepared using a 3D virtual clothing CAD along with a 3D scanning and reconstruction system. Motion of the user has been captured through an RGB-D sensor system, and the virtual clothing fitted on the user's body is allowed to move along with the captured motion flow of the user. Acutal fabric specimens are selected for the material characterization. This study is a primary step toward building a comprehensive system for the user to experience interactively virtual clothing under real environment.

• Tunnel and Underground Space
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• v.32 no.6
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• pp.451-463
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• 2022

Whenever a mineshaft accidentally collapses, speedy risk assessment is both required and crucial. But onsite safety diagnosis by humans is reportedly difficult considering the additional risk of collapse of the unstable mineshaft. Generally, drones equipped with high-speed lidar sensors can be used for such inspection. However, the drone technology is restrictively applicable at very shallow depth, failing in mineshafts with depths of hundreds of meters because of the limit of wireless communication and turbulence inside the mineshaft. In previous study, a three-dimensional (3D) scanning system with a single channel lidar was fabricated and operated using towed cable in a mineshaft to a depth of 200 m. The rotation and pendulum movement errors of the measuring unit were compensated for by applying the data of inertial measuring unit and comparing the similarity between the scan data of the adjacent depths (Kim et al., 2020). However, the errors grew with scan depth. In this paper, a multi-channel lidar sensor to obtain a continuous cross-sectional image of the mineshaft from a winch system pulled from bottom upward. In this new approach, within overlapped region viewed by the multi-channel lidar, rotation error was compensated for by comparing the similarity between the scan data at the same depth. The fabricated system was applied to scan 0-165 m depth of the mineshaft with 180 m depth. The reconstructed image was depicted in a 3D graph for interpretation.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.31 no.5
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• pp.227-234
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• 2018

Researches regarding measurement and control of the dynamic behavior of liquid such as sloshing have been actively on undertaken in various engineering fields. Liquid vibration is being measured in the study of tuned liquid dampers(TLDs), which attenuates wind motion of buildings even in building structures. To overcome the limitations of existing wave height measurement sensors, a method of measuring liquid vibration in a TLD using a laser Doppler vibrometer(LDV) and galvanometer scanner is proposed in this paper: the principle of measuring speed and displacement is discussed; a system of multi-point measurement with a single point of LDV according to the operating principles of the galvanometer scanner is established. 4-point liquid vibration on the TLD is measured, and the time domain data of each point is compared with the conventional video sensing data. It was confirmed that the waveform is transformed into the traveling wave and the standing wave. In addition, the data with measurement delay are cross-correlated to perform singular value decomposition. The natural frequencies and mode shapes are compared using theoretical and video sensing results.

• Journal of the Korean Society for Nondestructive Testing
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• v.35 no.5
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• pp.291-298
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• 2015

An array type probe for monitoring metal tubes is proposed in this paper which utilizes peak value and peak time of a pulsed eddy current(PEC) signal. The probe consists of an array of encircling coils along a tube and the outside of coils is shielded by ferrite to prevent source magnetic fields from directly affecting sensor signals since it is the magnetic fields produced by eddy currents that reflect the condition of metal tubes. The positions of both exciter and sensor coils are consecutively moved automatically so that manual scanning is not necessary. At one position of send-receive coils, peak value and peak time are extracted from a sensor PEC signal and these data are accumulated for all positions to form an array type peak value signal and an array type peak time signal. Numerical simulation was performed using the backward difference method in time and the finite element method for spatial analysis. Simulation results showed that peak value increases and the peak appears earlier as the defect depth or length increases. The proposed array signals are shown to be excellent in reflecting the defect location as well as variations of defect depth and length within the array probe.

