• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.16 no.3
• /
• pp.2123-2130
• /
• 2015

For such automatic monitoring robot or a robot cleaner that is utilized indoors, if it deviates from someone by replacement or, or of a mobile robot such as collisions with unexpected object direction or planned path, based on the planned path There is a need to come back to, it is necessary to tough self-position estimation ability of mobile robot in this, which is also associated with resolution of the kidnap problem of conventional mobile robot. In this study, the case of a mobile robot, operates indoors, you want to take advantage of the low cost of the robot. Therefore, in this paper, by using the acquisition device to an external image information such as the CCTV which is installed in a room, it acquires the environment image and take advantage of marker recognition of the mobile robot at the same time and converted it absolutely spatial coordinates it is, we are trying to solve the self-position estimation of the mobile robot in the room and kidnap problem and actual implementation methods potential field to try utilizing robotic systems. Thus, by implementing the method proposed in this study to the actual robot system, and is promoting the relevant experiment was to verify the results.

• Journal of the Korean Association of Geographic Information Studies
• /
• v.20 no.2
• /
• pp.75-88
• /
• 2017

This study analyzed wind flows based on spatial and geomorphological characteristics of Daegu Metropolitan City. A three-stage analysis was performed, starting with a comparison of meteorological relationships between local wind direction (synoptic wind) and local wind flow. In the second stage the study area was subdivided into districts and suburban districts to analyze the relative change of local wind flow. In stage three, the formation of wind corridor for local wind flow, wind flow for the entire urban space, and spatial relationships between flows were verified comparatively using KLAM_21. Three results are notable, the first of which is a low correlation between synoptic wind of a region, and local wind, flow in terms of meteorology. Secondly, observations of local wind flow at five downtown districts and two suburban districts showed that there were diverse wind directions at each measurement point. This indicates that the spatial and geomorphological characteristics of areas neighboring the measurement points could affect the local wind flow. Thirdly, verifying the results analyzed using KLAM_21, compared to Atomatic Weather System(AWS) measurement data, confirmed the reliability of the numerical modelling analysis. It was determined that local wind flow in a city performs a spatial function and role in ameliorating the urban heat island phenomena. This indicates that, when an urban planning project is designed, the urban heat island phenomena could be ameliorated effectively and sustainably if local wind flow caused by immediate spatial and geomorphological characteristics is confirmed systematically and techniques are intentionally applied to connect the flows spatially within areas where urban heat islands occur.

• Journal of Navigation and Port Research
• /
• v.42 no.3
• /
• pp.237-244
• /
• 2018

When underwater rubble leveling work is carried out by a robot, real-time information on the topography around the robot is required for remote control. If the topographical information with respect to the current position of the robot is displayed as a 3D graphic image, it allows the operator to plan the working schedules and to avoid accidents like rollovers. Up until now, the topographical recognition was conducted by multi-beam sonars, which were only used to assess the quality before and after the work and could not be used to provide real-time information for remote control. This research measures the force delivered to the bucket which presses the mound to determine whether contact is made or not, and the contact position is calculated by reading the cylinder length. A variable bang-bang control algorithm is applied to control the heavy robot arms for the positioning of the bucket. The proposed method allows operators to easily recognize the terrain and intuitively plan the working schedules by showing relatively 3-D gratifications with respect to the robot body. In addition, the operating patterns of a skilled operator are programmed for raking, pushing, moving, and measuring so that they are automatically applied to the underwater rubble leveling work of the robot.

• Korean Journal of Construction Engineering and Management
• /
• v.12 no.6
• /
• pp.54-64
• /
• 2011

Almost 40 years have been passed since the CPM was introduced to the construction industry in Korea. However most of construction projects in Korea do not prepare the CPM schedule neither operate it after established manually, as well as still depend on the Bar-chart schedule only. One of these reasons is because the CPM schedule does not reflect the site works realistically, it makes so difficult to recognize the actual progress clearly in visual format, and it is impossible to integrate and manage the time and cost oriented work progresses effectively. This paper proposes new concept of progress management that is able to integrate and manage the time oriented schedule progress and earned value oriented cost progress while maintaining the merits of CPM although the CPM schedule summarized automatically within a schedule hierarchy by the BDM that is a new CPM technique. We expect that this concept could make the applications of CPM technique to the domestic construction industry popular and help the advancement of the construction management in Korea as well.

• Journal of Korean Society of Forest Science
• /
• v.84 no.3
• /
• pp.333-342
• /
• 1995

A user - oriented computer model to aid designing forest road is developed to release the burden by increasing efficiency of time - consuming and laborious road design works. In this paper, the structures and functions of the model are discussed. The model consists of functional modules : 1)input module to treat survey data and design criteria ; 2)road design module to generate preliminary road layout, horizontal and vertical curvatures and curve widening ; 3)earthwork analysis module to determine the economic mass movement ; 4)report writer module to produce hard copies of engineering drawings for plan views, cross - sections and profiles, earthwork calculation sheets and mass movement diagrams. In addition, the report writer also provides the information on earthwork disturbance along the cut and - fill slopes. The modules are designed to be fully - integrated to enable the users to perform engineering analyses and evaluate design alternatives in a series of road - design procedures.

• Journal of Navigation and Port Research
• /
• v.38 no.6
• /
• pp.593-600
• /
• 2014

Information supporting system which is based on real-time prediction of currents to be applicable to the sea trial test of ship is developed. In the system, the spatial distribution of currents at specific time and the trends of variability of currents occurring at specific sites are also given as valuable information for sea trial test of ship. In addition, the system has a capability to connect with a GPS which provides information including speed loss of the ship caused by currents on the way of voyage. With information from the sea trial test, the system is also capable of delivering optimum time and pathways by considering calculated speed loss of ship at specific time and its pathway. Having information described as above, the real-time current prediction system supports and provides functions of not only running the test in an efficient way but also providing valuable information which is encouraged to be used during the test by installing at the ship.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2022.05a
• /
• pp.288-290
• /
• 2022

As part of the SOC digitization for smart water management and flood prevention, the government reported that automatic and remote control system for drainage facilities (180 billion won) to 57% of national rivers and established a real-time monitoring system (30 billion won). In addition, they were also planning to establish a smart dam safety management system (15 billion won) based on big data at 11 regions. Therefore, research is needed for smart water management and flood prevention system that can accurately calculate the flow rate through real-time flow rate measurement of rivers. In particular, the most important thing to improve the system implementation and accuracy is to ensure the accuracy of real-time flow rate measurements. To this end, radar sensors for measuring the flow rate of electromagnetic waves in the United States and Europe have been introduced and applied to the system in Korea, but demand for improvement of the system continues due to high price range and performance. Consequently, we would like to propose an improved flow rate measurement and flood forecast system by developing a radar sensor for measuring the electromagnetic surface current meter for real-time flow rate measurement.

• Journal of Korean Association for Spatial Structures
• /
• v.4 no.2 s.12
• /
• pp.89-97
• /
• 2004

The objective of this study is the development of a scheme and discrete optimum design algorithm, which is based on the genetic algorithm. The algorithm can perform both scheme and size optimum designs of plane trusses. The developed Scheme genetic algorithm was implemented in a computer program. For the optimum design, the objective function is the weight of structures and the constraints are limits on loads and serviceability. The basic search method for the optimum design is the genetic algorithm. The algorithm is known to be very efficient for the discrete optimization. However, its application to the complicated structures has been limited because of the extreme time need for a number of structural analyses. This study solves the problem by introducing the size & scheme genetic algorithm operators into the genetic algorithm. The genetic process virtually takes no time. However, the evolutionary process requires a tremendous amount of time for a number of structural analyses. Therefore, the application of the genetic algorithm to the complicated structures is extremely difficult, if not impossible. The scheme genetic algorithm operators was introduced to overcome the problem and to complement the evolutionary process. It is very efficient in the approximate analyses and scheme and size optimization of plane trusses structures and considerably reduces structural analysis time. Scheme and size discrete optimum combined into the genetic algorithm is what makes the practical discrete optimum design of plane fusses structures possible. The efficiency and validity of the developed discrete optimum design algorithm was verified by applying the algorithm to various optimum design examples: plane pratt, howe and warren truss.

• Progress in Medical Physics
• /
• v.24 no.2
• /
• pp.85-91
• /
• 2013

At present, megavoltage computed tomography (MVCT) is the only method used to correct the position of tomotherapy patients. MVCT produces extra radiation, in addition to the radiation used for treatment, and repositioning also takes up much of the total treatment time. To address these issues, we suggest the use of a video image-guided setup (VIGS) system for correcting the position of tomotherapy patients. We developed an in-house program to correct the exact position of patients using two orthogonal images obtained from two video cameras installed at $90^{\circ}$ and fastened inside the tomotherapy gantry. The system is programmed to make automatic registration possible with the use of edge detection of the user-defined region of interest (ROI). A head-and-neck patient is then simulated using a humanoid phantom. After taking the computed tomography (CT) image, tomotherapy planning is performed. To mimic a clinical treatment course, we used an immobilization device to position the phantom on the tomotherapy couch and, using MVCT, corrected its position to match the one captured when the treatment was planned. Video images of the corrected position were used as reference images for the VIGS system. First, the position was repeatedly corrected 10 times using MVCT, and based on the saved reference video image, the patient position was then corrected 10 times using the VIGS method. Thereafter, the results of the two correction methods were compared. The results demonstrated that patient positioning using a video-imaging method ($41.7{\pm}11.2$ seconds) significantly reduces the overall time of the MVCT method ($420{\pm}6$ seconds) (p<0.05). However, there was no meaningful difference in accuracy between the two methods (x=0.11 mm, y=0.27 mm, z=0.58 mm, p>0.05). Because VIGS provides a more accurate result and reduces the required time, compared with the MVCT method, it is expected to manage the overall tomotherapy treatment process more efficiently.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2008.05a
• /
• pp.329-336
• /
• 2008

Nowadays with advancement in technology and aging society, the number of disabled citizens is increasing. The disabled citizens always need a caretaker for daily life routines especially for mobility. In future, the need is considered to increase more. To reduce the burden from the disabled, various devices for healthcare are introduced using computer technology. The power wheelchair is an important and convenient mobility device. The demand of power wheelchair is increasing for assistance in mobility. In this paper we proposed a robotic wheelchair for mobility aid to reduce the burden from the disabled. The main issue in an autonomous wheelchair is the automatic detection and avoidance of obstacles and going to the pre-designated place. The proposed algorithm detects the obstacles and avoids them to drive the wheelchair to the desired place safely. By this way, the disabled will not always have to worry about paying deep attention to the surroundings and his path.