• Tunnel and Underground Space
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• v.34 no.1
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• pp.1-14
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• 2024

An image-reconstruction technology, involving the deployment of an unmanned mobility equipped with high-speed LiDAR (Light Detection And Ranging) has been proposed to reconstruct the shape of abandoned mine. Unmanned mobility operation is remarkably useful in abandoned mines fraught with operational difficulties including, but not limited to, obstacles, sludge, underwater and narrow tunnel with the diameter of 1.5 m or more. For cases of real abandoned mines, quadruped robots, quadcopter drones and underwater drones are respectively deployed on land, air, and water-filled sites. In addition to the advantage of scanning the abandoned mines with 2D solid-state lidar sensors, rotation of radiation at an inclination angle offers an increased efficiency for simultaneous reconstruction of mineshaft shapes and detecting obstacles. Sensor and robot posture were used for computing rotation matrices that helped compute geographical coordinates of the solid-state lidar data. Next, the quadruped robot scanned the actual site to reconstruct tunnel shape. Lastly, the optimal elements necessary to increase utility in actual fields were found and proposed.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.31 no.3
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• pp.147-153
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• 2018

Cracking in concrete structure must be examined according to appropriate methods, to ensure structural serviceability and to prevent structural deterioration, since cracks opened wide for a long time expedite corrosion of rebar. A site investigation is conducted in a regular basis to monitor structural deterioration by tracking growing cracks. However, the visual inspection are labor intensive. and judgment are subject. To overcome the limit of the on-site visual investigation image processing for identifying the cracks of concrete structures by analyzing 2D images has been developed. This study develops a unique 3D technique utilizing a line laser and its projection image onto concrete surfaces. Automated process of crack detection is developed by the algorithms of automatizing crack map generation and image data acquisition. Performance of the developed method is experimentally evaluated.

• Journal of Broadcast Engineering
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• v.21 no.1
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• pp.3-10
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• 2016

In this paper, two reconstructed point cloud sets with the information of 3D features are analyzed. For a certain 3D reconstruction of the interior of a building, the first image set is taken from the sequential passive camera movement along the regular grid path and the second set is from the application of the laser scanning process. Matched key points over all images are obtained by the SIFT(Scale Invariant Feature Transformation) algorithm and are used for the registration of the point cloud data. The obtained results are point cloud number, average density of point cloud and the generating time for point cloud. Experimental results show the necessity of images from the additional sensors as well as the images from the camera for the more accurate 3D reconstruction of the interior of a building.

• Proceedings of the Korea Contents Association Conference
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• 2007.11a
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• pp.27-29
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• 2007

The visual implementation of 3-dimensional national environment is focused by the requirement and importance in the fields such as, national development plan, telecommunication facility deployment plan, railway construction, construction engineering, spatial city development, safety and disaster prevention engineering. The currently used DEM system using contour lines, which embodies national geographic information based on the 2-D digital maps and facility information has limitation in implementation in reproducing the 3-D spatial city. Moreover, this method often neglects the altitude of the rail way infrastructure which has narrow width and long length. There it is needed to apply laser measurement technique in the spatial target object to obtain accuracy. Currently, the LiDAR data which combines the laser measurement skill and GPS has been introduced to obtain high resolution accuracy in the altitude measurement. In this paper, we first investigate the LiDAR based researches in advanced foreign countries, then we propose data a generation scheme and an algorithm for the optimal manage and synthesis of railway facility system in our 3-D spatial terrain information. For this object, LiDAR based height data transformed to DEM, and the realtime unification of the vector via digital image mapping and raster via exactness evaluation is transformed to make it possible to trace the model of generated 3-dimensional railway model with long distance for 3D tract model generation.

• 한국지구물리탐사학회:학술대회논문집
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• 2004.08a
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• pp.118-137
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• 2004

Recently underwater geophysical problems for historical relics or UXO's are raised frequently. This study includes the applicabilities and limitations of the recent underwater metal detector and domestic case stories for underwater survey by electrical and magnetic method. Direct or indirect case stories are electrical and vertical magnetic gradiometry surveys beneath Han-river bottom for planning subway tunnel, electrical exploration on lake-bottom, electrical exploration on the tidal flats using high-power transmitter, and borehole three-component magnetic and electromagnetic surveys for detecting the undersea objects. A design of potable real-time, high-speed measurement system using multi-channel array sensors is also introduced here. Further study will be focussed on practical field applications of the fast water-bottom scanning system which is lately required by actual field.